diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 6f54aba6ed..3a89d655da 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -74,6 +74,7 @@ class CarState(CarStateBase):
     ret.standstill = ret.vEgoRaw == 0
 
     ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
+    ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
     torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
 
     # On some cars, the angle measurement is non-zero while initializing
@@ -81,16 +82,14 @@ class CarState(CarStateBase):
       self.accurate_steer_angle_seen = True
 
     if self.accurate_steer_angle_seen:
-      # Offset seems to be invalid for large steering angles
-      if abs(ret.steeringAngleDeg) < 90 and cp.can_valid:
+      # Offset seems to be invalid for large steering angles and high angle rates
+      if abs(ret.steeringAngleDeg) < 90 and abs(ret.steeringRateDeg) < 100 and cp.can_valid:
         self.angle_offset.update(torque_sensor_angle_deg - ret.steeringAngleDeg)
 
       if self.angle_offset.initialized:
         ret.steeringAngleOffsetDeg = self.angle_offset.x
         ret.steeringAngleDeg = torque_sensor_angle_deg - self.angle_offset.x
 
-    ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
-
     can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
     ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1