diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index e7a7f2a998..2bc03a0e69 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -71,7 +71,7 @@ class CarController:
       acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
       accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
       stopping = actuators.longControlState == LongCtrlState.stopping
-      starting = actuators.longControlState == LongCtrlState.starting
+      starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
       can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
                                                          acc_control, stopping, starting, CS.esp_hold_confirmation))
 
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index d5377453c1..0a6573217c 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -90,11 +90,9 @@ class CarInterface(CarInterfaceBase):
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
     ret.stoppingControl = True
-    ret.startingState = True
-    ret.startAccel = 1.0
     ret.stopAccel = -0.55
-    ret.vEgoStarting = 1.0
-    ret.vEgoStopping = 1.0
+    ret.vEgoStarting = 0.1
+    ret.vEgoStopping = 0.5
     ret.longitudinalTuning.kpV = [0.1]
     ret.longitudinalTuning.kiV = [0.0]
 
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
index 849d99592f..96e05aa8f0 100644
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -94,7 +94,7 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont
     acc_hold_type = 0
 
   acc_07_values = {
-    "ACC_Anhalteweg": 0.75 if stopping else 20.46,  # Distance to stop (stopping coordinator handles terminal roll-out)
+    "ACC_Anhalteweg": 0.3 if stopping else 20.46,  # Distance to stop (stopping coordinator handles terminal roll-out)
     "ACC_Freilauf_Info": 2 if acc_enabled else 0,
     "ACC_Folgebeschl": 3.02,  # Not using secondary controller accel unless and until we understand its impact
     "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 559749be14..13baf9df40 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-ea96f935a7a16c53623c3b03e70c0fbfa6b249e7
+94d2c0b18c2829b487fd23f079b08e9e3c75f4b4
\ No newline at end of file