diff --git a/README.md b/README.md
index 9a11136ef7..1aca61708b 100644
--- a/README.md
+++ b/README.md
@@ -101,7 +101,7 @@ Supported Cars
 | Lexus     | RX Hybrid 2020                | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | UX Hybrid 2019-21             | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Avalon 2016-21                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Avalon Hybrid 2019            | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
+| Toyota    | Avalon Hybrid 2019-21         | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | Camry 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 8fb71f8e8d..afc22baaa8 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -285,15 +285,18 @@ FW_VERSIONS = {
   CAR.AVALONH_2019: {
     (Ecu.esp, 0x7b0, None): [
       b'F152641040\x00\x00\x00\x00\x00\x00',
+      b'F152641061\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
       b'881510704200\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B07010\x00\x00\x00\x00\x00\x00',
+      b'8965B41090\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
       b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702300\x00\x00\x00\x00',