diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 3b9b85e..dd8dd6f 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -143,9 +143,9 @@ class CarState(CarStateBase):
       conversion_factor = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS
       ret.cruiseState.speedCluster = cluster_set_speed * conversion_factor
 
-    cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
+    cp_acc = cp_cam if (self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or bool(self.CP.flags & ToyotaFlags.DSU_BYPASS.value)) else cp
 
-    if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+    if (self.CP.flags & ToyotaFlags.DSU_BYPASS.value) or (self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
       if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
         self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
       ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
@@ -261,7 +261,7 @@ class CarState(CarStateBase):
         ("PCS_HUD", 1),
       ]
 
-    if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+    if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not (CP.flags & ToyotaFlags.DISABLE_RADAR.value or CP.flags & ToyotaFlags.DSU_BYPASS.value):
       messages += [
         ("PRE_COLLISION", 33),
       ]
@@ -284,7 +284,7 @@ class CarState(CarStateBase):
         ("LKAS_HUD", 1),
       ]
 
-    if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
+    if CP.flags & ToyotaFlags.DSU_BYPASS.value or CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       messages += [
         ("PRE_COLLISION", 33),
         ("ACC_CONTROL", 33),
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 13b6b40..b6582ce 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -56,6 +56,11 @@ class CarInterface(CarInterfaceBase):
     if 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR:
       ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value
 
+    # 0x343 should not be present on bus 2 on cars other than TSS2_CAR unless we are re-routing DSU
+    if (0x343 in fingerprint[2] or 0x4CB in fingerprint[2]) and candidate not in TSS2_CAR:
+      if not (ret.flags & ToyotaFlags.SMART_DSU.value):
+        ret.flags |= ToyotaFlags.DSU_BYPASS.value
+
     # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
     ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
@@ -136,6 +141,7 @@ class CarInterface(CarInterfaceBase):
     #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
     #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
     ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
+    ret.openpilotLongitudinalControl |= bool(ret.flags & ToyotaFlags.DSU_BYPASS.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
     ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl
 
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index e2a519b..6b26e0e 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -60,6 +60,7 @@ class ToyotaFlags(IntFlag):
   SNG_WITHOUT_DSU = 512
 
   # FrogPilot Toyota flags
+  DSU_BYPASS = 1024
   ZSS = 2048
 
 class Footnote(Enum):