diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index d960114f1b..b78af6e73f 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -37,6 +37,7 @@ class CarController(CarControllerBase):
     self.last_standstill = False
     self.standstill_req = False
     self.steer_rate_counter = 0
+    self.distance_button = 0
 
     self.packer = CANPacker(dbc_name)
     self.gas = 0
@@ -139,14 +140,22 @@ class CarController(CarControllerBase):
     if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
 
+      # Press distance button until we are at the correct bar length. The distance cannot be changed without cruise available
+      if self.frame % 6 == 0:
+        if CS.pcm_follow_distance_values.get(CS.pcm_follow_distance, "UNKNOWN") != "FAR" and CS.out.cruiseState.available:
+          self.distance_button = not self.distance_button
+        else:
+          self.distance_button = 0
+
       # Lexus IS uses a different cancellation message
       if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
         can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
       elif self.CP.openpilotLongitudinalControl:
-        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
+        can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert,
+                                                        self.distance_button))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
+        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False, self.distance_button))
 
     if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
       # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 166f6735a0..afcac98f41 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -43,6 +43,9 @@ class CarState(CarStateBase):
     self.prev_distance_button = 0
     self.distance_button = 0
 
+    self.pcm_follow_distance = 0
+    self.pcm_follow_distance_values = can_define.dv['PCM_CRUISE_2']['PCM_FOLLOW_DISTANCE']
+
     self.low_speed_lockout = False
     self.acc_type = 1
     self.lkas_hud = {}
@@ -166,13 +169,15 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint != CAR.PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
-    # distance button is wired to the ACC module (camera or radar)
-    self.prev_distance_button = self.distance_button
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
-      self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
+      self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
 
-    elif self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER:
-      self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
+      # distance button is wired to the ACC module (camera or radar)
+      self.prev_distance_button = self.distance_button
+      if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
+        self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+      else:
+        self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
 
     return ret
 
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index e14e3e53a0..1cc99b41b5 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -33,12 +33,12 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert):
+def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert, distance):
   # TODO: find the exact canceling bit that does not create a chime
   values = {
     "ACCEL_CMD": accel,
     "ACC_TYPE": acc_type,
-    "DISTANCE": 0,
+    "DISTANCE": distance,
     "MINI_CAR": lead,
     "PERMIT_BRAKING": 1,
     "RELEASE_STANDSTILL": not standstill_req,
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index e4f2542ea5..c18b0dfeda 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -680,6 +680,7 @@ class Controls:
     hudControl.speedVisible = self.enabled
     hudControl.lanesVisible = self.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
+    hudControl.distanceBars = self.sm['longitudinalPlan'].personality.raw + 1
 
     hudControl.rightLaneVisible = True
     hudControl.leftLaneVisible = True