diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 6c1f3e9f41..264f9d2aa0 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -57,40 +57,15 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       set_lat_tune(ret.lateralTuning, LatTunes.PID_A)
 
-    elif candidate == CAR.LEXUS_RX:
-      stop_and_go = True
-      ret.wheelbase = 2.79
-      ret.steerRatio = 14.8
-      tire_stiffness_factor = 0.5533
-      ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_B)
-
-    elif candidate == CAR.LEXUS_RXH:
+    elif candidate in [CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2]:
       stop_and_go = True
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # 14.8 is spec end-to-end
-      tire_stiffness_factor = 0.444  # not optimized yet
+      ret.wheelSpeedFactor = 1.035
+      tire_stiffness_factor = 0.5533
       ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
       set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
-    elif candidate == CAR.LEXUS_RX_TSS2:
-      stop_and_go = True
-      ret.wheelbase = 2.79
-      ret.steerRatio = 14.8
-      tire_stiffness_factor = 0.5533  # not optimized yet
-      ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
-      ret.wheelSpeedFactor = 1.035
-
-    elif candidate == CAR.LEXUS_RXH_TSS2:
-      stop_and_go = True
-      ret.wheelbase = 2.79
-      ret.steerRatio = 16.0  # 14.8 is spec end-to-end
-      tire_stiffness_factor = 0.444  # not optimized yet
-      ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_E)
-      ret.wheelSpeedFactor = 1.035
-
     elif candidate in [CAR.CHR, CAR.CHRH]:
       stop_and_go = True
       ret.wheelbase = 2.63906
diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py
index 15c8bbfcc6..f26fc72a09 100644
--- a/selfdrive/car/toyota/tunes.py
+++ b/selfdrive/car/toyota/tunes.py
@@ -80,10 +80,6 @@ def set_lat_tune(tune, name):
       tune.pid.kpV = [0.2]
       tune.pid.kiV = [0.05]
       tune.pid.kf = 0.00003
-    elif name == LatTunes.PID_B:
-      tune.pid.kpV = [0.6]
-      tune.pid.kiV = [0.05]
-      tune.pid.kf = 0.00006
     elif name == LatTunes.PID_C:
       tune.pid.kpV = [0.6]
       tune.pid.kiV = [0.1]
@@ -92,10 +88,6 @@ def set_lat_tune(tune, name):
       tune.pid.kpV = [0.6]
       tune.pid.kiV = [0.1]
       tune.pid.kf = 0.00007818594
-    elif name == LatTunes.PID_E:
-      tune.pid.kpV = [0.6]
-      tune.pid.kiV = [0.15]
-      tune.pid.kf = 0.00007818594
     elif name == LatTunes.PID_F:
       tune.pid.kpV = [0.723]
       tune.pid.kiV = [0.0428]