diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index b9d1dc0d43..c20434fb65 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -14,7 +14,7 @@ class CarState(CarStateBase):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"]
-    self.eps_torque_scale = EPS_SCALE.get(CP.carFingerprint, 73) / 100.
+    self.eps_torque_scale = EPS_SCALE[CP.carFingerprint] / 100.
 
     # On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
     # the signal is zeroed to where the steering angle is at start.
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 416fc7cb8c..f0c61eeb22 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -20,15 +20,12 @@ class CarInterface(CarInterfaceBase):
 
     ret.carName = "toyota"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
+    ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
 
     ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
     ret.steerLimitTimer = 0.4
-
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
 
-    # Most cars use this default safety param
-    ret.safetyConfigs[0].safetyParam = EPS_SCALE.get(candidate, 73)
-
     if candidate == CAR.PRIUS:
       stop_and_go = True
       ret.wheelbase = 2.70
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 497ff42ccd..cab16b72af 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1,3 +1,4 @@
+from collections import defaultdict
 from enum import IntFlag
 
 from cereal import car
@@ -1685,7 +1686,7 @@ DBC = {
 }
 
 # These cars have non-standard EPS torque scale factors. All others are 73
-EPS_SCALE = {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100}
+EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100})
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,