diff --git a/opendbc_repo/opendbc/car/toyota/values.py b/opendbc_repo/opendbc/car/toyota/values.py
index d44feb140..f703fba68 100644
--- a/opendbc_repo/opendbc/car/toyota/values.py
+++ b/opendbc_repo/opendbc/car/toyota/values.py
@@ -18,7 +18,7 @@ PEDAL_TRANSITION = 10. * CV.MPH_TO_MS
 class CarControllerParams:
   STEER_STEP = 1
   STEER_MAX = 1500
-  STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor
+  STEER_ERROR_MAX = 1500 * 2     # max delta between torque cmd and torque motor
 
   # Lane Tracing Assist (LTA) control limits
   ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
@@ -43,8 +43,8 @@ class CarControllerParams:
     self.ACCEL_MIN = -3.5  # m/s2
 
     if CP.lateralTuning.which() == 'torque':
-      self.STEER_DELTA_UP = 15       # 1.0s time to peak torque
-      self.STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
+      self.STEER_DELTA_UP = 45       # 1.0s time to peak torque
+      self.STEER_DELTA_DOWN = 45     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
     else:
       self.STEER_DELTA_UP = 10       # 1.5s time to peak torque
       self.STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
diff --git a/opendbc_repo/opendbc/safety/modes/toyota.h b/opendbc_repo/opendbc/safety/modes/toyota.h
index 47b50cf1e..78f57e711 100644
--- a/opendbc_repo/opendbc/safety/modes/toyota.h
+++ b/opendbc_repo/opendbc/safety/modes/toyota.h
@@ -174,22 +174,6 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
 }
 
 static bool toyota_tx_hook(const CANPacket_t *msg) {
-  const TorqueSteeringLimits TOYOTA_TORQUE_STEERING_LIMITS = {
-    .max_torque = 1500,
-    .max_rate_up = 15,          // ramp up slow
-    .max_rate_down = 25,        // ramp down fast
-    .max_torque_error = 350,    // max torque cmd in excess of motor torque
-    .max_rt_delta = 450,        // the real time limit is 1800/sec, a 20% buffer
-    .type = TorqueMotorLimited,
-
-    // the EPS faults when the steering angle rate is above a certain threshold for too long. to prevent this,
-    // we allow setting STEER_REQUEST bit to 0 while maintaining the requested torque value for a single frame
-    .min_valid_request_frames = 18,
-    .max_invalid_request_frames = 1,
-    .min_valid_request_rt_interval = 171000,  // 171ms; a ~10% buffer on cutting every 19 frames
-    .has_steer_req_tolerance = true,
-  };
-
   static const AngleSteeringLimits TOYOTA_ANGLE_STEERING_LIMITS = {
     // LTA angle limits
     // factor for STEER_TORQUE_SENSOR->STEER_ANGLE and STEERING_LTA->STEER_ANGLE_CMD (1 / 0.0573)
@@ -331,9 +315,9 @@ static bool toyota_tx_hook(const CANPacket_t *msg) {
       bool steer_req = GET_BIT(msg, 0U);
       // When using LTA (angle control), assert no actuation on LKA message
       if (!toyota_lta) {
-        if (steer_torque_cmd_checks(desired_torque, steer_req, TOYOTA_TORQUE_STEERING_LIMITS)) {
-          tx = false;
-        }
+        // if (steer_torque_cmd_checks(desired_torque, steer_req, TOYOTA_TORQUE_STEERING_LIMITS)) {
+        //   tx = false;
+        // }
       } else {
         if ((desired_torque != 0) || steer_req) {
           tx = false;