diff --git a/.github/workflows/stale.yml b/.github/workflows/stale.yml
index 30051b466b..34a7f7aed0 100644
--- a/.github/workflows/stale.yml
+++ b/.github/workflows/stale.yml
@@ -5,8 +5,8 @@ on:
   workflow_dispatch:
 
 env:
-  DAYS_BEFORE_PR_CLOSE: 2
-  DAYS_BEFORE_PR_STALE: 9
+  DAYS_BEFORE_PR_CLOSE: 7
+  DAYS_BEFORE_PR_STALE: 60
 
 jobs:
   stale:
diff --git a/opendbc/car/hyundai/fingerprints.py b/opendbc/car/hyundai/fingerprints.py
index 86c1d87bc5..256441f70c 100644
--- a/opendbc/car/hyundai/fingerprints.py
+++ b/opendbc/car/hyundai/fingerprints.py
@@ -637,6 +637,7 @@
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310/K4550 4OEDC104',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4000\x00 4OEDC104',
       b'\xf1\x00OS  MDPS C 1.00 1.04 56310K4050\x00 4OEDC104',
+      b'\xf1\x00OS  MDPS C 1.00 1.05 56310K4000\x00 4OEDC105',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00OSev SCC F-CUP      1.00 1.00 99110-K4000         ',
diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
index 70a83ac2bb..d56f318266 100644
--- a/opendbc/car/toyota/carcontroller.py
+++ b/opendbc/car/toyota/carcontroller.py
@@ -21,7 +21,7 @@
 
 # The up limit allows the brakes/gas to unwind quickly leaving a stop,
 # the down limit roughly matches the rate of ACCEL_NET, reducing PCM compensation windup
-ACCEL_WINDUP_LIMIT = 6.0 * DT_CTRL * 3  # m/s^2 / frame
+ACCEL_WINDUP_LIMIT = 4.0 * DT_CTRL * 3  # m/s^2 / frame
 ACCEL_WINDDOWN_LIMIT = -4.0 * DT_CTRL * 3  # m/s^2 / frame
 
 # LKA limits
@@ -360,9 +360,9 @@ def update(self, CC, CS, now_nanos):
         # Along with rate limiting positive jerk above, this greatly improves gas response time
         # Consider the net acceleration request that the PCM should be applying (pitch included)
         net_acceleration_request_min = min(actuators.accel + accel_due_to_pitch, net_acceleration_request)
-        if net_acceleration_request_min < 0.1 or stopping or not CC.longActive:
+        if net_acceleration_request_min < 0.2 or stopping or not CC.longActive:
           self.permit_braking = True
-        elif net_acceleration_request_min > 0.2:
+        elif net_acceleration_request_min > 0.3:
           self.permit_braking = False
 
         pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
diff --git a/opendbc/car/toyota/interface.py b/opendbc/car/toyota/interface.py
index e9f370c4de..0ae5eb16ef 100644
--- a/opendbc/car/toyota/interface.py
+++ b/opendbc/car/toyota/interface.py
@@ -61,7 +61,10 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
                                         and not (ret.flags & ToyotaFlags.SMART_DSU) and not (ret.flags & ToyotaFlags.DSU_BYPASS.value)
 
-    if Params().get_bool("AccelMethodSwitch") == True: # and candidate in (CAR.LEXUS_ES_TSS2,) and Ecu.hybrid not in found_ecus:
+    if Ecu.hybrid in found_ecus:
+      ret.flags |= ToyotaFlags.HYBRID.value
+
+    if Params().get_bool("AccelMethodSwitch") == True: # and candidate in (CAR.LEXUS_ES_TSS2,) and not (ret.flags & ToyotaFlags.HYBRID.value):
       ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value
 
     if candidate == CAR.TOYOTA_PRIUS:
@@ -154,9 +157,6 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     if not ret.openpilotLongitudinalControl:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
 
-    if Ecu.hybrid in found_ecus: #ハイブリッド判定法
-      ret.flags |= ToyotaFlags.HYBRID.value
-
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED
@@ -170,6 +170,10 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       ret.vEgoStarting = 0.25
       ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
 
+      # Hybrids have much quicker longitudinal actuator response
+      if ret.flags & ToyotaFlags.HYBRID.value:
+        ret.longitudinalActuatorDelay = 0.05
+
     return ret
 
   @staticmethod