diff --git a/tests/safety_replay/helpers.py b/tests/safety_replay/helpers.py
index 4c84e5320..b31809797 100644
--- a/tests/safety_replay/helpers.py
+++ b/tests/safety_replay/helpers.py
@@ -7,12 +7,12 @@ def to_signed(d, bits):
     ret = d - (1 << bits)
   return ret
 
-def is_steering_msg(mode, addr):
+def is_steering_msg(mode, param, addr):
   ret = False
   if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
     ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D) or (addr == 0x33DA) or (addr == 0x33DB)
   elif mode == Panda.SAFETY_TOYOTA:
-    ret = addr == 0x2E4
+    ret = addr == (0x191 if param & Panda.FLAG_TOYOTA_LTA else 0x2E4)
   elif mode == Panda.SAFETY_GM:
     ret = addr == 384
   elif mode == Panda.SAFETY_HYUNDAI:
@@ -25,14 +25,18 @@ def is_steering_msg(mode, addr):
     ret = addr == 0x3d3
   return ret
 
-def get_steer_value(mode, to_send):
+def get_steer_value(mode, param, to_send):
   torque, angle = 0, 0
   if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH):
     torque = (to_send.data[0] << 8) | to_send.data[1]
     torque = to_signed(torque, 16)
   elif mode == Panda.SAFETY_TOYOTA:
-    torque = (to_send.data[1] << 8) | (to_send.data[2])
-    torque = to_signed(torque, 16)
+    if param & Panda.FLAG_TOYOTA_LTA:
+      angle = (to_send.data[1] << 8) | to_send.data[2]
+      angle = to_signed(angle, 16)
+    else:
+      torque = (to_send.data[1] << 8) | (to_send.data[2])
+      torque = to_signed(torque, 16)
   elif mode == Panda.SAFETY_GM:
     torque = ((to_send.data[0] & 0x7) << 8) | to_send.data[1]
     torque = to_signed(torque, 11)
@@ -50,9 +54,9 @@ def get_steer_value(mode, to_send):
 def package_can_msg(msg):
   return libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
 
-def init_segment(safety, lr, mode):
+def init_segment(safety, lr, mode, param):
   sendcan = (msg for msg in lr if msg.which() == 'sendcan')
-  steering_msgs = (can for msg in sendcan for can in msg.sendcan if is_steering_msg(mode, can.address))
+  steering_msgs = (can for msg in sendcan for can in msg.sendcan if is_steering_msg(mode, param, can.address))
 
   msg = next(steering_msgs, None)
   if msg is None:
@@ -60,7 +64,7 @@ def init_segment(safety, lr, mode):
     return
 
   to_send = package_can_msg(msg)
-  torque, angle = get_steer_value(mode, to_send)
+  torque, angle = get_steer_value(mode, param, to_send)
   if torque != 0:
     safety.set_controls_allowed(1)
     safety.set_desired_torque_last(torque)
diff --git a/tests/safety_replay/replay_drive.py b/tests/safety_replay/replay_drive.py
index 8e8b64ab0..64a01ab57 100755
--- a/tests/safety_replay/replay_drive.py
+++ b/tests/safety_replay/replay_drive.py
@@ -15,7 +15,7 @@ def replay_drive(lr, safety_mode, param, alternative_experience, segment=False):
   safety.set_alternative_experience(alternative_experience)
 
   if segment:
-    init_segment(safety, lr, safety_mode)
+    init_segment(safety, lr, safety_mode, param)
     lr.reset()
 
   rx_tot, rx_invalid, tx_tot, tx_blocked, tx_controls, tx_controls_blocked = 0, 0, 0, 0, 0, 0