Ioniq 6 oscillating steering wheel at higher speeds

[limatango79]

Describe the bug

I drive a Hyundai Ioniq 6 2023 with HDA II and use Comma 3X with OP 0.9.6 and 0.9.7 master-ci.

At speeds up to 100 kph, the lateral control is relatively smooth, even if the system repeatedly corrects jerkily within a curve and steers back quite hard after the curve.

At speeds from 100 kph to 130 kph on the highway, the steering wheel starts to oscillate extremely. Sometimes it calms down on its own, sometimes I have to hold it firmly because otherwise it won't stop. I didn't test it at even higher speeds because it seemed dangerous to me.
It is noticeable that it oscillates on the straight, or after curves or lane changes.

Which car does this affect?

Hyundai Ioniq 6 2023 HDA II

Provide a route where the issue occurs

78e8c2388cf1ce49/00000000--09dfcd3706/0

openpilot version

0.9.6 and 0.9.7 master-ci

Additional info

No response