diff --git a/docs/CARS.md b/docs/CARS.md
index 479c519dab..9b3322ac8e 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -68,7 +68,7 @@ How We Rate The Cars
|Toyota|RAV4 2019-21|All|
|||||
|Toyota|RAV4 Hybrid 2019-21|All||||||
-# Silver - 75 cars
+# Silver - 76 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -130,6 +130,7 @@ How We Rate The Cars
|Toyota|Highlander Hybrid 2017-19|All|
[3](#footnotes)|||||
|Toyota|Prius 2016-20|TSS-P|[3](#footnotes)|||||
|Toyota|Prius Prime 2017-20|All|[3](#footnotes)|||||
+|Toyota|RAV4 2022|All|
|||||
|Toyota|RAV4 Hybrid 2016-18|TSS-P|[3](#footnotes)|||||
|Toyota|RAV4 Hybrid 2022|All||||||
|Toyota|Sienna 2018-20|All|[3](#footnotes)|||||
@@ -148,7 +149,7 @@ How We Rate The Cars
|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance||||||
|Volkswagen|Touran 2017|Driver Assistance||||||
-# Bronze - 70 cars
+# Bronze - 69 cars
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|---|---|---|:---:|:---:|:---:|:---:|:---:|
@@ -214,7 +215,6 @@ How We Rate The Cars
|Toyota|Corolla 2017-19|All|[3](#footnotes)|||||
|Toyota|Prius v 2017|TSS-P|[3](#footnotes)|||||
|Toyota|RAV4 2016-18|TSS-P|[3](#footnotes)|||||
-|Toyota|RAV4 2022|All||||||
|Volkswagen|Arteon 2018, 2021[7](#footnotes)|Driver Assistance||||||
|Volkswagen|California 2021[7](#footnotes)|Driver Assistance||||||
|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance||||||
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 9ca9e4e11b..7969775a89 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -132,6 +132,10 @@ class CarInterface(CarInterfaceBase):
ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid
set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
+ # TODO: remove once there's data
+ if candidate == CAR.RAV4_TSS2_2022:
+ ret.maxLateralAccel = CarInterfaceBase.get_torque_params(CAR.RAV4H_TSS2_2022)['MAX_LAT_ACCEL_MEASURED']
+
# 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
# See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
for fw in car_fw: