diff --git a/docs/CARS.md b/docs/CARS.md
index f584890b0f..3462673aa5 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -18,7 +18,7 @@ How We Rate The Cars
- 
- Limited ability to make turns.
-# 192 Supported Cars
+# 196 Supported Cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
|---|---|---|:---:|:---:|:---:|:---:|
@@ -149,10 +149,11 @@ How We Rate The Cars
|Škoda|Superb 2015-18|Driver Assistance||
|||
|Toyota|Alphard 2019-20|All|||||
|Toyota|Alphard Hybrid 2021|All|||||
-|Toyota|Avalon 2016-18|TSS-P|
[3](#footnotes)||||
-|Toyota|Avalon 2019-21|TSS-P|[3](#footnotes)||||
+|Toyota|Avalon 2016|TSS-P|[3](#footnotes)||||
+|Toyota|Avalon 2017-18|All|[3](#footnotes)||||
+|Toyota|Avalon 2019-21|All|[3](#footnotes)||||
|Toyota|Avalon 2022|All|||||
-|Toyota|Avalon Hybrid 2019-21|TSS-P|[3](#footnotes)||||
+|Toyota|Avalon Hybrid 2019-21|All|[3](#footnotes)||||
|Toyota|Avalon Hybrid 2022|All|||||
|Toyota|C-HR 2017-21|All|||||
|Toyota|C-HR Hybrid 2017-19|All|||||
@@ -171,15 +172,18 @@ How We Rate The Cars
|Toyota|Highlander Hybrid 2017-19|All|[3](#footnotes)||||
|Toyota|Highlander Hybrid 2020-22|All|||||
|Toyota|Mirai 2021|All|||||
-|Toyota|Prius 2016-20|TSS-P|[3](#footnotes)||||
+|Toyota|Prius 2016|TSS-P|[3](#footnotes)||||
+|Toyota|Prius 2017-20|All|[3](#footnotes)||||
|Toyota|Prius 2021-22|All|||||
|Toyota|Prius Prime 2017-20|All|[3](#footnotes)||||
|Toyota|Prius Prime 2021-22|All|||||
|Toyota|Prius v 2017|TSS-P|[3](#footnotes)||||
-|Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)||||
+|Toyota|RAV4 2016|TSS-P|[3](#footnotes)||||
+|Toyota|RAV4 2017-18|All|[3](#footnotes)||||
|Toyota|RAV4 2019-21|All|||||
|Toyota|RAV4 2022|All|||||
-|Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)||||
+|Toyota|RAV4 Hybrid 2016|TSS-P|[3](#footnotes)||||
+|Toyota|RAV4 Hybrid 2017-18|All|[3](#footnotes)||||
|Toyota|RAV4 Hybrid 2019-21|All|||||
|Toyota|RAV4 Hybrid 2022|All|||||
|Toyota|Sienna 2018-20|All|[3](#footnotes)||||
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 2bbf951d78..46b43ba25c 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -105,9 +105,12 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
# Toyota
CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"),
CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
- CAR.AVALON: ToyotaCarInfo("Toyota Avalon 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
- CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", "TSS-P", footnotes=[Footnote.DSU]),
- CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", "TSS-P", footnotes=[Footnote.DSU]),
+ CAR.AVALON: [
+ ToyotaCarInfo("Toyota Avalon 2016", "TSS-P", footnotes=[Footnote.DSU]),
+ ToyotaCarInfo("Toyota Avalon 2017-18", footnotes=[Footnote.DSU]),
+ ],
+ CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", footnotes=[Footnote.DSU]),
+ CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", footnotes=[Footnote.DSU]),
CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"),
CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
@@ -132,7 +135,8 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]),
CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
CAR.PRIUS: [
- ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
+ ToyotaCarInfo("Toyota Prius 2016", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
+ ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
],
CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]),
@@ -140,8 +144,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
],
- CAR.RAV4: ToyotaCarInfo("Toyota RAV4 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
- CAR.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]),
+ CAR.RAV4: [
+ ToyotaCarInfo("Toyota RAV4 2016", "TSS-P", footnotes=[Footnote.DSU]),
+ ToyotaCarInfo("Toyota RAV4 2017-18", footnotes=[Footnote.DSU])
+ ],
+ CAR.RAV4H: [
+ ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "TSS-P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]),
+ ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU])
+ ],
CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),