Learner issue on Ram HD trucks

[realfast]

Describe the bug

I have been running a C3 on a Ram HD trucks since 10/2021. A large issue I have noticed is that the learner has a very hard time with these trucks. For example, the steering ratio is 15.61. However, I have seen the learner error from the liveParameters.steerRatio getting too high. As a test, I have raised the initial steer ratio to 25 and it errored once liveParameters.steerRatio crossed 50. Also, liveParameters.stiffnessFactor will continually learn down on a long trip. I have seen it get to 0.09 before if I disable the error. I am not positive about the exact cause of this. On several long turns, I have received the liveParameters.angleOffsetDeg error crossing over 10 as well. Attached is a log of the steering angle continuing to climb. The steering angle in the fork is set to 15.61.

Which car does this affect?

Ram HD

Provide a route where the issue occurs

https://useradmin.comma.ai/?onebox=8fb5eabf914632ae%7C2022-08-07--11-32-11

openpilot version

0.8.16

Additional info

No response

[adeebshihadeh]

Some more Ram 2500 + 3500 dongle IDs

3f86423299323072
6038cd2b8addb4dc
8fb5eabf914632ae
b226af344c3cedd7
e98b5d809abaf860
ebf413d369473f7a

[rob3210]

following