diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 412dfaa378..124e44ccd7 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -70,7 +70,7 @@ FINGERPRINTS = {
   {
     57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 815: 8, 825: 4, 829: 5, 846: 8, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 892: 8, 918: 7, 927: 8, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1092: 1, 1108: 8, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
   },
-  # 2019 Civic Hatchback EX  
+  # 2019 Civic Hatchback EX
   {
     57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
   }],
@@ -159,7 +159,7 @@ FW_VERSIONS = {
   },
   CAR.ACCORD_15: {
     (Ecu.unknown, 0x18da10f1, None): [
-      b'37805-6A0-9620\x00\x00'
+      b'37805-6A0-9620\x00\x00',
       b'37805-6A0-A640\x00\x00',
       b'37805-6A0-A740\x00\x00',
       b'37805-6A0-A840\x00\x00',
@@ -386,6 +386,17 @@ FW_VERSIONS = {
       b'77959-TLA-A320\x00\x00',
     ],
   },
+  CAR.CRV_HYBRID: {
+    (Ecu.unknown, 0x18da28f1, None): [b'57114-TPA-G020\x00\x00'],
+    (Ecu.eps, 0x18da30f1, None): [b'39990-TPA-G030\x00\x00'],
+    (Ecu.unknown, 0x18daeff1, None): [b'38897-TMA-H110\x00\x00'],
+    (Ecu.unknown, 0x18da0bf1, None): [b'54008-TMB-H510\x00\x00'],
+    (Ecu.unknown, 0x18dab5f1, None): [b'36161-TPA-E050\x00\x00'],
+    (Ecu.unknown, 0x18da60f1, None): [b'78109-TPA-G520\x00\x00'],
+    (Ecu.unknown, 0x18da61f1, None): [b'78209-TLA-X010\x00\x00'],
+    (Ecu.unknown, 0x18dab0f1, None): [b'36802-TPA-E040\x00\x00'],
+    (Ecu.unknown, 0x18da53f1, None): [b'77959-TLA-G220\x00\x00'],
+  },
   CAR.ODYSSEY: {
     (Ecu.unknown, 0x18daeff1, None): [b'38897-THR-A010\x00\x00', b'38897-THR-A020\x00\x00'],
     (Ecu.unknown, 0x18da10f1, None): [
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 4f9a622635..57af899ced 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -466,6 +466,13 @@ FW_VERSIONS = {
       b'8646F0E01300\x00\x00\x00\x00',
     ],
   },
+  CAR.HIGHLANDERH: {
+    (Ecu.eps, 0x7a1, None): [b'8965B48160\x00\x00\x00\x00\x00\x00'],
+    (Ecu.esp, 0x7b0, None): [b'F152648541\x00\x00\x00\x00\x00\x00'],
+    (Ecu.engine, 0x7e0, None): [b'\x0230E40000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00'],
+    (Ecu.fwdRadar, 0x750, 0xf): [b'8821F4702100\x00\x00\x00\x00'],
+    (Ecu.fwdCamera, 0x750, 0x6d): [b'8646F0E01200\x00\x00\x00\x00'],
+  },
   CAR.LEXUS_IS: {
     (Ecu.engine, 0x700, None): [b'\x018966353Q2300\x00\x00\x00\x00'],
     (Ecu.esp, 0x7b0, None): [b'F152653330\x00\x00\x00\x00\x00\x00'],
@@ -684,6 +691,12 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x750, 0xf): [b'8821F4702300\x00\x00\x00\x00'],
     (Ecu.fwdCamera, 0x750, 0x6d): [b'8646F5301400\x00\x00\x00\x00'],
   },
+  CAR.SIENNA: {
+    (Ecu.engine, 0x700, None): [b'\x01896630832100\x00\x00\x00\x00'],
+    (Ecu.eps, 0x7a1, None): [b'8965B45070\x00\x00\x00\x00\x00\x00'],
+    (Ecu.fwdRadar, 0x750, 0xf): [b'8821F4702100\x00\x00\x00\x00'],
+    (Ecu.fwdCamera, 0x750, 0x6d): [b'8646F0801100\x00\x00\x00\x00'],
+  },
   CAR.LEXUS_RXH: {
     (Ecu.engine, 0x7e0, None): [
       b'\x02348Q4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -713,7 +726,7 @@ FW_VERSIONS = {
       b'8646F4802200\x00\x00\x00\x00',
       b'8646F4809000\x00\x00\x00\x00',
     ],
-  }
+  },
 }
 
 STEER_THRESHOLD = 100
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 0167f07a1a..82bd8299ca 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -7,6 +7,9 @@ from selfdrive.car.fw_versions import match_fw_to_car
 from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
 from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
 
+from selfdrive.car.toyota.values import FINGERPRINTS as TOYOTA_FINGERPRINTS
+from selfdrive.car.honda.values import FINGERPRINTS as HONDA_FINGERPRINTS
+
 
 if __name__ == "__main__":
   if len(sys.argv) < 2:
@@ -42,7 +45,7 @@ if __name__ == "__main__":
           dongles.append(dongle_id)
           live_fingerprint = msg.carParams.carFingerprint
 
-          if live_fingerprint not in list(TOYOTA_FW_VERSIONS.keys()) + list(HONDA_FW_VERSIONS.keys()):
+          if live_fingerprint not in list(TOYOTA_FINGERPRINTS.keys()) + list(HONDA_FINGERPRINTS.keys()):
             continue
 
           candidates = match_fw_to_car(car_fw)