diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 02e4caa9d6..6c360fc2c7 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -110,6 +110,19 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
       ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
+      ret.lateralTuning.init('pid')
+      ret.lateralTuning.pid.kpV = [0.6]
+      ret.lateralTuning.pid.kiV = [0.1]
+      ret.lateralTuning.pid.kf = 0.00007818594
+
+      # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
+      # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
+      for fw in car_fw:
+        if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
+          ret.lateralTuning.pid.kpV = [0.15]
+          ret.lateralTuning.pid.kiV = [0.05]
+          ret.lateralTuning.pid.kf = 0.00004
+          break
 
     elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
       stop_and_go = True