diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 702a8b343..6eda53aa8 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -186,7 +186,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
       ret.lateralTuning.pid.kf = 0.00007818594
 
-    elif candidate == CAR.LEXUS_ESH_TSS2:
+    elif candidate in [CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ES_TSS2]:
       stop_and_go = True
       ret.safetyParam = 73
       ret.wheelbase = 2.8702
@@ -236,16 +236,6 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
       ret.lateralTuning.pid.kf = 0.00006
 
-    elif candidate == CAR.LEXUS_ES_TSS2:
-      stop_and_go = True
-      ret.safetyParam = 73
-      ret.wheelbase = 2.8702
-      ret.steerRatio = 16.0 # not optimized
-      tire_stiffness_factor = 0.444  # not optimized yet
-      ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
-      ret.lateralTuning.pid.kf = 0.00007818594
-
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index bb4ea3a20..7371560c5 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -261,4 +261,4 @@ DBC = {
 
 NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ES_TSS2]
 TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ES_TSS2]
-NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA]  # no resume button press required
+NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.LEXUS_ES_TSS2]  # no resume button press required