diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 7c51c82cf8..cf587754af 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -53,7 +53,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.indi.timeConstantV = [1.0]
       ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
       ret.lateralTuning.indi.actuatorEffectivenessV = [1.0]
-      ret.steerActuatorDelay = 0.5
+      ret.steerActuatorDelay = 0.3
 
     elif candidate in [CAR.RAV4, CAR.RAV4H]:
       stop_and_go = True if (candidate in CAR.RAV4H) else False