diff --git a/src/py/bbctrl/AuxAxis.py b/src/py/bbctrl/AuxAxis.py
index 907a1b9..7ff1a4b 100644
--- a/src/py/bbctrl/AuxAxis.py
+++ b/src/py/bbctrl/AuxAxis.py
@@ -41,12 +41,17 @@ DEFAULTS = {
     'home_dir':          '-',     # which direction is "toward limit" (host's view)
     'home_position_mm':  0.0,     # mm value to assign at home
     # ESP-side homing rates (steps/sec). Pushed via HOMECFG on connect.
-    'home_fast_sps':     4000,
-    'home_slow_sps':     400,
-    'home_backoff_steps': 200,
+    # Speeds tuned for a typical 25 steps/mm aux drive (so 1 step =
+    # 0.04 mm). With the limit-aware ESP firmware these values give
+    # a brisk seek (100 mm/s), enough backoff to clear the switch
+    # hysteresis (16 mm), and a slow re-engage (10 mm/s) that's
+    # accurate without being painfully slow on a longer axis.
+    'home_fast_sps':     2500,    # ≈ 100 mm/s @ 25 steps/mm
+    'home_slow_sps':     250,     # ≈  10 mm/s
+    'home_backoff_steps': 400,    # ≈  16 mm
     'home_maxtravel_steps': 200000,
-    'step_max_sps':      4000,
-    'step_accel_sps2':   16000,
+    'step_max_sps':      4000,    # ≈ 160 mm/s normal-move cap
+    'step_accel_sps2':   12000,
     'step_start_sps':    200,
     'limit_low':         True,
 }