diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index bfc92cea4..50a1e23df 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -71,7 +71,10 @@ class CarState(CarStateBase):
     )
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.vEgoCluster = ret.vEgo * 1.015  # minimum of all the cars
+    if self.CP.carFingerprint == CAR.LEXUS_ES_TSS2:
+      ret.vEgoCluster = ret.vEgo * 1.023456789
+    else:
+      ret.vEgoCluster = ret.vEgo * 1.015  # minimum of all the cars
 
     ret.standstill = abs(ret.vEgoRaw) < 1e-3