diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 9908ab93c062c5..115f32eddb8451 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -271,7 +271,7 @@ class CAR(Platforms):
   RAV4_PRIME = PlatformConfig(
     "TOYOTA RAV4 PRIME 2021",
     [],
-    CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533),
+    CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.6899, steerRatio=14.4, tireStiffnessFactor=0.5533),
     dbc_dict('toyota_rav4_prime_generated', 'toyota_tss2_adas'),
     flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC | ToyotaFlags.ALT_GAS_MSG,
   )