diff --git a/docs/CARS.md b/docs/CARS.md
index df0dda742c..79e176d4d4 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -138,7 +138,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
 |Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 9975e495dd..6ac2637fa2 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -63,7 +63,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   ],
   CAR.IMPREZA_2020: [
     SubaruCarInfo("Subaru Impreza 2020-22"),
-    SubaruCarInfo("Subaru Crosstrek 2020-21"),
+    SubaruCarInfo("Subaru Crosstrek 2020-23"),
     SubaruCarInfo("Subaru XV 2020-21"),
   ],
   CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
@@ -235,12 +235,14 @@ FW_VERSIONS = {
       b'\x9a\xc0\000\000',
       b'\n\xc0\004\000',
       b'\x9a\xc0\x04\x00',
+      b'\n\xc0\x04\x01',
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\000\000eb\037@ \"',
       b'\000\000e\x8f\037@ )',
       b'\x00\x00eq\x1f@ "',
       b'\x00\x00eq\x00\x00\x00\x00',
+      b'\x00\x00e\x8f\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xca!ap\a',
@@ -250,6 +252,7 @@ FW_VERSIONS = {
       b'\xcc!fp\a',
       b'\xca!f@\x07',
       b'\xca!fp\x07',
+      b'\xf3"f@\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe6\xf5\004\000\000',
@@ -258,6 +261,7 @@ FW_VERSIONS = {
       b'\xe7\xf5D0\000',
       b'\xf1\x00\xd7\x10@',
       b'\xe6\xf5D0\x00',
+      b'\xe9\xf6F0\x00',
     ],
   },
   CAR.FORESTER: {