diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index a67ddb033e..80db19e46c 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -5,8 +5,10 @@ sunnypilot - 0.9.3.1 (2023-XX-XX)
 * NEW❗: HKG CAN: Smoother Stopping Performance (Beta) toggle
   * Smoother stopping behind a stopped car or desired stopping event.
   * This is only applicable to HKG CAN platforms using openpilot longitudinal control
+* NEW❗: Toyota: TSS2 longitudinal: Custom Tuning
+  * Smoother longitudinal performance for Toyota/Lexus TSS2/LSS2 cars thanks to dragonpilot-community!
 * DISABLED: Screen Recorder
-    * UI sometimes crashes on startup along with screen recorder, will reimplement in future updates
+  * UI sometimes crashes on startup along with screen recorder, will reimplement in future updates
 
 sunnypilot - 0.9.2.3 (2023-06-18)
 ========================
diff --git a/common/params.cc b/common/params.cc
index 321c91fa8e..5165d43de0 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -291,6 +291,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TorqueDeadzoneDeg", PERSISTENT},
     {"TorqueFriction", PERSISTENT},
     {"TorqueMaxLatAccel", PERSISTENT},
+    {"ToyotaTSS2Long", PERSISTENT},
     {"TrueVEgoUi", PERSISTENT},
     {"TurnSpeedControl", PERSISTENT},
     {"TurnVisionControl", PERSISTENT},
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index a418fab98d..c2d39da171 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from common.conversions import Conversions as CV
+from common.params import Params
 from panda import Panda
 from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
                                         MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
@@ -228,18 +229,20 @@ class CarInterface(CarInterfaceBase):
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
 
+    sp_tss2_long_tune = Params().get_bool("ToyotaTSS2Long")
+
     tune = ret.longitudinalTuning
     tune.deadzoneBP = [0., 9.]
     tune.deadzoneV = [.0, .15]
     if candidate in TSS2_CAR or ret.enableGasInterceptor:
-      tune.kpBP = [0., 5., 20., 30.]
-      tune.kpV = [1.3, 1.0, 0.7, 0.1]
-      tune.kiBP = [0., 8.3, 11.9, 13.8, 19.7, 30., 33., 40.]
-      tune.kiV = [.02, .03, .14, .18, .18, .06, .01, .001]
+      tune.kpBP = [0., 5., 20., 30.] if sp_tss2_long_tune else [0., 5., 20.]
+      tune.kpV = [1.3, 1.0, 0.7, 0.1] if sp_tss2_long_tune else [1.3, 1.0, 0.7]
+      tune.kiBP = [0., 8.3, 11.9, 13.8, 19.7, 30., 33., 40.] if sp_tss2_long_tune else [0., 5., 12., 20., 27.]
+      tune.kiV = [.02, .03, .14, .18, .18, .06, .01, .001] if sp_tss2_long_tune else [.35, .23, .20, .17, .1]
       if candidate in TSS2_CAR:
         ret.vEgoStopping = 0.25
         ret.vEgoStarting = 0.25
-        ret.stoppingDecelRate = 0.009  # reach stopping target smoothly
+        ret.stoppingDecelRate = 0.009 if sp_tss2_long_tune else 0.3  # reach stopping target smoothly
     else:
       tune.kpBP = [0., 5., 35.]
       tune.kiBP = [0., 35.]