diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 84fe1b8b3a..8c8161f6ab 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -161,6 +161,12 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
       ret.lateralTuning.pid.kf = 0.00004
 
+      for fw in car_fw:
+        if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
+          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+          ret.lateralTuning.pid.kf = 0.00007818594
+          break
+
     elif candidate == CAR.RAV4H_TSS2:
       stop_and_go = True
       ret.safetyParam = 73
@@ -171,6 +177,12 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
       ret.lateralTuning.pid.kf = 0.00004
 
+      for fw in car_fw:
+        if fw.ecu == "eps" and fw.fwVersion == b"8965B42170\x00\x00\x00\x00\x00\x00":
+          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+          ret.lateralTuning.pid.kf = 0.00007818594
+          break
+
     elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
       stop_and_go = True
       ret.safetyParam = 73