diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 1c01703d7e..33e3fe118e 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -54,8 +54,7 @@ class CarController:
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
     self.steer_rate_limited = new_steer != apply_steer
 
-    # Cut steering while we're in a known fault state (2s)
-    if not CC.latActive or CS.steer_state in (9, 25):
+    if not CC.latActive:
       apply_steer = 0
       apply_steer_req = 0
     else:
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 54922ac2de..281d01026f 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -82,7 +82,10 @@ class CarState(CarStateBase):
     ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
     # we could use the override bit from dbc, but it's triggered at too high torque values
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] not in (1, 5)
+    # steer rate fault, goes to 21 or 25 for 1 frame, then 9 for ~2 seconds
+    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25)
+    # 17 is a fault from a prolonged high torque delta between cmd and user
+    ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17
 
     if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
@@ -120,8 +123,6 @@ class CarState(CarStateBase):
     ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
 
     ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
-    # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
-    self.steer_state = cp.vl["EPS_STATUS"]["LKA_STATE"]
 
     if self.CP.enableBsm:
       ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)