diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 4fe2df77b..9150156af 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -24,6 +24,8 @@ TEMP_STEER_FAULTS = (0, 9, 11, 21, 25)
 # - prolonged high driver torque: 17 (permanent)
 PERM_STEER_FAULTS = (3, 17)
 
+ZSS_THRESHOLD = 4.0
+ZSS_THRESHOLD_COUNT = 10
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -50,8 +52,13 @@ class CarState(CarStateBase):
     self.lkas_hud = {}
 
     # FrogPilot variables
+    self.zss_compute = False
+    self.zss_cruise_active_last = False
+
     self.pcm_accel_net = 0.0
     self.pcm_neutral_force = 0.0
+    self.zss_angle_offset = 0
+    self.zss_threshold_count = 0
 
   # Traffic signals for Speed Limit Controller - Credit goes to the DragonPilot team!
   def calculate_speed_limit(self, cp_cam, frogpilot_variables):
@@ -218,6 +225,31 @@ class CarState(CarStateBase):
     self.pcm_accel_net = cp.vl["PCM_CRUISE"]["ACCEL_NET"]
     self.pcm_neutral_force = cp.vl["PCM_CRUISE"]["NEUTRAL_FORCE"]
 
+    # ZSS Support - Credit goes to the DragonPilot team!
+    if self.CP.flags & ToyotaFlags.ZSS and self.zss_threshold_count < ZSS_THRESHOLD_COUNT:
+      zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"]
+
+      # Only compute ZSS offset when acc is active
+      zss_cruise_active = ret.cruiseState.available
+      if zss_cruise_active and not self.zss_cruise_active_last:
+        self.zss_compute = True  # Cruise was just activated, so allow offset to be recomputed
+        self.zss_threshold_count = 0
+      self.zss_cruise_active_last = zss_cruise_active
+
+      # Compute ZSS offset
+      if self.zss_compute:
+        if abs(ret.steeringAngleDeg) > 1e-3 and abs(zorro_steer) > 1e-3:
+          self.zss_compute = False
+          self.zss_angle_offset = zorro_steer - ret.steeringAngleDeg
+
+      # Error check
+      new_steering_angle_deg = zorro_steer - self.zss_angle_offset
+      if abs(ret.steeringAngleDeg - new_steering_angle_deg) > ZSS_THRESHOLD:
+        self.zss_threshold_count += 1
+      else:
+        # Apply offset
+        ret.steeringAngleDeg = new_steering_angle_deg
+
     return ret
 
   @staticmethod
@@ -273,6 +305,8 @@ class CarState(CarStateBase):
         ("SDSU", 100),
       ]
 
+    messages += [("SECONDARY_STEER_ANGLE", 0)]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 53bcbaff5..a73880cc6 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -44,6 +44,9 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
       ret.steerLimitTimer = 0.4
 
+      if 0x23 in fingerprint[0]:  # Detect if ZSS is present
+        ret.flags |= ToyotaFlags.ZSS.value
+
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
 
     # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 984eda44d..442465cb5 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -60,6 +60,7 @@ class ToyotaFlags(IntFlag):
   # these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU
   SNG_WITHOUT_DSU = 512
 
+  ZSS = 1024
 
 class Footnote(Enum):
   CAMRY = CarFootnote(