diff --git a/docs/CARS.md b/docs/CARS.md
index 45873c4924..c48698b84f 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -124,7 +124,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
-|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
+|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota|
|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|Toyota||
|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[](##)|[](##)|Toyota||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Toyota||
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 1b30fe43e9..6cedef414b 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -162,7 +162,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+"),
CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"),
- CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
+ CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19"),
CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
@@ -1592,12 +1592,14 @@ FW_VERSIONS = {
b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
b'\x01896633T38000\x00\x00\x00\x00',
+ b'\x01896633T58000\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152633423\x00\x00\x00\x00\x00\x00',
b'F152633680\x00\x00\x00\x00\x00\x00',
b'F152633681\x00\x00\x00\x00\x00\x00',
b'F152633F50\x00\x00\x00\x00\x00\x00',
+ b'F152633F51\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'8965B33252\x00\x00\x00\x00\x00\x00',
@@ -1613,6 +1615,7 @@ FW_VERSIONS = {
b'\x018821F6201300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
+ b'\x028646F0610000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F3303100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',