controlsd: Fix Toyota steer angle sensor race condition (#23747)

* fix steer angle race condition

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 3e915cf628

selfdrive/car/toyota/carstate.py

@@ -64,7 +64,7 @@ class CarState(CarStateBase):
 
     if self.accurate_steer_angle_seen:
       # Offset seems to be invalid for large steering angles
-      if abs(ret.steeringAngleDeg) < 90:
+      if abs(ret.steeringAngleDeg) < 90 and cp.can_valid:
         self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg)
 
       if self.angle_offset.initialized:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-3bc128c5b47e036021ccfaab9a9924d61eeb59e2
+0c4da879ace9c1517c2324b35da7ff05a4744dd9