diff --git a/opendbc_repo/opendbc/car/toyota/carstate.py b/opendbc_repo/opendbc/car/toyota/carstate.py
index 08bfb78e8..a1a788edf 100644
--- a/opendbc_repo/opendbc/car/toyota/carstate.py
+++ b/opendbc_repo/opendbc/car/toyota/carstate.py
@@ -179,8 +179,21 @@ class CarState(CarStateBase, CarStateExt):
     ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
 
     if self.CP.enableBsm:
-      ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
-      ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
+      bsm_pt = cp.vl["BSM"]
+      bsm_cam = cp_cam.vl["BSM"]
+
+      ret.leftBlindspot = any((
+        bsm_pt["L_ADJACENT"] == 1,
+        bsm_pt["L_APPROACHING"] == 1,
+        bsm_cam["L_ADJACENT"] == 1,
+        bsm_cam["L_APPROACHING"] == 1,
+      ))
+      ret.rightBlindspot = any((
+        bsm_pt["R_ADJACENT"] == 1,
+        bsm_pt["R_APPROACHING"] == 1,
+        bsm_cam["R_ADJACENT"] == 1,
+        bsm_cam["R_APPROACHING"] == 1,
+      ))
 
     if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:
       self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
@@ -227,7 +240,13 @@ class CarState(CarStateBase, CarStateExt):
       ("RSA2", 0),
     ]
 
+    if CP.enableBsm:
+      # BSM may be present on either the powertrain or camera bus.
+      # Mark it optional on each bus so a missing copy does not invalidate the parser.
+      pt_messages.append(("BSM", float('nan')))
+      cam_messages.append(("BSM", float('nan')))
+
     return {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
-      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [] + cam_messages, 2),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, 2),
     }