diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index c7e4d4eb30..a1695733fa 100755
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -62,6 +62,7 @@ class Request:
 @dataclass
 class FwQueryConfig:
   requests: List[Request]
+  # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
   # Overrides and removes from essential ecus for specific models and ecus (exact matching)
   non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
   # Ecus added for data collection, not to be fingerprinted on
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index e945130e90..586b1a835e 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -230,7 +230,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     # FIXME: On some models, abs can sometimes be missing
     Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
     # On some models, the engine can show on two different addresses
-    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.LEXUS_IS],
+    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.LEXUS_IS, CAR.LEXUS_RC],
   }
 )
 
@@ -1738,22 +1738,29 @@ FW_VERSIONS = {
     ],
   },
   CAR.LEXUS_RC: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896632478200\x00\x00\x00\x00',
+    ],
     (Ecu.engine, 0x7e0, None): [
       b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
+      b'F152624150\x00\x00\x00\x00\x00\x00',
       b'F152624221\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
+      b'881512407000\x00\x00\x00\x00',
       b'881512409100\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B24081\x00\x00\x00\x00\x00\x00',
+      b'8965B24320\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F2401200\x00\x00\x00\x00',
       b'8646F2402200\x00\x00\x00\x00',
     ],
   },