diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index d75573aec7..c79a471465 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -85,7 +85,7 @@ class CarController():
     # LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
     if frame % 2 == 0:
       can_sends.append(create_steer_command(self.packer, 0, 0, frame // 2))
-      can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, frame // 2))
+      can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, CS.out.steeringTorque, apply_steer_req, frame // 2))
 
     # we can spam can to cancel the system even if we are using lat only control
     if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 49ad84d898..45f1264785 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -1,3 +1,5 @@
+from common.numpy_fast import interp
+
 def create_steer_command(packer, steer, steer_req, raw_cnt):
   """Creates a CAN message for the Toyota Steer Command."""
 
@@ -10,14 +12,15 @@ def create_steer_command(packer, steer, steer_req, raw_cnt):
   return packer.make_can_msg("STEERING_LKA", 0, values)
 
 
-def create_lta_steer_command(packer, steer, steer_req, raw_cnt):
+def create_lta_steer_command(packer, steer, driver_torque, steer_req, raw_cnt):
   """Creates a CAN message for the Toyota LTA Steer Command."""
 
+  percentage = interp(abs(driver_torque), [40, 100], [100, 0])
   values = {
     "COUNTER": raw_cnt + 128,
     "SETME_X1": 1,
     "SETME_X3": 3,
-    "PERCENTAGE": 100,
+    "PERCENTAGE": percentage,
     "SETME_X64": 0x64,
     "ANGLE": steer,  # Rate limit? Lower values seeem to work better, but needs more testing
     "STEER_ANGLE_CMD": steer,