diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index c01086c8de..2ea67cbaa6 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -48,6 +48,11 @@ class CarInterface(CarInterfaceBase):
     if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
       ret.flags |= ToyotaFlags.SMART_DSU.value
 
+    # In TSS2 cars, the camera does long control
+    found_ecus = [fw.ecu for fw in car_fw]
+    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
+                                        and not (ret.flags & ToyotaFlags.SMART_DSU)
+
     if candidate == CAR.PRIUS:
       stop_and_go = True
       # Only give steer angle deadzone to for bad angle sensor prius
@@ -75,7 +80,7 @@ class CarInterface(CarInterfaceBase):
     elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2):
       # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU.
       #  For now, don't list stop and go functionality in the docs
-      stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value)
+      stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs)
 
     elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2):
       # starting from 2019, all Avalon variants have stop and go
@@ -121,11 +126,6 @@ class CarInterface(CarInterfaceBase):
     # TODO: make an adas dbc file for dsu-less models
     ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR)
 
-    # In TSS2 cars, the camera does long control
-    found_ecus = [fw.ecu for fw in car_fw]
-    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
-                                        and not (ret.flags & ToyotaFlags.SMART_DSU)
-
     # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
     # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
     use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)