diff --git a/opendbc_repo/opendbc/car/toyota/carcontroller.py b/opendbc_repo/opendbc/car/toyota/carcontroller.py
index d38db5bac..a82955706 100644
--- a/opendbc_repo/opendbc/car/toyota/carcontroller.py
+++ b/opendbc_repo/opendbc/car/toyota/carcontroller.py
@@ -284,7 +284,7 @@ class CarController(CarControllerBase):
                                                      hud_control.rightLaneVisible, hud_control.leftLaneDepart,
                                                      hud_control.rightLaneDepart, lat_active, CS.lkas_hud))
 
-      if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
+      if not self.CP.flags & ToyotaFlags.RADAR_FILTER.value and (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
         can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert))
 
     # *** static msgs ***
@@ -293,7 +293,7 @@ class CarController(CarControllerBase):
         can_sends.append(CanData(addr, vl, bus))
 
     # keep radar disabled
-    if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+    if not self.CP.flags & ToyotaFlags.RADAR_FILTER.value and self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       can_sends.append(make_tester_present_msg(0x750, 0, 0xF))
 
     new_actuators = actuators.as_builder()
diff --git a/opendbc_repo/opendbc/car/toyota/interface.py b/opendbc_repo/opendbc/car/toyota/interface.py
index 4865bec5d..d6dc57c69 100644
--- a/opendbc_repo/opendbc/car/toyota/interface.py
+++ b/opendbc_repo/opendbc/car/toyota/interface.py
@@ -118,6 +118,16 @@ class CarInterface(CarInterfaceBase):
       if experimental_long and candidate in RADAR_ACC_CAR:
         ret.flags |= ToyotaFlags.DISABLE_RADAR.value
 
+      # RADAR_ACC_CAR = CHR TSS2 / RAV4 TSS2
+      # NO_DSU_CAR = CAMRY / CHR
+      if 0x2FF in fingerprint[0] or 0x2AA in fingerprint[0]:
+        print("----------------------------------------------")
+        print("dragonpilot: RADAR_FILTER detected!")
+        print("----------------------------------------------")
+        ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.LONG_FILTER.value
+        ret.experimentalLongitudinalAvailable = False
+        ret.flags |= ToyotaFlags.RADAR_FILTER.value | ToyotaFlags.DISABLE_RADAR.value
+
     # openpilot longitudinal enabled by default:
     #  - cars w/ DSU disconnected
     #  - TSS2 cars with camera sending ACC_CONTROL where we can block it
@@ -162,6 +172,6 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def init(CP, can_recv, can_send):
     # disable radar if alpha longitudinal toggled on radar-ACC car
-    if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+    if not CP.flags & ToyotaFlags.RADAR_FILTER.value and CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
       disable_ecu(can_recv, can_send, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
diff --git a/opendbc_repo/opendbc/car/toyota/values.py b/opendbc_repo/opendbc/car/toyota/values.py
index acb6a6982..e7c2aabba 100644
--- a/opendbc_repo/opendbc/car/toyota/values.py
+++ b/opendbc_repo/opendbc/car/toyota/values.py
@@ -80,6 +80,7 @@ class ToyotaFlags(IntFlag):
   ALKA = 2 ** 12
   DOOR_AUTO_LOCK_UNLOCK = 2 ** 13
   TSS1_SNG = 2 ** 14
+  RADAR_FILTER = 2 ** 15
 
 class Footnote(Enum):
   CAMRY = CarFootnote(