diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
new file mode 100755
index 0000000000..fa8dc78c50
--- /dev/null
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+from parameterized import parameterized
+import unittest
+
+from cereal import car
+from selfdrive.car.toyota.values import FW_VERSIONS, TSS2_CAR
+from selfdrive.car.toyota.interface import CarInterface
+
+
+class TestToyotaInterfaces(unittest.TestCase):
+  @parameterized.expand([(car,) for car in FW_VERSIONS.keys()])
+  def test_toyota_interfaces(self, car_name):
+    car_params = CarInterface.get_params(car_name)
+    assert car_params
+
+    if car_params.steerControlType == car.CarParams.SteerControlType.angle:
+      self.assertIn(car_name, TSS2_CAR)
+
+
+if __name__ == "__main__":
+  unittest.main()