diff --git a/docs/CARS.md b/docs/CARS.md
index 98a513c245..751d84e9a2 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -105,21 +105,21 @@ A supported vehicle is one that just works when you install a comma three. All s
|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai N|
|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[](##)|[](##)|Hyundai C|
|Kia|Telluride 2020|All|openpilot available|0 mph|0 mph|[](##)|[](##)|Hyundai H|
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|NX 2018-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|IS 2017-19|All|openpilot available|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|NX 2018-19|All|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|NX Hybrid 2018-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|NX Hybrid 2018-19|All|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX 2016|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RC 2017-20|All|openpilot available|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RX 2017-19|All|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Lexus|RX Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Lexus|RX Hybrid 2017-19|All|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[](##)|[](##)|Mazda|
@@ -150,11 +150,11 @@ A supported vehicle is one that just works when you install a comma three. All s
|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|VW|
|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon 2017-18|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon 2019-21|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon 2017-18|All|openpilot available[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon 2019-21|All|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Avalon Hybrid 2019-21|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
@@ -162,32 +162,32 @@ A supported vehicle is one that just works when you install a comma three. All s
|Toyota|Camry 2021-22|All|openpilot|0 mph[4](#footnotes)|0 mph|[](##)|[](##)|Toyota|
|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Corolla 2017-19|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Corolla 2017-19|All|openpilot available[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Corolla Cross (Non-US only) 2020-21|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Highlander 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Highlander 2017-19|All|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Highlander Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius 2016|Toyota Safety Sense P|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius 2017-20|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius 2017-20|All|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius Prime 2017-20|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius Prime 2017-20|All|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Prius v 2017|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 2017-18|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 2017-18|All|openpilot available[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|RAV4 Hybrid 2017-18|All|Stock[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[3](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[](##)|[](##)|Toyota|
-|Toyota|Sienna 2018-20|All|Stock[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
+|Toyota|Sienna 2018-20|All|openpilot available[3](#footnotes)|19 mph|0 mph|[](##)|[](##)|Toyota|
|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[](##)|[](##)|J533|
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index 068bc106df..542b5e5533 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -7,6 +7,7 @@ from enum import Enum
from natsort import natsorted
from typing import Dict, List
+from cereal import car
from common.basedir import BASEDIR
from selfdrive.car import gen_empty_fingerprint
from selfdrive.car.docs_definitions import CarInfo, Column
@@ -28,7 +29,7 @@ def get_all_car_info() -> List[CarInfo]:
all_car_info: List[CarInfo] = []
footnotes = get_all_footnotes()
for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
- CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint())
+ CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw()])
if CP.dashcamOnly or car_info is None:
continue
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 0d5acbfff4..af1d94fc50 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -189,7 +189,10 @@ class CarInterface(CarInterfaceBase):
smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control
found_ecus = [fw.ecu for fw in car_fw]
- ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu)
+ if (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu):
+ ret.experimentalLongitudinalAvailable = True
+ if experimental_long:
+ ret.enableDsu = True
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)