diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index d3835d175b..8e180e2301 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -225,6 +225,8 @@ class CarInterface(CarInterfaceBase):
       tune.kiBP = [0., 5., 12., 20., 27.]
       tune.kiV = [.35, .23, .20, .17, .1]
       if candidate in TSS2_CAR:
+        ret.vEgoStopping = 0.25
+        ret.vEgoStarting = 0.25
         ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
     else:
       tune.kpBP = [0., 5., 35.]
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 64f1c5d472..57c5efd946 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-9876d91c77d3f7611398c43c4d79237cadb01c9c
+3523d88432d661ee0d1022e9a4774f3455c832b5