diff --git a/docs/CARS.md b/docs/CARS.md
index 1bea3f868e..097a5c5775 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -17,10 +17,10 @@ A supported vehicle is one that just works when you install a comma three. All s
|Audi|Q3 2020-21|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Audi|RS3 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
-|Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[](##)|[](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|7 mph|[](##)|[](##)|GM|
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|7 mph|[](##)|[](##)|GM|
-|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[](##)|[](##)|OBD-II|
+|Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|6 mph|[](##)|[](##)|GM|
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[](##)|[](##)|GM|
+|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
@@ -31,8 +31,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[](##)|[](##)|Hyundai F|
|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai H|
|Genesis|G90 2017-18|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
-|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[](##)|[](##)|OBD-II|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|7 mph|[](##)|[](##)|GM|
+|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[](##)|[](##)|GM|
|Honda|Accord 2018-22|All|Stock|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|Honda|Accord Hybrid 2018-22|All|Stock|0 mph|3 mph|[](##)|[](##)|Honda Bosch A|
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[](##)|[](##)|Honda Nidec|
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 118e54aa0e..ac8bc45809 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
# Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
- ret.minSteerSpeed = 7 * CV.MPH_TO_MS
+ ret.minSteerSpeed = 10 * CV.KPH_TO_MS
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 591acc2f1b..2f93b75872 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-af74c25e869d1128c0277f789e8f88bb95c5be1b
+cad0c6a23a9baea9853fe2117ff9127a83f9e884