diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 618d78ae05..53104d7d02 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -725,5 +725,5 @@ PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREG
 HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
 
 # Cars that temporarily fault when steering angle rate is greater than some threshold.
-# Appears to be all cars that started production after 2020
-STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020}
+# Appears to be all torque-based cars produced around 2019 - present
+STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}