gistfile1.txt

diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 95fd6a156..fe8d5cdd0 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -1131,25 +1131,27 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R01100\x00\x00\x00\x00',
     ],
-    (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
-    ],
   },
   CAR.RAV4_PRIME: {
     (Ecu.engine, 0x700, None): [
-      b'\x018966342S7000\x00\x00\x00\x00'
+      b'\x01896634AJ7000\x00\x00\x00\x00',
+      b'\x018966342S7000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
-      b'\x01F15264228300\x00\x00\x00\x00'
+      b'\x01F15264284100\x00\x00\x00\x00',
+      b'\x01F15264228300\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
-      b'\x018965B4209000\x00\x00\x00\x00'
+      b'\x018965B4233100\x00\x00\x00\x00',
+      b'\x018965B4209000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
-      b'\x018821F3301400\x00\x00\x00\x00'
+      b'\x018821F6201300\x00\x00\x00\x00',
+      b'\x018821F3301400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4205200\x00\x00\x00\x008646G4202000\x00\x00\x00\x00'
+      b'\x028646F4210100\x00\x00\x00\x008646G3305000\x00\x00\x00\x00',
+      b'\x028646F4205200\x00\x00\x00\x008646G4202000\x00\x00\x00\x00',
     ],
   },
   CAR.RAV4_TSS2_2023: {
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index a29008dca..5067c02e6 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -97,7 +97,7 @@ class CarInterface(CarInterfaceBase):
           ret.lateralTuning.pid.kf = 0.00004
           break
 
-    elif candidate in (CAR.RAV4H, CAR.CHR, CAR.CAMRY, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX):
+    elif candidate in (CAR.RAV4H, CAR.CHR, CAR.CAMRY, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX, CAR.RAV4_PRIME):
       # TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars?
       stop_and_go = True
 
@@ -139,7 +139,7 @@ class CarInterface(CarInterfaceBase):
     #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
 
     if ret.flags & ToyotaFlags.SECOC.value: # Lateral only for now
-      ret.openpilotLongitudinalControl = False
+      ret.openpilotLongitudinalControl = True
     else:
       ret.openpilotLongitudinalControl = use_sdsu or \
         ret.enableDsu or \