diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index eb1f6703cd..e74513c176 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -26,7 +26,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate in RAM_DT:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
 
-    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    CarInterfaceBase.configure_torque_tune(candidate, ret)
     if candidate not in RAM_CARS:
       # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
       new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
diff --git a/selfdrive/car/data_structures.py b/selfdrive/car/data_structures.py
index bd740ca325..4417466227 100644
--- a/selfdrive/car/data_structures.py
+++ b/selfdrive/car/data_structures.py
@@ -98,10 +98,16 @@ class CarParams:
   tireStiffnessFront: float = auto_field()  # [N/rad] front tire coeff of stiff
   tireStiffnessRear: float = auto_field()  # [N/rad] rear tire coeff of stiff
 
-  longitudinalTuning: 'LongitudinalPIDTuning' = field(default_factory=lambda: CarParams.LongitudinalPIDTuning())
-  # lateralParams: LateralParams = auto_field()
+  longitudinalTuning: 'CarParams.LongitudinalPIDTuning' = field(default_factory=lambda: CarParams.LongitudinalPIDTuning())
+  lateralParams: 'CarParams.LateralParams' = field(default_factory=lambda: CarParams.LateralParams())
   lateralTuning: 'CarParams.LateralPIDTuning | CarParams.LateralTorqueTuning' = field(default_factory=lambda: CarParams.LateralPIDTuning())
 
+  @dataclass
+  @apply_auto_fields
+  class LateralParams:
+    torqueBP: list[int] = auto_field()
+    torqueV: list[int] = auto_field()
+
   @dataclass
   @apply_auto_fields
   class LateralPIDTuning:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 0124a2afdf..4fee31ead3 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -140,9 +140,9 @@ class CarInterface(CarInterfaceBase):
                       (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
-    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
+    ret.lateralTuning.kiBP, ret.lateralTuning.kpBP = [[0.], [0.]]
+    ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.00]]
+    ret.lateralTuning.kf = 0.00004   # full torque for 20 deg at 80mph means 0.00007818594
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
 
     ret.steerLimitTimer = 0.4
@@ -150,39 +150,39 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking
 
     if candidate == CAR.CHEVROLET_VOLT:
-      ret.lateralTuning.pid.kpBP = [0., 40.]
-      ret.lateralTuning.pid.kpV = [0., 0.17]
-      ret.lateralTuning.pid.kiBP = [0.]
-      ret.lateralTuning.pid.kiV = [0.]
-      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
+      ret.lateralTuning.kpBP = [0., 40.]
+      ret.lateralTuning.kpV = [0., 0.17]
+      ret.lateralTuning.kiBP = [0.]
+      ret.lateralTuning.kiV = [0.]
+      ret.lateralTuning.kf = 1.  # get_steer_feedforward_volt()
       ret.steerActuatorDelay = 0.2
 
     elif candidate == CAR.GMC_ACADIA:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
       ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      CarInterfaceBase.configure_torque_tune(candidate, ret)
 
     elif candidate == CAR.BUICK_LACROSSE:
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      CarInterfaceBase.configure_torque_tune(candidate, ret)
 
     elif candidate == CAR.CADILLAC_ESCALADE:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      CarInterfaceBase.configure_torque_tune(candidate, ret)
 
     elif candidate in (CAR.CADILLAC_ESCALADE_ESV, CAR.CADILLAC_ESCALADE_ESV_2019):
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
 
       if candidate == CAR.CADILLAC_ESCALADE_ESV:
-        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
-        ret.lateralTuning.pid.kf = 0.000045
+        ret.lateralTuning.kiBP, ret.lateralTuning.kpBP = [[10., 41.0], [10., 41.0]]
+        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.13, 0.24], [0.01, 0.02]]
+        ret.lateralTuning.kf = 0.000045
       else:
         ret.steerActuatorDelay = 0.2
-        CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+        CarInterfaceBase.configure_torque_tune(candidate, ret)
 
     elif candidate == CAR.CHEVROLET_BOLT_EUV:
       ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      CarInterfaceBase.configure_torque_tune(candidate, ret)
 
     elif candidate == CAR.CHEVROLET_SILVERADO:
       # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
@@ -190,14 +190,14 @@ class CarInterface(CarInterfaceBase):
       # TODO: check if this is split by EV/ICE with more platforms in the future
       if ret.openpilotLongitudinalControl:
         ret.minEnableSpeed = -1.
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      CarInterfaceBase.configure_torque_tune(candidate, ret)
 
     elif candidate == CAR.CHEVROLET_EQUINOX:
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      CarInterfaceBase.configure_torque_tune(candidate, ret)
 
     elif candidate == CAR.CHEVROLET_TRAILBLAZER:
       ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      CarInterfaceBase.configure_torque_tune(candidate, ret)
 
     return ret
 
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 3eefd8f862..8c99887251 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -2,6 +2,7 @@
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car.conversions import Conversions as CV
+from openpilot.selfdrive.car.data_structures import CarParams
 from openpilot.selfdrive.car.helpers import interp
 from openpilot.selfdrive.car.honda.hondacan import CanBus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
@@ -32,7 +33,7 @@ class CarInterface(CarInterfaceBase):
       return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
+  def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "honda"
 
     CAN = CanBus(ret, fingerprint)
@@ -68,8 +69,8 @@ class CarInterface(CarInterfaceBase):
     # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
     # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
     ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
-    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-    ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
+    ret.lateralTuning.kiBP, ret.lateralTuning.kpBP = [[0.], [0.]]
+    ret.lateralTuning.kf = 0.00006  # conservative feed-forward
 
     if candidate in HONDA_BOSCH:
       ret.longitudinalActuatorDelay = 0.5 # s
@@ -94,30 +95,30 @@ class CarInterface(CarInterfaceBase):
         # modified filter output values:  0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
         # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
+        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.3], [0.1]]
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
+        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[1.1], [0.33]]
 
     elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CIVIC_2022):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
+      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
 
     elif candidate == CAR.HONDA_ACCORD:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
       if eps_modified:
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
+        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.3], [0.09]]
       else:
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
+        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.ACURA_ILX:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
+      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
+      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.HONDA_CRV_5G:
@@ -126,43 +127,43 @@ class CarInterface(CarInterfaceBase):
         # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
         # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
+        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.21], [0.07]]
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
+        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.64], [0.192]]
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.HONDA_CRV_HYBRID:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
+      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.6], [0.18]]
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.HONDA_FIT:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
+      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.05]]
 
     elif candidate == CAR.HONDA_FREED:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
+      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.05]]
 
     elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
       if candidate == CAR.HONDA_HRV:
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
+        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.16], [0.025]]
         ret.wheelSpeedFactor = 1.025
       else:
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning
+        ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning
 
     elif candidate == CAR.ACURA_RDX:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
+      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.8], [0.24]]
 
     elif candidate == CAR.ACURA_RDX_3G:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
+      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.2], [0.06]]
 
     elif candidate in (CAR.HONDA_ODYSSEY, CAR.HONDA_ODYSSEY_CHN):
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
+      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.28], [0.08]]
       if candidate == CAR.HONDA_ODYSSEY_CHN:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
       else:
@@ -170,19 +171,19 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.HONDA_PILOT:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
+      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.HONDA_RIDGELINE:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
+      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.HONDA_INSIGHT:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
+      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.HONDA_E:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
+      ret.lateralTuning.kpV, ret.lateralTuning.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
 
     else:
       raise ValueError(f"unsupported car {candidate}")
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index c3590ebb2e..e610218570 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
-    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    CarInterfaceBase.configure_torque_tune(candidate, ret)
 
     if candidate == CAR.KIA_OPTIMA_G4_FL:
       ret.steerActuatorDelay = 0.2
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 5bab332117..4b56b26469 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -178,7 +178,7 @@ class CarInterfaceBase(ABC):
 
   # returns a set of default params to avoid repetition in car specific params
   @staticmethod
-  def get_std_params(candidate) -> CarParams:
+  def get_std_params(candidate: str) -> CarParams:
     ret = CarParams()
     ret.carFingerprint = candidate
 
@@ -189,6 +189,7 @@ class CarInterfaceBase(ABC):
     # standard ALC params
     ret.tireStiffnessFactor = 1.0
     ret.steerControlType = CarParams.SteerControlType.torque
+    ret.lateralParams = CarParams.LateralPIDTuning()
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
 
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index fcec6b18b0..43112bf5dc 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -21,7 +21,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8
 
-    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    CarInterfaceBase.configure_torque_tune(candidate, ret)
 
     if candidate not in (CAR.MAZDA_CX5_2022, ):
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 0ea71e812f..a6c49ae5d6 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -38,7 +38,7 @@ class CarInterface(CarInterfaceBase):
     if ret.flags & SubaruFlags.LKAS_ANGLE:
       ret.steerControlType = car.CarParams.SteerControlType.angle
     else:
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      CarInterfaceBase.configure_torque_tune(candidate, ret)
 
     if candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
       ret.steerActuatorDelay = 0.3  # end-to-end angle controller
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index fed3476f89..8b2a7d58d7 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -55,7 +55,7 @@ class CarInterface(CarInterfaceBase):
       for fw in car_fw:
         if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00':
           ret.steerActuatorDelay = 0.25
-          CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
+          CarInterfaceBase.configure_torque_tune(candidate, ret, steering_angle_deadzone_deg=0.2)
 
     elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
       stop_and_go = True
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 77e56875bf..1c11ab6746 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -72,14 +72,14 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     if ret.flags & VolkswagenFlags.PQ:
       ret.steerActuatorDelay = 0.2
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      CarInterfaceBase.configure_torque_tune(candidate, ret)
     else:
       ret.steerActuatorDelay = 0.1
-      ret.lateralTuning.pid.kpBP = [0.]
-      ret.lateralTuning.pid.kiBP = [0.]
-      ret.lateralTuning.pid.kf = 0.00006
-      ret.lateralTuning.pid.kpV = [0.6]
-      ret.lateralTuning.pid.kiV = [0.2]
+      ret.lateralTuning.kpBP = [0.]
+      ret.lateralTuning.kiBP = [0.]
+      ret.lateralTuning.kf = 0.00006
+      ret.lateralTuning.kpV = [0.6]
+      ret.lateralTuning.kiV = [0.2]
 
     # Global longitudinal tuning defaults, can be overridden per-vehicle