diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index f2d8a4a7bc..354d10a90e 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -102,11 +102,6 @@ class CarController(CarControllerBase):
     # *** gas and brake ***
     pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
 
-    # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
-    # than CS.cruiseState.enabled. confirm they're not meaningfully different
-    if not CC.enabled and CS.pcm_acc_status:
-      pcm_cancel_cmd = 1
-
     # on entering standstill, send standstill request
     if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR):
       self.standstill_req = True