diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 0e11b1803d..25bcc69c91 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -19,6 +19,14 @@ sunnypilot - 0.9.8.0 (2024-xx-xx)
   * NOTE: Only enable this feature if your Toyota/Lexus vehicle has factory Blind Spot Monitor equipped, and mentioned in the supported platforms list
 * UPDATED: Toyota: TSS2 longitudinal: Custom Tuning
   * Re-tuned and tested by the community (July 1, 2024)
+* NEW❗: Toyota - Automatic Brake Hold (AHB) thanks to AlexandreSato!
+  * When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold
+  * NOTE: Only for Toyota/Lexus vehicles with TSS2/LSS2
+* NEW❗: Toyota - Automatic Door Locking and Unlocking thanks to AlexandreSato, cydia2020, and dragonpilot-community!
+  * Auto Lock by Speed: All doors are automatically locked when vehicle speed is approximately 6 mph (10 km/h) or higher
+  * Auto Unlock by Shift to P: All doors are automatically unlocked when shifting the shift lever to P
+* FIXED: Driving Personality:
+  * Maniac mode now correctly enforced when selected
 * Kia Ceed Plug-in Hybrid Non-SCC 2022 support thanks to TerminatorNL!
 
 sunnypilot - 0.9.7.1 (2024-06-13)
diff --git a/cereal/car.capnp b/cereal/car.capnp
index cd4cbf87b6..30bf496d01 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -136,6 +136,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     speedLimitPreActive @138;
     speedLimitConfirmed @139;
     torqueNNLoad @140;
+    spAutoBrakeHold @141;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
diff --git a/common/params.cc b/common/params.cc
index c96e1b94eb..256eafc558 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -318,6 +318,9 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TorqueFriction", PERSISTENT | BACKUP},
     {"TorqueMaxLatAccel", PERSISTENT | BACKUP},
     {"TorquedOverride", PERSISTENT | BACKUP},
+    {"ToyotaAutoHold", PERSISTENT | BACKUP},
+    {"ToyotaAutoLockBySpeed", PERSISTENT | BACKUP},
+    {"ToyotaAutoUnlockByShifter", PERSISTENT | BACKUP},
     {"ToyotaEnhancedBsm", PERSISTENT | BACKUP},
     {"ToyotaSnG", PERSISTENT | BACKUP},
     {"ToyotaTSS2Long", PERSISTENT | BACKUP},
diff --git a/panda b/panda
index 2b1869bb1b..9b76d69484 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2b1869bb1b2d2cc3c38ce0ac297dd114649a5e01
+Subproject commit 9b76d69484d1780c7588bd1932079dee7e43dcf7
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 98be4bf82f..63e7d22da4 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -56,6 +56,7 @@ class Car:
     self.mads_disengage_lateral_on_brake = self.params.get_bool("DisengageLateralOnBrake")
     self.mads_dlob = self.enable_mads and self.mads_disengage_lateral_on_brake
     self.mads_ndlob = self.enable_mads and not self.mads_disengage_lateral_on_brake
+    self.sp_toyota_auto_brake_hold = self.params.get_bool("ToyotaAutoHold")
     self.CP.alternativeExperience = 0
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
@@ -63,6 +64,8 @@ class Car:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
     elif self.mads_ndlob:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISABLE_DISENGAGE_LATERAL_ON_BRAKE
+    if self.sp_toyota_auto_brake_hold:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
 
     if self.CP.customStockLongAvailable and self.CP.pcmCruise and self.params.get_bool("CustomStockLong"):
       self.CP.pcmCruiseSpeed = False
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index b83ef9b3c2..210ae23fa1 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,4 +1,5 @@
 from cereal import car
+from common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.params import Params
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
@@ -10,6 +11,7 @@ from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_
                                         UNSUPPORTED_DSU_CAR
 from opendbc.can.packer import CANPacker
 
+GearShifter = car.CarState.GearShifter
 SteerControlType = car.CarParams.SteerControlType
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -29,6 +31,9 @@ MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows
 LEFT_BLINDSPOT = b"\x41"
 RIGHT_BLINDSPOT = b"\x42"
 
+UNLOCK_CMD = b"\x40\x05\x30\x11\x00\x40\x00\x00"
+LOCK_CMD = b"\x40\x05\x30\x11\x00\x80\x00\x00"
+
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
@@ -48,6 +53,7 @@ class CarController(CarControllerBase):
     self.accel = 0
 
     self.param_s = Params()
+    self._is_metric = self.param_s.get_bool("IsMetric")
     self._reverse_acc_change = self.param_s.get_bool("ReverseAccChange")
     self._sng_hack = self.param_s.get_bool("ToyotaSnG")
 
@@ -55,7 +61,25 @@ class CarController(CarControllerBase):
     self.right_blindspot_debug_enabled = False
     self.last_blindspot_frame = 0
 
+    if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      self.brake_hold_active: bool = False
+      self._brake_hold_counter: int = 0
+      self._brake_hold_reset: bool = False
+      self._prev_brake_pressed: bool = False
+
+    self._auto_lock_by_speed = self.param_s.get_bool("ToyotaAutoLockBySpeed")
+    self._auto_unlock_by_shifter = self.param_s.get_bool("ToyotaAutoUnlockByShifter")
+    self._auto_lock_speed = 10 * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
+    self._auto_lock_once = False
+    self._gear_prev = GearShifter.park
+
   def update(self, CC, CS, now_nanos):
+    if self.frame % 200 == 0:
+      self._is_metric = self.param_s.get_bool("IsMetric")
+      self._auto_lock_by_speed = self.param_s.get_bool("ToyotaAutoLockBySpeed")
+      self._auto_unlock_by_shifter = self.param_s.get_bool("ToyotaAutoUnlockByShifter")
+      self._auto_lock_speed = 10 * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
+
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
@@ -64,6 +88,21 @@ class CarController(CarControllerBase):
     # *** control msgs ***
     can_sends = []
 
+    # automatic door locking and unlocking logic (@dragonpilot-community)
+    # thanks to AlexandreSato & cydia2020
+    # https://github.com/AlexandreSato/animalpilot/blob/personal/doors.py
+    gear = CS.out.gearShifter
+    if not CS.out.doorOpen:
+      if gear == GearShifter.park and self._gear_prev != gear:
+        if self._auto_unlock_by_shifter:
+          can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0))
+        self._auto_lock_once = False
+      elif gear == GearShifter.drive and not self._auto_lock_once and CS.out.vEgo >= self._auto_lock_speed:
+        if self._auto_lock_by_speed:
+          can_sends.append(make_can_msg(0x750, LOCK_CMD, 0))
+        self._auto_lock_once = True
+    self._gear_prev = gear
+
     # *** steer torque ***
     new_steer = int(round(actuators.steer * self.params.STEER_MAX))
     apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
@@ -148,6 +187,9 @@ class CarController(CarControllerBase):
 
     self.last_standstill = CS.out.standstill
 
+    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      can_sends.extend(self.create_auto_brake_hold_messages(CS))
+
     # handle UI messages
     fcw_alert = hud_control.visualAlert == VisualAlert.fcw
     steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
@@ -266,3 +308,25 @@ class CarController(CarControllerBase):
         # print("bsm poll right")
 
     return can_sends
+
+  # auto brake hold (https://github.com/AlexandreSato/)
+  def create_auto_brake_hold_messages(self, CS: car.CarState, brake_hold_allowed_timer: int = 100):
+    can_sends = []
+    disallowed_gears = [GearShifter.park, GearShifter.reverse]
+    brake_hold_allowed = CS.out.standstill and CS.out.cruiseState.available and not CS.out.gasPressed and \
+                         not CS.out.cruiseState.enabled and (CS.out.gearShifter not in disallowed_gears)
+
+    if brake_hold_allowed:
+      self._brake_hold_counter += 1
+      self.brake_hold_active = self._brake_hold_counter > brake_hold_allowed_timer and not self._brake_hold_reset
+      self._brake_hold_reset = not self._prev_brake_pressed and CS.out.brakePressed and not self._brake_hold_reset
+    else:
+      self._brake_hold_counter = 0
+      self.brake_hold_active = False
+      self._brake_hold_reset = False
+    self._prev_brake_pressed = CS.out.brakePressed
+
+    if self.frame % 2 == 0:
+      can_sends.append(toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active))
+
+    return can_sends
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index fded06c1dc..456282982b 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -79,6 +79,9 @@ class CarState(CarStateBase):
     self._right_blindspot_d2 = 0
     self._right_blindspot_counter = 0
 
+    if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      self.pre_collision_2 = {}
+
     self.frame = 0
 
   def update(self, cp, cp_cam):
@@ -260,6 +263,9 @@ class CarState(CarStateBase):
     if self.CP.spFlags & ToyotaFlagsSP.SP_ENHANCED_BSM and self.frame > 199:
       ret.leftBlindspot, ret.rightBlindspot = self.sp_get_enhanced_bsm(cp)
 
+    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      self.pre_collision_2 = copy.copy(cp_cam.vl["PRE_COLLISION_2"])
+
     self._update_traffic_signals(cp_cam)
     ret.cruiseState.speedLimit = self._calculate_speed_limit()
     self.frame += 1
@@ -463,4 +469,7 @@ class CarState(CarStateBase):
         ("PCS_HUD", 1),
       ]
 
+      if CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+        messages.append(("PRE_COLLISION_2", 33))
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 056d73bd69..451265f9cd 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -195,6 +195,9 @@ class CarInterface(CarInterfaceBase):
     if candidate == CAR.TOYOTA_PRIUS_TSS2:
       ret.spFlags |= ToyotaFlagsSP.SP_NEED_DEBUG_BSM.value
 
+    if Params().get_bool("ToyotaAutoHold") and candidate in (TSS2_CAR - RADAR_ACC_CAR):
+      ret.spFlags |= ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD.value
+
     return ret
 
   @staticmethod
@@ -286,6 +289,11 @@ class CarInterface(CarInterfaceBase):
           # while in standstill, send a user alert
           events.add(EventName.manualRestart)
 
+    # auto brake hold
+    if self.CP.spFlags & ToyotaFlagsSP.SP_AUTO_BRAKE_HOLD:
+      if self.CC.brake_hold_active and not ret.brakeHoldActive:
+        events.add(EventName.spAutoBrakeHold)
+
     ret.events = events.to_msg()
 
     return ret
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index abde32bc07..979879e368 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -130,3 +130,37 @@ def create_set_bsm_debug_mode(lr_blindspot, enabled):
 
 def create_bsm_polling_status(lr_blindspot):
   return make_can_msg(0x750, lr_blindspot + b"\x02\x21\x69\x00\x00\x00\x00", 0)
+
+
+# auto brake hold
+def create_brake_hold_command(packer, frame, pre_collision_2, brake_hold_active):
+  # forward PRE_COLLISION_2 when auto brake hold is not active
+  values = {s: pre_collision_2[s] for s in [
+    "DSS1GDRV",
+    "DS1STAT2",
+    "DS1STBK2",
+    "PCSWAR",
+    "PCSALM",
+    "PCSOPR",
+    "PCSABK",
+    "PBATRGR",
+    "PPTRGR",
+    "IBTRGR",
+    "CLEXTRGR",
+    "IRLT_REQ",
+    "BRKHLD",
+    "AVSTRGR",
+    "VGRSTRGR",
+    "PREFILL",
+    "PBRTRGR",
+    "PCSDIS",
+    "PBPREPMP",
+  ]}
+
+  if brake_hold_active:
+    values = {
+      "DSS1GDRV": 0x3FF,
+      "PBRTRGR": frame % 730 < 727,  # cut actuation for 3 frames
+    }
+
+  return packer.make_can_msg("PRE_COLLISION_2", 0, values)
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 6952bb41bd..b4b277cc08 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -64,6 +64,7 @@ class ToyotaFlagsSP(IntFlag):
   SP_ZSS = 1
   SP_ENHANCED_BSM = 2
   SP_NEED_DEBUG_BSM = 4
+  SP_AUTO_BRAKE_HOLD = 8
 
 
 class Footnote(Enum):
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index bcdc4a64af..cc606353ca 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -744,6 +744,14 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
   },
 
+  EventName.spAutoBrakeHold: {
+    ET.PERMANENT: Alert(
+      "sunnypilot Brake Hold Active",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.prompt, 0.),
+  },
+
   EventName.parkBrake: {
     ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
     ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index c74f93c006..9e554865f0 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -191,11 +191,11 @@ class LongitudinalPlanner:
     accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
     accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
-    self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsState'].personality)
+    self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsStateSP'].personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsStateSP'].personality)
 
     self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
diff --git a/selfdrive/ui/qt/offroad/sunnypilot/vehicle_settings.cc b/selfdrive/ui/qt/offroad/sunnypilot/vehicle_settings.cc
index 4d75ad818b..ef0954c1ed 100644
--- a/selfdrive/ui/qt/offroad/sunnypilot/vehicle_settings.cc
+++ b/selfdrive/ui/qt/offroad/sunnypilot/vehicle_settings.cc
@@ -124,6 +124,18 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
   toyotaTss2LongTune->setConfirmation(true, false);
   addItem(toyotaTss2LongTune);
 
+  auto toyotaAbh = new ParamControl(
+    "ToyotaAutoHold",
+    tr("Enable Automatic Brake Hold (AHB)"),
+    QString("<b>%1</b><br><br>%2<br><br><b>%3</b>")
+    .arg(tr("WARNING: Only for Toyota/Lexus vehicles with TSS2/LSS2. USE AT YOUR OWN RISK."))
+    .arg(tr("When you stop the vehicle completely by depressing the brake pedal, sunnypilot will activate Auto Brake Hold."))
+    .arg(tr("Changing this setting takes effect when the car is powered off.")),
+    "../assets/offroad/icon_blank.png"
+  );
+  toyotaAbh->setConfirmation(true, false);
+  addItem(toyotaAbh);
+
   toyotaEnhancedBsm = new ParamControl(
     "ToyotaEnhancedBsm",
     tr("Enable Enhanced Blind Spot Monitor"),
@@ -142,6 +154,24 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
   toyotaSngHack->setConfirmation(true, false);
   addItem(toyotaSngHack);
 
+  auto toyotaAutoLock = new ParamControl(
+    "ToyotaAutoLock",
+    tr("Enable Toyota Door Auto Locking"),
+    tr("sunnypilot will attempt to lock the doors when drive above 10 km/h (6.2 mph).\nReboot Required."),
+    "../assets/offroad/icon_blank.png"
+  );
+  toyotaAutoLock->setConfirmation(true, false);
+  addItem(toyotaAutoLock);
+
+  auto toyotaAutoUnlock = new ParamControl(
+    "ToyotaAutoUnlockByShifter",
+    tr("Enable Toyota Door Auto Unlocking"),
+    tr("sunnypilot will attempt to unlock the doors when shift to gear P.\nReboot Required."),
+    "../assets/offroad/icon_blank.png"
+  );
+  toyotaAutoUnlock->setConfirmation(true, false);
+  addItem(toyotaAutoUnlock);
+
   // Volkswagen
   addItem(new LabelControl(tr("Volkswagen")));
   auto volkswagenCCOnly = new ParamControl(
@@ -158,6 +188,7 @@ SPVehiclesTogglesPanel::SPVehiclesTogglesPanel(VehiclePanel *parent) : ListWidge
     is_onroad = !offroad;
     hkgSmoothStop->setEnabled(offroad);
     toyotaTss2LongTune->setEnabled(offroad);
+    toyotaAbh->setEnabled(offroad);
     toyotaEnhancedBsm->setEnabled(offroad);
     toyotaSngHack->setEnabled(offroad);
     volkswagenCCOnly->setEnabled(offroad);
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 674cdcb666..973eb4091d 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -97,6 +97,9 @@ def manager_init() -> None:
     ("TorqueDeadzoneDeg", "0"),
     ("TorqueFriction", "1"),
     ("TorqueMaxLatAccel", "250"),
+    ("ToyotaAutoHold", "0"),
+    ("ToyotaAutoLockBySpeed", "0"),
+    ("ToyotaAutoUnlockByShifter", "0"),
     ("ToyotaEnhancedBsm", "0"),
     ("TrueVEgoUi", "0"),
     ("TurnSpeedControl", "0"),