diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 2461fa9a26..e4ea0d30f9 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -95,6 +95,9 @@ class CarState(CarStateBase):
     ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
 
+    if self.CP.carFingerprint != CAR.MIRAI:
+      ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]
+
     ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
     ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
     # we could use the override bit from dbc, but it's triggered at too high torque values
@@ -180,6 +183,9 @@ class CarState(CarStateBase):
       ("STEER_TORQUE_SENSOR", 50),
     ]
 
+    if CP.carFingerprint != CAR.MIRAI:
+      messages.append(("ENGINE_RPM", 42))
+
     if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       messages.append(("DSU_CRUISE", 5))
       messages.append(("PCM_CRUISE_ALT", 1))
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index f49776ecc0..f5ad6407dd 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-21472c7936cbf3a3b585ddda8c08f1b814fdd6d3
\ No newline at end of file
+bd44a98bdb248f3c7b988f81ee130c2542b18ae7