diff --git a/README.md b/README.md
index 87f349de00..f137cca477 100644
--- a/README.md
+++ b/README.md
@@ -100,6 +100,7 @@ Supported Cars
 | Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2020                | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | UX Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Alphard 2020                  | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Avalon Hybrid 2019-21         | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 835ef9438f..073b0fc356 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -290,6 +290,16 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
       ret.lateralTuning.pid.kf = 0.00006
 
+    elif candidate == CAR.ALPHARD_TSS2:
+      stop_and_go = True
+      ret.safetyParam = 73
+      ret.wheelbase = 3.00
+      ret.steerRatio = 14.2
+      tire_stiffness_factor = 0.444
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]]
+      ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.lateralTuning.pid.kf = 0.00007818594
+
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 23d7b6587a..3898cc0197 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -57,6 +57,7 @@ class CAR:
   LEXUS_NX = "LEXUS NX 2018"
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
   MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
+  ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
 
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
@@ -1614,6 +1615,12 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F6201200\x00\x00\x00\x00',],
     (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F6201400\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',],
   },
+  CAR.ALPHARD_TSS2: {
+    (Ecu.engine, 0x7e0, None): [b'\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',],
+    (Ecu.eps, 0x7a1, None): [b'8965B58040\x00\x00\x00\x00\x00\x00',],
+    (Ecu.fwdRadar, 0x750, 0xf): [b'\x018821F3301400\x00\x00\x00\x00',],
+    (Ecu.fwdCamera, 0x750, 0x6d): [b'\x028646F5803200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',],
+  },
 }
 
 STEER_THRESHOLD = 100
@@ -1655,13 +1662,14 @@ DBC = {
   CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
   CAR.MIRAI: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
+  CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
 }
 
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = set([CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
                 CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
-                CAR.MIRAI, CAR.LEXUS_NX_TSS2])
+                CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2])
 
 NO_DSU_CAR = TSS2_CAR | set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH])
 
diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py
index fb453dbbb4..3bb8647407 100755
--- a/selfdrive/test/test_routes.py
+++ b/selfdrive/test/test_routes.py
@@ -88,6 +88,7 @@ routes = [
   TestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021),
   TestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
 
+  TestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
   TestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.AVALON),
   TestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.AVALON_2019),
   TestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.AVALONH_2019),