diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 0914d6f45d..954b98de14 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -29,7 +29,6 @@ class CarState(CarStateBase):
     self.low_speed_lockout = False
     self.acc_type = 1
     self.lkas_hud = {}
-    self.torque_sensor_angle_deg = 0
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
@@ -63,20 +62,20 @@ class CarState(CarStateBase):
     ret.standstill = ret.vEgoRaw == 0
 
     ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
-    self.torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
+    torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
 
     # On some cars, the angle measurement is non-zero while initializing
-    if abs(self.torque_sensor_angle_deg) > 1e-3 and not bool(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE_INITIALIZING"]):
+    if abs(torque_sensor_angle_deg) > 1e-3 and not bool(cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE_INITIALIZING"]):
       self.accurate_steer_angle_seen = True
 
     if self.accurate_steer_angle_seen:
       # Offset seems to be invalid for large steering angles
       if abs(ret.steeringAngleDeg) < 90 and cp.can_valid:
-        self.angle_offset.update(self.torque_sensor_angle_deg - ret.steeringAngleDeg)
+        self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg)
 
       if self.angle_offset.initialized:
         ret.steeringAngleOffsetDeg = self.angle_offset.x
-        ret.steeringAngleDeg = self.torque_sensor_angle_deg - self.angle_offset.x
+        ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x
 
     ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]