diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index caaf7c2e17..166f6735a0 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -167,10 +167,13 @@ class CarState(CarStateBase):
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
 
     # distance button is wired to the ACC module (camera or radar)
+    self.prev_distance_button = self.distance_button
     if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
-      self.prev_distance_button = self.distance_button
       self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
 
+    elif self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER:
+      self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
+
     return ret
 
   @staticmethod
@@ -221,6 +224,11 @@ class CarState(CarStateBase):
         ("PRE_COLLISION", 33),
       ]
 
+    if CP.flags & ToyotaFlags.SMART_DSU and not CP.flags & ToyotaFlags.RADAR_CAN_FILTER:
+      messages += [
+        ("SDSU", 100),
+      ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index bd982728a5..7ad9feed3d 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -49,6 +49,9 @@ class CarInterface(CarInterfaceBase):
     if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
       ret.flags |= ToyotaFlags.SMART_DSU.value
 
+    if 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR:
+      ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value
+
     # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
     ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
@@ -173,7 +176,7 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
+    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
       ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     # events
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index d9dc8b5eba..2be7ca1865 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -46,6 +46,7 @@ class ToyotaFlags(IntFlag):
   HYBRID = 1
   SMART_DSU = 2
   DISABLE_RADAR = 4
+  RADAR_CAN_FILTER = 1024
 
   # Static flags
   TSS2 = 8