diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 1fda0cbe6c..99dcf1d3b3 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -24,6 +24,7 @@ class CarController:
     self.steer_rate_limited = False
 
     self.frames_above_rate_threshold = 0
+    self.predicted_steering_fault_prev = False
 
     self.packer = CANPacker(dbc_name)
     self.gas = 0
@@ -67,7 +68,7 @@ class CarController:
     # the value seems to describe how many frames the steering rate was above 100 deg/s, so
     # cut torque with some margin for the lower state
     # Only cut torque when steering angle and rate have opposite signs
-    predicted_steering_fault = self.frames_above_rate_threshold > 18 and (CS.steeringRateDeg * CS.steeringAngleDeg) < 0
+    predicted_steering_fault = self.frames_above_rate_threshold > 18  # and (CS.out.steeringRateDeg * CS.out.steeringAngleDeg) < 0
 
     # Cut steering while we're in a known fault state (2s) or about to be
     if not CC.latActive or CS.steer_state in (9, 25) or predicted_steering_fault:
@@ -99,6 +100,10 @@ class CarController:
     # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
     # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
     # on consecutive messages
+    if predicted_steering_fault and not self.predicted_steering_fault_prev:
+      apply_steer = 0
+      apply_steer_req = 0
+    self.predicted_steering_fault_prev = predicted_steering_fault
     can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, self.frame))
     if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
       can_sends.append(create_lta_steer_command(self.packer, 0, 0, self.frame // 2))