diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
index c636b51742..ad2ed5fe32 100755
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+from hypothesis import given, settings, strategies as st
 import re
 from cereal import car
 import unittest
@@ -10,7 +11,7 @@ from selfdrive.car.fw_versions import build_fw_dict
 #                                          EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
 #                                          PLATFORM_CODE_ECUS, get_platform_codes
 from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR, FW_VERSIONS, FW_QUERY_CONFIG, EV_HYBRID_CAR, \
-                                        FW_PATTERN, FW_LEN_CODE, FW_PATTERN_V3, get_platform_codes
+                                        LONG_FW_PATTERN, FW_LEN_CODE, get_platform_codes  # FW_PATTERN_V3
 from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS
 
 Ecu = car.CarParams.Ecu
@@ -51,6 +52,13 @@ class TestToyotaInterfaces(unittest.TestCase):
 
 
 class TestToyotaFingerprint(unittest.TestCase):
+  # @settings(max_examples=100)
+  # @given(data=st.data())
+  # def test_platform_codes_fuzzy_fw(self, data):
+  #   fw_strategy = st.lists(st.binary())
+  #   fws = data.draw(fw_strategy)
+  #   get_platform_codes(fws)
+
   def test_fw_pattern(self):
     for car_model, ecus in FW_VERSIONS.items():
       # print()
@@ -60,7 +68,9 @@ class TestToyotaFingerprint(unittest.TestCase):
         for fw in fws:
 
           print('\ninput', fw)
-          get_platform_codes([fw])
+          ret = get_platform_codes([fw])
+          # self.assertTrue(len(ret))
+          print('ret', ret)
           continue
           match = FW_PATTERN.search(fw)
           length = FW_LEN_CODE.search(fw)
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index eeabbd9c06..9ab572f4cc 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -236,10 +236,12 @@ STATIC_DSU_MSGS = [
 ]
 
 SHORT_FW_PATTERN = re.compile(b'(?P<platform>[A-Z0-9]{4})(?P<version>[A-Z0-9]{4})')
-MED_PATTERN = re.compile(b'TODO')
-FW_PATTERN = re.compile(b'(?P<part>[0-9A-Z]{4})[0-9A-Z](?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
+MEDIUM_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<version>[A-Z0-9]{3})')
+LONG_FW_PATTERN = re.compile(b'(?P<part>[A-Z0-9]{5})(?P<platform>[A-Z0-9]{2})(?P<major_version>[A-Z0-9]{2})(?P<sub_version>[A-Z0-9]{3})')
+FW_LEN_CODE = re.compile(b'^[\x01-\x05]')  # 5 chunks max. max seen is 3 chunks, 16 bytes each
 
 
+import random
 def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]:
   # Returns unique, platform-specific identification codes for a set of versions
   codes = set()  # (code-Optional[part], date)
@@ -247,44 +249,74 @@ def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[by
     # FW versions returned from UDS queries can return multiple fields/chunks of data (different ECU calibrations, different data?)
     #  and are prefixed with a byte that describes how many chunks of data there are.
     # But FW returned from KWP requires querying of each sub-data id and does not have a length prefix.
-    has_n_chunks = fw[0] < 0xf  # max seen is 3 chunks, 16 bytes each
-    n_chunks = 1
-    print(f'{has_n_chunks=}')
-    if has_n_chunks:
-      n_chunks = fw[0]
+    # fw = bytearray(fw)
+    # fw[0] = random.randint(0, 20)
+    length_code = 1
+    length_code_match = FW_LEN_CODE.search(fw)
+    # has_n_chunks = fw[0] <= 0x5  # max seen is 3 chunks, 16 bytes each
+    # assert (length_code is not None) == bool(has_n_chunks), fw
+    # continue
+    # n_chunks = 1
+    # print(f'{has_n_chunks=}')
+    if length_code_match is not None:
+      # n_chunks = length_code.group()[0]  # fw[0]
+      length_code = length_code_match.group()[0]
       fw = fw[1:]
-      assert n_chunks * 16 == len(fw)
 
-    chunks = [fw[16 * i:16 * i + 16] for i in range(n_chunks)]
-    # chunks = [s for s in fw.split(b'\x00') if len(s)]
+    # fw length should be multiple of 16 bytes (per chunk, even if no length code), skip parsing if unexpected length
+    if length_code * 16 != len(fw):
+      continue
+
+    chunks = [fw[16 * i:16 * i + 16] for i in range(length_code)]
     chunks = [c.strip(b'\x00 ') for c in chunks]
+    # chunks = [s.strip(b'\x00 ') for s in fw.split(b'\x00') if len(s)]
+
+    # Ensure not all empty bytes
+    # TODO: needed since we use
+    if not len(chunks):
+      continue
+
+    # if chunks not in ([b'896634A13000', b''], [b'896634A23000', b'']):
+    #   assert chunks == chunks_new, (chunks, chunks_new)
+
     a = list(map(len, chunks))
     print(fw, chunks, a)
-    # assert len(set(a)) == 1
+    # assert len(set(a)) == 1, (a, fw)
     # only first is considered for now since second is commonly shared (TODO: understand that)
 
     first_chunk = chunks[0]
     # doesn't have a part encoded in version (OBD query?)
     # short_version = sum(b > 0xf for b in first_chunk) == 8
-    short_version = len(first_chunk) == 8
-    if short_version:
+    # short_version = len(first_chunk) == 8
+    if len(first_chunk) == 8:
+      # TODO: some short chunks have the part number in subsequent chunks
       print('short version')
       code_match = SHORT_FW_PATTERN.search(first_chunk)
       if code_match is not None:
-        code, version = code_match.groups()
-        print('platform code, version', code, version)
+        platform, version = code_match.groups()
+        print('platform code, version', platform, version)
+        codes.add((platform, version))
     elif len(first_chunk) == 10:
+      code_match = MEDIUM_FW_PATTERN.search(first_chunk)
+      if code_match is not None:
+        # TODO: platform is a loose term here
+        part, platform, version = code_match.groups()
+        codes.add((part + b'-' + platform, version))
+      print('not done', first_chunk)
       # not done
       pass
     elif len(first_chunk) == 12:
-      print(FW_PATTERN)
-      code_match = FW_PATTERN.search(first_chunk)
+      print(LONG_FW_PATTERN)
+      print('long, searching', first_chunk)
+      code_match = LONG_FW_PATTERN.search(first_chunk)
       if code_match is not None:
         print('got long match!')
+        part, platform, major_version, sub_version = code_match.groups()
         print(first_chunk, code_match, code_match.groups())
+        codes.add((part + b'-' + platform, major_version + b'-' + sub_version))
 
-    else:
-      assert False, f'invalid length: {len(first_chunk)}'
+    # else:
+    #   assert False, f'invalid length: {len(first_chunk)}'
 
 
     continue
@@ -405,8 +437,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
 
 # FW_PATTERN = re.compile(b'[0-9]{4}[0-9A-Z][0-9A-Z]')
 # FW_PATTERN2 = re.compile(br'(?<=\\x[0-9]{2})[0-9A-Z]{5}|^[0-9A-Z]{5}')
-FW_LEN_CODE = re.compile(b'^[\x00-\x0F]')
-FW_PATTERN_V3 = re.compile(b'(?P<length>^[\x00-\x0F])?(?P<part>[0-9A-Z]{4})')
+# FW_PATTERN_V3 = re.compile(b'(?P<length>^[\x00-\x0F])?(?P<part>[0-9A-Z]{4})')
 
 FW_VERSIONS = {
   CAR.AVALON: {