diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 09c72a42db..d75573aec7 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -4,7 +4,7 @@ from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_intercept
 from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
                                            create_accel_command, create_acc_cancel_command, \
                                            create_fcw_command, create_lta_steer_command
-from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
+from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, \
                                         MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams
 from opendbc.can.packer import CANPacker
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -85,7 +85,7 @@ class CarController():
     # LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
     if frame % 2 == 0:
       can_sends.append(create_steer_command(self.packer, 0, 0, frame // 2))
-      can_sends.append(create_lta_steer_command(self.packer, self.torque_sensor_angle_deg, actuators.steeringAngleDeg, apply_steer_req, frame // 2))
+      can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, frame // 2))
 
     # we can spam can to cancel the system even if we are using lat only control
     if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 882425eb66..49ad84d898 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -10,7 +10,7 @@ def create_steer_command(packer, steer, steer_req, raw_cnt):
   return packer.make_can_msg("STEERING_LKA", 0, values)
 
 
-def create_lta_steer_command(packer, torque_steer, steer, steer_req, raw_cnt):
+def create_lta_steer_command(packer, steer, steer_req, raw_cnt):
   """Creates a CAN message for the Toyota LTA Steer Command."""
 
   values = {
@@ -20,7 +20,7 @@ def create_lta_steer_command(packer, torque_steer, steer, steer_req, raw_cnt):
     "PERCENTAGE": 100,
     "SETME_X64": 0x64,
     "ANGLE": steer,  # Rate limit? Lower values seeem to work better, but needs more testing
-    "STEER_ANGLE_CMD": torque_steer,  # actually a copy of ["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]?
+    "STEER_ANGLE_CMD": steer,
     "STEER_REQUEST": steer_req,
     "STEER_REQUEST_2": steer_req,
     "BIT": 0,