diff --git a/opendbc_repo/opendbc/car/toyota/carcontroller.py b/opendbc_repo/opendbc/car/toyota/carcontroller.py
index 26df34f7c8..f22216c66f 100644
--- a/opendbc_repo/opendbc/car/toyota/carcontroller.py
+++ b/opendbc_repo/opendbc/car/toyota/carcontroller.py
@@ -47,6 +47,7 @@ TOYOTA_AUTO_HOLD_ACTIVATION_FRAMES = 100
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
 MAX_STEER_RATE = 100  # deg/s
 MAX_STEER_RATE_FRAMES = 17  # tx control frames needed before torque can be cut
+COROLLA_MAX_STEER_RATE = 80
 
 # EPS allows user torque above threshold for 50 frames before permanently faulting
 MAX_USER_TORQUE = 500
@@ -81,6 +82,10 @@ def get_toyota_lat_active(requested_active: bool, steering_torque: float) -> boo
   return requested_active and abs(steering_torque) < MAX_USER_TORQUE
 
 
+def get_toyota_steer_rate_limit(car_fingerprint) -> int:
+  return COROLLA_MAX_STEER_RATE if car_fingerprint == CAR.TOYOTA_COROLLA_TSS2 else MAX_STEER_RATE
+
+
 def supports_toyota_auto_hold(CP, auto_hold_enabled: bool) -> bool:
   return (
     auto_hold_enabled and
@@ -248,6 +253,7 @@ class CarController(CarControllerBase):
     self.standstill_req = False
     self.permit_braking = True
     self.steer_rate_counter = 0
+    self.steer_rate_limit = get_toyota_steer_rate_limit(self.CP.carFingerprint)
     self.distance_button = 0
 
     # *** start long control state ***
@@ -366,7 +372,7 @@ class CarController(CarControllerBase):
 
     # >100 degree/sec steering fault prevention
     self.steer_rate_counter, apply_steer_req = common_fault_avoidance(
-      abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
+      abs(CS.out.steeringRateDeg) >= self.steer_rate_limit, lat_active,
       self.steer_rate_counter, MAX_STEER_RATE_FRAMES,
     )
 
diff --git a/opendbc_repo/opendbc/car/toyota/tests/test_toyota.py b/opendbc_repo/opendbc/car/toyota/tests/test_toyota.py
index 04329b1bd6..1e637c549d 100644
--- a/opendbc_repo/opendbc/car/toyota/tests/test_toyota.py
+++ b/opendbc_repo/opendbc/car/toyota/tests/test_toyota.py
@@ -12,7 +12,7 @@ from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota.carcontroller import CarController, get_camry_hybrid_feedforward, get_long_tune, get_prius_feedforward, \
                                              get_prius_positive_feedforward_scale, \
                                              get_rav4_interceptor_pedal_scale, \
-                                             get_toyota_lat_active, \
+                                             get_toyota_lat_active, get_toyota_steer_rate_limit, \
                                              MAX_STEER_RATE, MAX_STEER_RATE_FRAMES, MAX_USER_TORQUE, \
                                              limit_interceptor_pcm_accel, \
                                              limit_interceptor_stopping_accel, limit_no_lead_cruise_sign_flip, \
@@ -758,6 +758,23 @@ class TestToyotaCarController:
       requests.append(request)
     assert requests == ([True] * 17 + [False]) * 2
 
+  @pytest.mark.parametrize("candidate", list(CAR))
+  def test_steer_rate_margin_is_corolla_only(self, candidate):
+    expected = 80 if candidate == CAR.TOYOTA_COROLLA_TSS2 else MAX_STEER_RATE
+    assert get_toyota_steer_rate_limit(candidate) == expected
+
+  @pytest.mark.parametrize("direction", [-1, 1])
+  def test_corolla_rate_margin_preserves_request_spacing(self, direction):
+    counter = 0
+    requests = []
+    for rate in [0] * 30 + [90 * direction] * 36 + [0] * 30:
+      counter, request = common_fault_avoidance(
+        abs(rate) >= get_toyota_steer_rate_limit(CAR.TOYOTA_COROLLA_TSS2),
+        get_toyota_lat_active(True, 117 * direction), counter, MAX_STEER_RATE_FRAMES,
+      )
+      requests.append(request)
+    assert requests == [True] * 30 + ([True] * 17 + [False]) * 2 + [True] * 30
+
   @staticmethod
   def _make_controller(*, standstill_req=False, last_standstill=False):
     controller = CarController.__new__(CarController)