maybe

selfdrive/car/toyota/carcontroller.py

@@ -79,8 +79,9 @@ class CarController:
         # EPS uses the torque sensor angle to control with, offset to compensate
         apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
 
-        # If the EPS output torque is above the limit, force the requested
-        # angle to lower at the max allowed rate
+        # If the EPS output torque is above the limit, wind down the last
+        # requested angle until it's under the limit again
+        if abs(CS.out.steeringTorqueEps) > MAX_STEER_TORQUE:
           angle_down_limit = interp(CS.out.vEgo, self.params.ANGLE_RATE_LIMIT_DOWN.speed_bp,
                                     self.params.ANGLE_RATE_LIMIT_DOWN.angle_v)
           max_torque_angle_mod = interp(abs(CS.out.steeringTorqueEps),