diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 8e8e0292f2..71a595996d 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -141,9 +141,9 @@ class CarController(CarControllerBase):
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
 
       # Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup
-      if self.frame % 6 == 0:
-        if CS.pcm_follow_distance_values.get(CS.pcm_follow_distance, "UNKNOWN") != "FAR" and CS.out.cruiseState.enabled and \
-          self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
+      if self.frame % 6 == 0 and self.CP.openpilotLongitudinalControl:
+        desired_distance = 4 - hud_control.leadDistanceBars
+        if CS.out.cruiseState.enabled and CS.pcm_follow_distance != desired_distance:
           self.distance_button = not self.distance_button
         else:
           self.distance_button = 0
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 65fced80f4..5d99467f25 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -44,7 +44,6 @@ class CarState(CarStateBase):
     self.distance_button = 0
 
     self.pcm_follow_distance = 0
-    self.pcm_follow_distance_values = can_define.dv['PCM_CRUISE_2']['PCM_FOLLOW_DISTANCE']
 
     self.low_speed_lockout = False
     self.acc_type = 1
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index e4f2542ea5..29358cb7b6 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -680,6 +680,7 @@ class Controls:
     hudControl.speedVisible = self.enabled
     hudControl.lanesVisible = self.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
+    hudControl.leadDistanceBars = self.sm['longitudinalPlan'].personality.raw + 1
 
     hudControl.rightLaneVisible = True
     hudControl.leftLaneVisible = True
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 97646ce064..fe7d954a80 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-d53d44c21a89d7925d5ad16938e14794907f28b1
\ No newline at end of file
+653f68e6be4689dc9dce1a93cb726d37b9c588d3