diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 08b44d4ec4..241d64b078 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -77,18 +77,16 @@ class CarController:
       apply_steer_req = 0
       if self.frame % 2 == 0:
         # EPS uses the torque sensor angle to control with, offset to compensate
-        new_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
-        angle_diff = new_angle - self.last_angle
+        apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
 
         # If the EPS output torque is above the limit, force the requested
         # angle to lower at the max allowed rate
         angle_down_limit = interp(CS.out.vEgo, self.params.ANGLE_RATE_LIMIT_DOWN.speed_bp,
                                   self.params.ANGLE_RATE_LIMIT_DOWN.angle_v)
-        sign_of = 1 if new_angle >= 0 else -1
-        angle_diff = interp(abs(CS.out.steeringTorqueEps),
-                            [MAX_STEER_TORQUE, MAX_STEER_TORQUE + 100],
-                            [angle_diff, -angle_down_limit * sign_of])
-        apply_angle = self.last_angle + angle_diff
+        max_torque_angle_mod = interp(abs(CS.out.steeringTorqueEps),
+                                      [MAX_STEER_TORQUE, MAX_STEER_TORQUE + 100], [0, -angle_down_limit])
+        sign_of = 1 if apply_angle >= 0 else -1
+        apply_angle += max_torque_angle_mod * sign_of
 
         # Angular rate limit based on speed
         apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params)