diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index a90f023ed1..58cde85817 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -73,7 +73,7 @@ def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, st
   return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
 
 
-def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
+def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
 
   # limits due to driver torque
   driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
@@ -93,24 +93,32 @@ def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque
   return int(round(float(apply_torque)))
 
 
-def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
-  # limits due to comparison of commanded torque VS motor reported torque
-  max_lim = min(max(motor_torque + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_ERROR_MAX), LIMITS.STEER_MAX)
-  min_lim = max(min(motor_torque - LIMITS.STEER_ERROR_MAX, -LIMITS.STEER_ERROR_MAX), -LIMITS.STEER_MAX)
+def apply_dist_to_meas_limits(val, val_last, val_meas,
+                              STEER_DELTA_UP, STEER_DELTA_DOWN,
+                              STEER_ERROR_MAX, STEER_MAX):
+  # limits due to comparison of commanded val VS measured val (torque/angle/curvature)
+  max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX)
+  min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX)
 
-  apply_torque = clip(apply_torque, min_lim, max_lim)
+  val = clip(val, min_lim, max_lim)
 
-  # slow rate if steer torque increases in magnitude
-  if apply_torque_last > 0:
-    apply_torque = clip(apply_torque,
-                        max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
-                        apply_torque_last + LIMITS.STEER_DELTA_UP)
+  # slow rate if val increases in magnitude
+  if val_last > 0:
+    val = clip(val,
+               max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP),
+               val_last + STEER_DELTA_UP)
   else:
-    apply_torque = clip(apply_torque,
-                        apply_torque_last - LIMITS.STEER_DELTA_UP,
-                        min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
+    val = clip(val,
+               val_last - STEER_DELTA_UP,
+               min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP))
 
-  return int(round(float(apply_torque)))
+  return float(val)
+
+
+def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
+  return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque,
+                                             LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN,
+                                             LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX)))
 
 
 def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 20a44bce21..b418179e0e 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,6 +1,6 @@
 from opendbc.can.packer import CANPacker
 from common.realtime import DT_CTRL
-from selfdrive.car import apply_toyota_steer_torque_limits
+from selfdrive.car import apply_meas_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
 from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 
@@ -67,7 +67,7 @@ class CarController:
 
       # steer torque
       new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
-      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
+      apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
       if not lkas_active or not lkas_control_bit:
         apply_steer = 0
       self.apply_steer_last = apply_steer
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 42eaf7e88a..2a996c0ff6 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -3,7 +3,7 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.gm import gmcan
 from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 
@@ -73,7 +73,7 @@ class CarController:
 
       if CC.latActive:
         new_steer = int(round(actuators.steer * self.params.STEER_MAX))
-        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
+        apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
       else:
         apply_steer = 0
 
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 1e6f78af20..2572038492 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -3,7 +3,7 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import clip
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 
@@ -60,7 +60,7 @@ class CarController:
 
     # steering torque
     new_steer = int(round(actuators.steer * self.params.STEER_MAX))
-    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
+    apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
 
     if not CC.latActive:
       apply_steer = 0
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 524a02a370..cb401a8abd 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -1,6 +1,6 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.mazda import mazdacan
 from selfdrive.car.mazda.values import CarControllerParams, Buttons
 
@@ -23,8 +23,8 @@ class CarController:
     if CC.latActive:
       # calculate steer and also set limits due to driver torque
       new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
-      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
-                                                  CS.out.steeringTorque, CarControllerParams)
+      apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last,
+                                                     CS.out.steeringTorque, CarControllerParams)
 
     if CC.cruiseControl.cancel:
       # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 24d85877d7..a6dbf4a39e 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,5 +1,5 @@
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.subaru import subarucan
 from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams
 
@@ -34,7 +34,7 @@ class CarController:
       # limits due to driver torque
 
       new_steer = int(round(apply_steer))
-      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
+      apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
 
       if not CC.latActive:
         apply_steer = 0
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 2e0d7009c8..8004ea9dca 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,6 +1,6 @@
 from cereal import car
 from common.numpy_fast import clip, interp
-from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_interceptor_command, make_can_msg
+from selfdrive.car import apply_meas_steer_torque_limits, create_gas_interceptor_command, make_can_msg
 from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
                                            create_accel_command, create_acc_cancel_command, \
                                            create_fcw_command, create_lta_steer_command
@@ -60,7 +60,7 @@ class CarController:
 
     # steer torque
     new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
-    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
+    apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
 
     # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault
     if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE:
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 5d00b5a52f..c17b632450 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -3,7 +3,7 @@ from opendbc.can.packer import CANPacker
 from common.numpy_fast import clip
 from common.conversions import Conversions as CV
 from common.realtime import DT_CTRL
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.volkswagen import mqbcan, pqcan
 from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams
 
@@ -44,7 +44,7 @@ class CarController:
 
       if CC.latActive:
         new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
-        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
+        apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
         if apply_steer == 0:
           hcaEnabled = False
           self.hcaEnabledFrameCount = 0