diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 8c0fd7c90d..894f45b6c6 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -75,6 +75,10 @@ interface_names = _get_interface_names()
 interfaces = load_interfaces(interface_names)
 
 
+def only_toyota_left(candidate_cars):
+  return all(("TOYOTA" in c or "LEXUS" in c) for c in candidate_cars) and len(candidate_cars) > 0
+
+
 # **** for use live only ****
 def fingerprint(logcan, sendcan):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
@@ -134,13 +138,19 @@ def fingerprint(logcan, sendcan):
         finger[can.src][can.address] = len(can.dat)
 
       for b in candidate_cars:
+        # Include bus 2 for toyotas to disambiguate cars using camera messages
+        # (ideally should be done for all cars but we can't for Honda Bosch)
         # Ignore extended messages and VIN query response.
-        if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
+        if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
+           can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
           candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
 
     # if we only have one car choice and the time since we got our first
     # message has elapsed, exit
     for b in candidate_cars:
+      # Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
+      if only_toyota_left(candidate_cars[b]):
+        frame_fingerprint = 100  # 1s
       if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
         # fingerprint done
         car_fingerprint = candidate_cars[b][0]