diff --git a/docs/CARS.md b/docs/CARS.md
index 4dccb30285..fc39cac56d 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -22,10 +22,10 @@ A supported vehicle is one that just works when you install a comma three. All s
|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[](##)|[](##)|GM|
|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[](##)|[](##)|OBD-II|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|comma|body|All|openpilot|0 mph|0 mph|[](##)|[](##)|None|
|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai F|
@@ -88,7 +88,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai L|
|Hyundai|Tucson Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[](##)|[](##)|Hyundai E|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|FCA|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[](##)|[](##)|FCA|
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai E|
|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Hyundai P|
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index b9954273d6..1a95408d9d 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -23,14 +23,15 @@ class CarInterface(CarInterfaceBase):
elif candidate in RAM_DT:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
- ret.minSteerSpeed = 3.8 # m/s
- # Traditionally, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019 have newer firmware with higher steering speeds.
- # However, the dealer can reflash the EPS in older cars with newer firmware, raising their minimum steering speed with it.
+ # Dealers can flash newer EPS firmware on older Chrysler platforms, raising their minimum steering speed.
+ # TODO: allow these cars to steer down to 13 m/s if already engaged.
+ ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged
if candidate not in RAM_CARS:
for fw in car_fw:
- if fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841":
- # TODO: allow these cars to steer down to 13 m/s if already engaged.
- ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
+ # Some older EPS firmware allow steering down to ~9 mph.
+ # The 6841 prefix is the oldest FW seen on newer cars with the higher limit.
+ if fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6841":
+ ret.minSteerSpeed = 3.8 # m/s
# Chrysler
if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):