In automobiles, the SUV category of cars encounters almost all types of terrain, including Sand, Mud, Snow, Gravel, etc. Despite changes in terrain, today's customers want no deterioration in Ride, Handling, or steering performance feel, which poses challenges for automakers while calibrating the performance attributes of the vehicle. This technical paper would be focusing on extracting optimum steering performance over any terrain by providing versatile terrain specific EPAS logics through dedicated steering modes linked to the Terrain modes in addition to the Drive modes. Comfort, Normal & Sports are the usual Drive modes, wherein Comfort would have the maximum assist, Normal would have the optimum assist, and Sport would have a higher damping and weighted feel. Similarly, after a lot of subjective evaluations over different Terrains in India, suitable EPAS calibration modes are adapted. A BLAC motor has been selected for its precise control over assist torque and wider scope for tuning various control parameters for different steering modes. This BLAC motor integrated with the ECU takes vehicle speed and driver demand steering wheel angle as an input to provide assist torque accordingly. EPAS calibration involves tuning of multiple control parameters. The tuning methodology followed is to adjust, optimize and determine these parameters for various speeds and Steering angle inputs. Further, this technical paper explains the detailed tuning procedure followed to fine tune the steering feel and performance for each Drive and Terrain mode, how each control parameter affects the subjective feel of steering and in turn, the overall perception of the customer about the car.