diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index df555abf46..d73460ef32 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -64,7 +64,7 @@ class CarState(CarStateBase):
 
     if self.accurate_steer_angle_seen:
       # Offset seems to be invalid for large steering angles
-      if abs(ret.steeringAngleDeg) < 90:
+      if abs(ret.steeringAngleDeg) < 90 and cp.can_valid:
         self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg)
 
       if self.angle_offset.initialized:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index f30368ac41..50a0c30f83 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-3bc128c5b47e036021ccfaab9a9924d61eeb59e2
\ No newline at end of file
+0c4da879ace9c1517c2324b35da7ff05a4744dd9
\ No newline at end of file