diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index e5bec76bbf..dc4def327a 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -168,6 +168,7 @@ routes = [
   CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.AVALON_TSS2),
   CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.AVALONH_TSS2),
   CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.CAMRY),
+  CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.CAMRY),  # openpilot longitudinal, with radar CAN filter
   CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.CAMRY_TSS2),
   CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.CAMRYH_TSS2),
   CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.CAMRYH),
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 101e446e9c..d6f428ab1d 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -204,7 +204,8 @@ class CarInterface(CarInterfaceBase):
     ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
 
     # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
-    if 0x2FF in fingerprint[0]:
+    # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
+    if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
       ret.flags |= ToyotaFlags.SMART_DSU.value
 
     # No radar dbc for cars without DSU which are not TSS 2.0
@@ -218,13 +219,14 @@ class CarInterface(CarInterfaceBase):
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
 
     # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
-    # since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle
+    # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
     use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
-    if candidate in RADAR_ACC_CAR:
+    if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
       ret.experimentalLongitudinalAvailable = use_sdsu
 
       if not use_sdsu:
-        if experimental_long and False:  # TODO: disabling radar isn't supported yet
+        # Disabling radar is only supported on TSS2 radar-ACC cars
+        if experimental_long and candidate in RADAR_ACC_CAR and False:  # TODO: disabling radar isn't supported yet
           ret.flags |= ToyotaFlags.DISABLE_RADAR.value
       else:
         use_sdsu = use_sdsu and experimental_long
@@ -236,6 +238,7 @@ class CarInterface(CarInterfaceBase):
     # openpilot longitudinal behind experimental long toggle:
     #  - TSS2 radar ACC cars w/ smartDSU installed
     #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
+    #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
     ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR