diff --git a/cereal b/cereal
index 1a56b09a0d..0c34b6b3c8 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 1a56b09a0d76a8210157a98aed046147201242f6
+Subproject commit 0c34b6b3c8a092e77c9841ff0b95dbbcd20fa84e
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index e26b859a89..a74e29d620 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -186,7 +186,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   def test_fw_query_timing(self):
     tol = 0.1
-    total_ref_time = 5.2
+    total_ref_time = 5.5
     brand_ref_times = {
       1: {
         'body': 0.1,
@@ -198,7 +198,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'nissan': 0.9,
         'subaru': 0.1,
         'tesla': 0.2,
-        'toyota': 0.7,
+        'toyota': 1.0,
         'volkswagen': 0.2,
       },
       2: {
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index d53cc8b3b0..aac2429739 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -219,23 +219,24 @@ TOYOTA_VERSION_REQUEST_KWP = b'\x1a\x88\x01'
 TOYOTA_VERSION_RESPONSE_KWP = b'\x5a\x88\x01'
 
 FW_QUERY_CONFIG = FwQueryConfig(
+  # TODO: look at data to whitelist epb effectively
   requests=[
     Request(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb],
       bus=0,
     ),
     Request(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine],
+      whitelist_ecus=[Ecu.engine, Ecu.epb],
       bus=0,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps],
+      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps, Ecu.epb],
       bus=0,
     ),
   ],
@@ -244,7 +245,10 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
     # On some models, the engine can show on two different addresses
     Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC],
-  }
+  },
+  extra_ecus=[
+    (Ecu.epb, 0x750, 0x2c),  # Electronic Parking Brake
+  ],
 )
 
 FW_VERSIONS = {