diff --git a/opendbc/car/subaru/values.py b/opendbc/car/subaru/values.py
index a702d394..0d1ac878 100644
--- a/opendbc/car/subaru/values.py
+++ b/opendbc/car/subaru/values.py
@@ -19,10 +19,9 @@ class CarControllerParams:
     self.STEER_DRIVER_FACTOR = 1       # from dbc
 
     if CP.flags & SubaruFlags.GLOBAL_GEN2:
-      # TODO: lower rate limits, this reaches min/max in 0.5s which negatively affects tuning
-      self.STEER_MAX = 1000
-      self.STEER_DELTA_UP = 40
-      self.STEER_DELTA_DOWN = 40
+      self.STEER_MAX = 1500
+      self.STEER_DELTA_UP = 35
+      self.STEER_DELTA_DOWN = 50
     elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
       self.STEER_DELTA_UP = 35
       self.STEER_MAX = 1439
diff --git a/opendbc/safety/modes/subaru.h b/opendbc/safety/modes/subaru.h
index 1bbeaaba..46f302a0 100644
--- a/opendbc/safety/modes/subaru.h
+++ b/opendbc/safety/modes/subaru.h
@@ -149,7 +149,7 @@ static void subaru_rx_hook(const CANPacket_t *msg) {
 
 static bool subaru_tx_hook(const CANPacket_t *msg) {
   const TorqueSteeringLimits SUBARU_STEERING_LIMITS      = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
-  const TorqueSteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);
+  const TorqueSteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1500, 35, 50);
 
   const LongitudinalLimits SUBARU_LONG_LIMITS = {
     .min_gas = 808,       // appears to be engine braking
diff --git a/opendbc/safety/tests/test_subaru.py b/opendbc/safety/tests/test_subaru.py
index 9eae7c86..6143a041 100755
--- a/opendbc/safety/tests/test_subaru.py
+++ b/opendbc/safety/tests/test_subaru.py
@@ -196,9 +196,9 @@ class TestSubaruGen2TorqueSafetyBase(TestSubaruTorqueSafetyBase):
   ALT_MAIN_BUS = SUBARU_ALT_BUS
   ALT_CAM_BUS = SUBARU_ALT_BUS
 
-  MAX_RATE_UP = 40
-  MAX_RATE_DOWN = 40
-  MAX_TORQUE_LOOKUP = [0], [1000]
+  MAX_RATE_UP = 35
+  MAX_RATE_DOWN = 50
+  MAX_TORQUE_LOOKUP = [0], [1500]
 
 
 class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase):