diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 2739ebd8cc..7cfce55100 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -204,7 +204,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
       tire_stiffness_factor = 0.5
-      torque_params = CarInterfaceBase.get_torque_params(CAR.KIA_OPTIMA)
       set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
     elif candidate == CAR.KIA_STINGER:
       ret.lateralTuning.pid.kf = 0.00005
@@ -245,10 +244,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
                            get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)]
       tire_stiffness_factor = 0.65
-
-      ret.maxLateralAccel = 2.
-      # TODO override until there is more data
-      set_torque_tune(ret.lateralTuning, 2.0, 0.05)
+      set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'])
 
     # Genesis
     elif candidate == CAR.GENESIS_G70:
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index c6a64fe919..ced2ce8e61 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -119,12 +119,14 @@ class CarInterfaceBase(ABC):
     with open(TORQUE_PARAMS_PATH) as f:
       params = yaml.load(f, Loader=yaml.FullLoader)
     with open(TORQUE_OVERRIDE_PATH) as f:
-      params_override = yaml.load(f, Loader=yaml.FullLoader)
+      override = yaml.load(f, Loader=yaml.FullLoader)
 
-    assert len(set(sub.keys()) & set(params.keys()) & set(params_override.keys())) == 0
+    # Ensure no overlap
+    if sum([candidate in x for x in [sub, params, override]]) > 1:
+      raise RuntimeError(f'{candidate} is defined twice in torque config')
 
-    if candidate in params_override:
-      out = params_override[candidate]
+    if candidate in override:
+      out = override[candidate]
     elif candidate in params:
       out = params[candidate]
     else:
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index d0f4789775..75f2ab3033 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -54,9 +54,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 17.4
       tire_stiffness_factor = 0.5533
       ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
-      # TODO override until there is enough data
-      ret.maxLateralAccel = 1.8
-      torque_params = CarInterfaceBase.get_torque_params(CAR.PRIUS)
       set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg)
 
     elif candidate in (CAR.RAV4, CAR.RAV4H):
@@ -132,10 +129,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 
-      # TODO: remove once there's data
-      if candidate == CAR.RAV4_TSS2_2022:
-        ret.maxLateralAccel = CarInterfaceBase.get_torque_params(CAR.RAV4H_TSS2_2022)['MAX_LAT_ACCEL_MEASURED']
-
       # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
       # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
       for fw in car_fw: