try this

selfdrive/car/toyota/interface.py

@@ -247,8 +247,8 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret)
 
-    if ret.cruiseState.standstill and not ret.brakePressed:
+    # if ret.cruiseState.standstill and not ret.brakePressed:
-      events.add(EventName.resumeRequired)
+    #   events.add(EventName.resumeRequired)
     if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
       events.add(EventName.lowSpeedLockout)
     if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:

selfdrive/controls/controlsd.py

@@ -683,6 +683,8 @@ class Controls:
     speeds = self.sm['longitudinalPlan'].speeds
     if len(speeds):
       CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
+    if CC.cruiseControl.resume and not CS.brakePressed:
+      self.events.add(EventName.resumeRequired)
 
     hudControl = CC.hudControl
     hudControl.setSpeed = float(self.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS)