diff --git a/panda/board/safety/safety_hyundai_canfd.h b/panda/board/safety/safety_hyundai_canfd.h
index 1a1acdc..e82dc60 100755
--- a/panda/board/safety/safety_hyundai_canfd.h
+++ b/panda/board/safety/safety_hyundai_canfd.h
@@ -1,11 +1,16 @@
 #include "safety_hyundai_common.h"
 
 const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
-  .max_steer = 270,
-  .max_rt_delta = 112,
+  // CLEARPILOT: bumped from comma defaults (270/2/3/112) by ~20% so this Tucson HDA2
+  // can hold modest curvature in place. Mirrors the rate-limit shape comma uses for
+  // its non-CAN-FD high-torque HKG default (384/3/7). Must stay in lockstep with
+  // STEER_MAX in selfdrive/car/hyundai/values.py — panda enforces independently and
+  // will reject larger commands if openpilot's value exceeds this.
+  .max_steer = 324,
+  .max_rt_delta = 134,
   .max_rt_interval = 250000,
-  .max_rate_up = 2,
-  .max_rate_down = 3,
+  .max_rate_up = 3,
+  .max_rate_down = 5,
   .driver_torque_allowance = 250,
   .driver_torque_factor = 2,
   .type = TorqueDriverLimited,
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 915a581..53f1850 100755
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -27,12 +27,14 @@ class CarControllerParams:
     self.STEER_STEP = 1  # 100 Hz
 
     if CP.carFingerprint in CANFD_CAR:
-      self.STEER_MAX = 270
+      # CLEARPILOT: bumped from comma defaults (270/2/3) by ~20% — must stay in
+      # lockstep with HYUNDAI_CANFD_STEERING_LIMITS in panda/board/safety/safety_hyundai_canfd.h.
+      self.STEER_MAX = 324
       self.STEER_DRIVER_ALLOWANCE = 250
       self.STEER_DRIVER_MULTIPLIER = 2
       self.STEER_THRESHOLD = 250
-      self.STEER_DELTA_UP = 2
-      self.STEER_DELTA_DOWN = 3
+      self.STEER_DELTA_UP = 3
+      self.STEER_DELTA_DOWN = 5
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.