diff --git a/docs/CARS.md b/docs/CARS.md
index 30f3131c72..1f1d08cc04 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -37,6 +37,7 @@
 | Lexus     | NX 2018                       | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | NX 2020                       | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | NX Hybrid 2018-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
+| Lexus     | RC 2020                       | All               | Stock            | 22mph              | 0mph              |
 | Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2020-21                    | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | RX Hybrid 2016-19             | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 72cde0e537..fdbf5cc8d5 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -113,7 +113,7 @@ class CarController():
       lead = lead or CS.out.vEgo < 12.    # at low speed we always assume the lead is present do ACC can be engaged
 
       # Lexus IS uses a different cancellation message
-      if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
+      if pcm_cancel_cmd and CS.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
         can_sends.append(create_acc_cancel_command(self.packer))
       elif CS.CP.openpilotLongitudinalControl:
         can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index cacd5b7bed..1327cb36dc 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -79,7 +79,7 @@ class CarState(CarStateBase):
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
     ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in [1, 5]
 
-    if self.CP.carFingerprint == CAR.LEXUS_IS:
+    if self.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
       ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
     else:
@@ -93,7 +93,7 @@ class CarState(CarStateBase):
     # these cars are identified by an ACC_TYPE value of 2.
     # TODO: it is possible to avoid the lockout and gain stop and go if you
     # send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
-    if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint != CAR.LEXUS_IS) or \
+    if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in [CAR.LEXUS_IS, CAR.LEXUS_RC]) or \
        (self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
 
@@ -168,7 +168,7 @@ class CarState(CarStateBase):
       ("STEER_TORQUE_SENSOR", 50),
     ]
 
-    if CP.carFingerprint == CAR.LEXUS_IS:
+    if CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
       signals.append(("MAIN_ON", "DSU_CRUISE", 0))
       signals.append(("SET_SPEED", "DSU_CRUISE", 0))
       checks.append(("DSU_CRUISE", 5))
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index a1221ae8a4..0759c7bf95 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -186,6 +186,15 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
       set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
 
+    elif candidate == CAR.LEXUS_RC:
+      ret.safetyConfigs[0].safetyParam = 77
+      stop_and_go = False
+      ret.wheelbase = 2.73050
+      ret.steerRatio = 13.3
+      tire_stiffness_factor = 0.444
+      ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
+      set_lat_tune(ret.lateralTuning, LatTunes.PID_L)
+
     elif candidate == CAR.LEXUS_CTH:
       ret.safetyConfigs[0].safetyParam = 100
       stop_and_go = True
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 73198d925f..80db86a9f5 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -58,6 +58,7 @@ class CAR:
   LEXUS_NX = "LEXUS NX 2018"
   LEXUS_NXH = "LEXUS NX HYBRID 2018"
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
+  LEXUS_RC = "LEXUS RC 2020"
   LEXUS_RX = "LEXUS RX 2016"
   LEXUS_RXH = "LEXUS RX HYBRID 2017"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
@@ -804,10 +805,10 @@ FW_VERSIONS = {
       b'\x018966353M7100\x00\x00\x00\x00',
       b'\x018966353Q2000\x00\x00\x00\x00',
       b'\x018966353Q2300\x00\x00\x00\x00',
+      b'\x018966353Q4000\x00\x00\x00\x00',
       b'\x018966353R1100\x00\x00\x00\x00',
       b'\x018966353R7100\x00\x00\x00\x00',
       b'\x018966353R8100\x00\x00\x00\x00',
-      b'\x018966353Q4000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x0232480000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1358,6 +1359,26 @@ FW_VERSIONS = {
       b'8646F7801100\x00\x00\x00\x00',
     ],
   },
+  CAR.LEXUS_RC: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.esp, 0x7b0, None): [
+      b'F152624221\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881512409100\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B24081\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4702300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F2402200\x00\x00\x00\x00',
+    ],
+  },
   CAR.LEXUS_RX: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630E36200\x00\x00\x00\x00',
@@ -1558,6 +1579,7 @@ DBC = {
   CAR.RAV4: dbc_dict('toyota_rav4_2017_pt_generated', 'toyota_adas'),
   CAR.PRIUS: dbc_dict('toyota_prius_2017_pt_generated', 'toyota_adas'),
   CAR.COROLLA: dbc_dict('toyota_corolla_2017_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_RC: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX: dbc_dict('lexus_rx_350_2016_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RXH: dbc_dict('lexus_rx_hybrid_2017_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py
index 5344f8fd75..61f0adff74 100755
--- a/selfdrive/test/test_routes.py
+++ b/selfdrive/test/test_routes.py
@@ -122,6 +122,7 @@ routes = [
   TestRoute("25057fa6a5a63dfb|2020-03-04--08-44-23", TOYOTA.LEXUS_CTH),
   TestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2),
   TestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH),
+  TestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC),
   TestRoute("886fcd8408d570e9|2020-01-29--05-11-22", TOYOTA.LEXUS_RX),
   TestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX),
   TestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH),