A method for damping dependent scaling for reducing wheel imbalance in a steering system includes determining roadwheel speed energy using a roadwheel speed signal and determining that the roadwheel speed energy is greater than a predetermined energy threshold, and in response: adjusting the roadwheel speed signal; and computing a wheel imbalance reduction command using the adjusted roadwheel speed signal. The method also includes determining that the roadwheel speed energy is not greater than the predetermined energy threshold, and in response computing the wheel imbalance reduction command using the roadwheel speed signal. The method also includes computing a motor torque command using the wheel imbalance reduction command, the motor torque command used to generate a corresponding amount of torque at a handwheel.