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ABSTRACT We study the evolution of isolated self-interacting dark matter halos using spherically symmetric gravothermal equations allowing for the scattering cross-section to be velocity dependent. We focus our attention on the large class of models where the core is in the long mean free path regime for a substantial time. We find that the temporal evolution exhibits an approximate universality that allows velocity-dependent models to be mapped onto velocity-independent models in a well-defined way using the scattering time-scale computed when the halo achieves its minimum central density. We show how this time-scale depends on the halo parameters and an average cross-section computed at the central velocity dispersion when the central density is minimum. The predicted collapse time is fully defined by the scattering time-scale, with negligible variation due to the velocity dependence of the cross-section. We derive new self-similar solutions that provide an analytic understanding of the numerical results.