diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 9f3e09cfe7..783307023d 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -61,19 +61,10 @@ class CarInterface(CarInterfaceBase):
           ret.steerActuatorDelay = 0.25
           CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
 
-    elif candidate in (CAR.RAV4, CAR.RAV4H):
-      stop_and_go = True if (candidate in CAR.RAV4H) else False
-
     elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2):
       stop_and_go = True
       ret.wheelSpeedFactor = 1.035
 
-    elif candidate in (CAR.CHR, CAR.CHR_TSS2):
-      stop_and_go = True
-
-    elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2):
-      stop_and_go = True
-
     elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2):
       # starting from 2019, all Avalon variants have stop and go
       # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
@@ -96,13 +87,8 @@ class CarInterface(CarInterfaceBase):
           ret.lateralTuning.pid.kf = 0.00004
           break
 
-    elif candidate == CAR.SIENNA:
-      stop_and_go = True
-
-    elif candidate == CAR.LEXUS_CTH:
-      stop_and_go = True
-
-    elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
+    elif candidate in (CAR.RAV4H, CAR.CHR, CAR.CAMRY, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX):
+      # TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars?
       stop_and_go = True
 
     # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU.