diff --git a/opendbc_repo/opendbc/car/toyota/interface.py b/opendbc_repo/opendbc/car/toyota/interface.py
index cb4694514..09dc9679b 100644
--- a/opendbc_repo/opendbc/car/toyota/interface.py
+++ b/opendbc_repo/opendbc/car/toyota/interface.py
@@ -54,6 +54,9 @@ class CarInterface(CarInterfaceBase):
     # openpilot to send it. 0x2AA is sent by a similar device which intercepts
     # the radar instead of DSU on NO_DSU_CARs.
     use_sdsu = bool(0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR))
+    if use_sdsu:
+      # sDSU / radar filter hardware needs the Toyota safety long-filter TX set.
+      ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.LONG_FILTER.value
 
     # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
diff --git a/opendbc_repo/opendbc/car/toyota/values.py b/opendbc_repo/opendbc/car/toyota/values.py
index e2ee6519f..0ae977a21 100644
--- a/opendbc_repo/opendbc/car/toyota/values.py
+++ b/opendbc_repo/opendbc/car/toyota/values.py
@@ -56,6 +56,7 @@ class ToyotaSafetyFlags(IntFlag):
   STOCK_LONGITUDINAL = (2 << 8)
   LTA = (4 << 8)
   SECOC = (8 << 8)
+  LONG_FILTER = (16 << 8)
 
 
 class ToyotaFlags(IntFlag):
diff --git a/opendbc_repo/opendbc/safety/modes/toyota.h b/opendbc_repo/opendbc/safety/modes/toyota.h
index d084077d3..0b370759d 100644
--- a/opendbc_repo/opendbc/safety/modes/toyota.h
+++ b/opendbc_repo/opendbc/safety/modes/toyota.h
@@ -31,6 +31,17 @@
   /* ACC */                            \
   {0x343, 0, 8, .check_relay = true},  \
 
+#define TOYOTA_COMMON_LONG_TX_MSGS_FILTER \
+  TOYOTA_COMMON_TX_MSGS \
+  /* DSU bus 0 */ \
+  {0x283, 0, 7, .check_relay = false}, {0x2E6, 0, 8, .check_relay = false}, {0x2E7, 0, 8, .check_relay = false}, {0x33E, 0, 7, .check_relay = false}, \
+  {0x344, 0, 8, .check_relay = false}, {0x365, 0, 7, .check_relay = false}, {0x366, 0, 7, .check_relay = false}, {0x4CB, 0, 8, .check_relay = false}, \
+  /* DSU bus 1 */ \
+  {0x128, 1, 6, .check_relay = false}, {0x141, 1, 4, .check_relay = false}, {0x160, 1, 8, .check_relay = false}, {0x161, 1, 7, .check_relay = false}, \
+  {0x470, 1, 4, .check_relay = false}, \
+  /* PCS_HUD */                        \
+  {0x411, 0, 8, .check_relay = false}, \
+
 #define TOYOTA_COMMON_SECOC_LONG_TX_MSGS \
   TOYOTA_COMMON_SECOC_TX_MSGS \
   {0x343, 0, 8, .check_relay = true}, \
@@ -63,6 +74,7 @@ static bool toyota_alt_brake = false;
 static bool toyota_stock_longitudinal = false;
 static bool toyota_lta = false;
 static int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
+static bool toyota_long_filter = false;
 
 static uint32_t toyota_compute_checksum(const CANPacket_t *msg) {
   int len = GET_LEN(msg);
@@ -368,6 +380,10 @@ static safety_config toyota_init(uint16_t param) {
     TOYOTA_COMMON_LONG_TX_MSGS
   };
 
+  static const CanMsg TOYOTA_LONG_TX_MSGS_FILTER[] = {
+    TOYOTA_COMMON_LONG_TX_MSGS_FILTER
+  };
+
   static const CanMsg TOYOTA_SECOC_LONG_TX_MSGS[] = {
     TOYOTA_COMMON_SECOC_LONG_TX_MSGS
   };
@@ -379,6 +395,7 @@ static safety_config toyota_init(uint16_t param) {
   const uint32_t TOYOTA_PARAM_ALT_BRAKE = 1UL << TOYOTA_PARAM_OFFSET;
   const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2UL << TOYOTA_PARAM_OFFSET;
   const uint32_t TOYOTA_PARAM_LTA = 4UL << TOYOTA_PARAM_OFFSET;
+  const uint32_t TOYOTA_PARAM_LONG_FILTER = 16UL << TOYOTA_PARAM_OFFSET;
 
 #ifdef ALLOW_DEBUG
   const uint32_t TOYOTA_PARAM_SECOC = 8UL << TOYOTA_PARAM_OFFSET;
@@ -388,6 +405,7 @@ static safety_config toyota_init(uint16_t param) {
   toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
   toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
   toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA);
+  toyota_long_filter = GET_FLAG(param, TOYOTA_PARAM_LONG_FILTER);
   toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
 
   safety_config ret;
@@ -401,7 +419,11 @@ static safety_config toyota_init(uint16_t param) {
     if (toyota_stock_longitudinal) {
       SET_TX_MSGS(TOYOTA_TX_MSGS, ret);
     } else {
-      SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
+      if (toyota_long_filter) {
+        SET_TX_MSGS(TOYOTA_LONG_TX_MSGS_FILTER, ret);
+      } else {
+        SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret);
+      }
     }
   }
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 28d5af54a..f3a28aa67 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -234,7 +234,20 @@ class Controls:
     )
     cancel_requested = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
     CC.cruiseControl.cancel = cancel_requested and not pacifica_hybrid_aol
-    CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
+
+    legacy_resume_hack = False
+    if len(long_plan.speeds):
+      planned_resume = long_plan.speeds[-1] > 0.1
+      # Some stock-ACC SNG hacks still rely on the legacy "planner wants speed"
+      # signal rather than longitudinalPlan.shouldStop going false first.
+      legacy_resume_hack = planned_resume and (
+        (self.CP.brand == "toyota" and self.CP.openpilotLongitudinalControl and not self.CP.autoResumeSng) or
+        (self.CP.brand == "gm" and getattr(self.starpilot_toggles, "volt_sng", False))
+      )
+
+    CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and (
+      not self.sm['longitudinalPlan'].shouldStop or legacy_resume_hack
+    )
 
     hudControl = CC.hudControl
     hud_set_speed = float(CS.vCruiseCluster * CV.KPH_TO_MS)