diff --git a/opendbc b/opendbc
index ed3af3da1b..5b0c73977f 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit ed3af3da1b7d52aed910f22cc5540e31f92ba254
+Subproject commit 5b0c73977f1428700d0344d52874a90a4c5168fb
diff --git a/panda b/panda
index 892ca5a0f1..ea78657bef 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 892ca5a0f19c07a4786373e360027ab6ec57f723
+Subproject commit ea78657bef236c6a74b44549e541caf1d7fee618
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 0fff0fcf6b..badfd33e0b 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -88,15 +88,15 @@ class CarController:
     # STEERING_LTA does not seem to allow more rate by sending faster, and may wind up easier
     if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
       lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle
-      # cut steering torque with SETME_X64 when either EPS torque or driver torque is above
+      # cut steering torque with TORQUE_WIND_DOWN when either EPS torque or driver torque is above
       # the threshold, to limit max lateral acceleration and for driver torque blending respectively.
       full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and
                                abs(CS.out.steeringTorque) < MAX_LTA_DRIVER_TORQUE_ALLOWANCE)
 
-      # SETME_X64 at 0 ramps down torque at roughly the max down rate of 1500 units/sec
-      setme_x64 = 100 if lta_active and full_torque_condition else 0
+      # TORQUE_WIND_DOWN at 0 ramps down torque at roughly the max down rate of 1500 units/sec
+      torque_wind_down = 100 if lta_active and full_torque_condition else 0
       can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.CP.steerControlType, self.last_angle,
-                                                          lta_active, self.frame // 2, setme_x64))
+                                                          lta_active, self.frame // 2, torque_wind_down))
 
     # *** gas and brake ***
     if self.CP.enableGasInterceptor and CC.longActive:
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 9c0b0643d6..e14e3e53a0 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -14,7 +14,7 @@ def create_steer_command(packer, steer, steer_req):
   return packer.make_can_msg("STEERING_LKA", 0, values)
 
 
-def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req, frame, setme_x64):
+def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req, frame, torque_wind_down):
   """Creates a CAN message for the Toyota LTA Steer Command."""
 
   values = {
@@ -23,7 +23,7 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
     # 1 for TSS 2.5 cars, 3 for TSS 2.0. Send based on whether we're using LTA for lateral control
     "SETME_X3": 1 if steer_control_type == SteerControlType.angle else 3,
     "PERCENTAGE": 100,
-    "SETME_X64": setme_x64,
+    "TORQUE_WIND_DOWN": torque_wind_down,
     "ANGLE": 0,
     "STEER_ANGLE_CMD": steer_angle,
     "STEER_REQUEST": steer_req,