diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 618c986d18..1efa23037f 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -55,7 +55,6 @@ class CarInfo:
   footnotes: Optional[List[Enum]] = None
   min_steer_speed: Optional[float] = None
   min_enable_speed: Optional[float] = None
-  good_torque: bool = False
   harness: Optional[Enum] = None
 
   def init(self, CP: car.CarParams, non_tested_cars: List[str], all_footnotes: Dict[Enum, int]):
@@ -82,10 +81,11 @@ class CarInfo:
       Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
       Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
       Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
-      Column.STEERING_TORQUE: Star.FULL if self.good_torque else Star.EMPTY,  # TODO: remove hardcoding and use maxLateralAccel
+      # Column.STEERING_TORQUE set below
       Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY,
     }
 
+    # Set steering torque star from max lateral acceleration
     if not math.isnan(CP.maxLateralAccel):
       if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD:
         self.row[Column.STEERING_TORQUE] = Star.FULL
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 645d2f523b..0717ed1fbe 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -89,7 +89,6 @@ class HyundaiCarInfo(CarInfo):
   # TODO: we can probably remove LKAS. LKAS is standard on many
   # HKG and for others, it's likely packaged together with SCC
   package: str = "SCC + LKAS"
-  good_torque: bool = True
 
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index f5d63418f1..09b9b7732b 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -40,8 +40,8 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
   CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"),
   CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"),
   CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"),
-  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021", good_torque=True),
-  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022", good_torque=True),
+  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021"),
+  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"),
 }
 
 
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 9badc3ca50..45358eb3a4 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -41,7 +41,7 @@ class SubaruCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
-  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All", good_torque=True),
+  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index c7a26257f3..43d923338e 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -99,7 +99,6 @@ class Footnote(Enum):
 class ToyotaCarInfo(CarInfo):
   package: str = "All"
   harness: Enum = Harness.toyota
-  good_torque: bool = True
 
 
 CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 0148a138a2..6e64f705b0 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -114,7 +114,6 @@ class Footnote(Enum):
 @dataclass
 class VWCarInfo(CarInfo):
   package: str = "Driver Assistance"
-  good_torque: bool = True
   harness: Enum = Harness.vw