diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index 290150657e..41ce5fb7dc 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -27,6 +27,7 @@
 #define MSG_SUBARU_Wheel_Speeds          0x13a
 
 #define MSG_SUBARU_ES_LKAS               0x122
+#define MSG_SUBARU_ES_LKAS_ANGLE         0x124
 #define MSG_SUBARU_ES_Brake              0x220
 #define MSG_SUBARU_ES_Distance           0x221
 #define MSG_SUBARU_ES_Status             0x222
@@ -70,6 +71,7 @@
 
 static bool subaru_gen2 = false;
 static bool subaru_longitudinal = false;
+static bool subaru_lkas_angle = false;
 
 static uint32_t subaru_get_checksum(const CANPacket_t *to_push) {
   return (uint8_t)GET_BYTE(to_push, 0);
@@ -91,7 +93,8 @@ static uint32_t subaru_compute_checksum(const CANPacket_t *to_push) {
 
 static void subaru_rx_hook(const CANPacket_t *to_push) {
   const int bus = GET_BUS(to_push);
-  const int alt_main_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
+  const int alt_main_bus = (subaru_gen2 || subaru_lkas_angle) ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS;
+  const int stock_lkas_msg = subaru_lkas_angle ? MSG_SUBARU_ES_LKAS_ANGLE : MSG_SUBARU_ES_LKAS;
 
   int addr = GET_ADDR(to_push);
   if ((addr == MSG_SUBARU_Steering_Torque) && (bus == SUBARU_MAIN_BUS)) {
@@ -107,9 +110,18 @@ static void subaru_rx_hook(const CANPacket_t *to_push) {
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) {
-    bool cruise_engaged = GET_BIT(to_push, 41U);
-    pcm_cruise_check(cruise_engaged);
+  if (subaru_lkas_angle) {
+    // LKAS Angle cars use different message
+    if ((addr == MSG_SUBARU_ES_DashStatus) && (bus == SUBARU_CAM_BUS)) {
+      bool cruise_engaged = GET_BIT(to_push, 36U);
+      pcm_cruise_check(cruise_engaged);
+    }
+  } else {
+    if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) {
+      bool cruise_engaged = GET_BIT(to_push, 41U);
+      pcm_cruise_check(cruise_engaged);
+
+    }
   }
 
   // update vehicle moving with any non-zero wheel speed
@@ -133,12 +145,25 @@ static void subaru_rx_hook(const CANPacket_t *to_push) {
   }
 
   generic_rx_checks((addr == MSG_SUBARU_ES_LKAS) && (bus == SUBARU_MAIN_BUS));
+  generic_rx_checks((addr == stock_lkas_msg) && (bus == SUBARU_MAIN_BUS));
 }
 
 static bool subaru_tx_hook(const CANPacket_t *to_send) {
   const SteeringLimits SUBARU_STEERING_LIMITS      = SUBARU_STEERING_LIMITS_GENERATOR(2047, 50, 70);
   const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40);
 
+  const SteeringLimits SUBARU_ANGLE_STEERING_LIMITS = {
+    .angle_deg_to_can = 100.,
+    .angle_rate_up_lookup = {
+      {0., 15., 15.},
+      {5.,  .8,  .8}
+    },
+    .angle_rate_down_lookup = {
+      {0., 15., 15.},
+      {5.,  .4,  .4}
+    },
+  };
+
   const LongitudinalLimits SUBARU_LONG_LIMITS = {
     .min_gas = 808,       // appears to be engine braking
     .max_gas = 3400,      // approx  2 m/s^2 when maxing cruise_rpm and cruise_throttle
@@ -164,6 +189,14 @@ static bool subaru_tx_hook(const CANPacket_t *to_send) {
     violation |= steer_torque_cmd_checks(desired_torque, steer_req, limits);
   }
 
+  if (addr == MSG_SUBARU_ES_LKAS_ANGLE) {
+    int desired_angle = GET_BYTES(to_send, 5, 3) & 0x1FFFFU;
+    desired_angle = -1 * to_signed(desired_angle, 17);
+    bool lkas_request = GET_BIT(to_send, 12U);
+
+    violation |= steer_angle_cmd_checks(desired_angle, lkas_request, SUBARU_ANGLE_STEERING_LIMITS);
+  }
+
   // check es_brake brake_pressure limits
   if (addr == MSG_SUBARU_ES_Brake) {
     int es_brake_pressure = GET_BYTES(to_send, 2, 2);
@@ -210,13 +243,15 @@ static bool subaru_tx_hook(const CANPacket_t *to_send) {
 static int subaru_fwd_hook(int bus_num, int addr) {
   int bus_fwd = -1;
 
+  const int stock_lkas_msg = subaru_lkas_angle ? MSG_SUBARU_ES_LKAS_ANGLE : MSG_SUBARU_ES_LKAS;
+
   if (bus_num == SUBARU_MAIN_BUS) {
     bus_fwd = SUBARU_CAM_BUS;  // to the eyesight camera
   }
 
   if (bus_num == SUBARU_CAM_BUS) {
     // Global platform
-    bool block_lkas = ((addr == MSG_SUBARU_ES_LKAS) ||
+    bool block_lkas = ((addr == stock_lkas_msg) ||
                        (addr == MSG_SUBARU_ES_DashStatus) ||
                        (addr == MSG_SUBARU_ES_LKAS_State) ||
                        (addr == MSG_SUBARU_ES_Infotainment));
@@ -254,6 +289,11 @@ static safety_config subaru_init(uint16_t param) {
     SUBARU_GEN2_LONG_ADDITIONAL_TX_MSGS()
   };
 
+  static const CanMsg SUBARU_LKAS_ANGLE_TX_MSGS[] = {
+    SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS_ANGLE)
+    SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS)
+  };
+
   static RxCheck subaru_rx_checks[] = {
     SUBARU_COMMON_RX_CHECKS(SUBARU_MAIN_BUS)
   };
@@ -263,8 +303,10 @@ static safety_config subaru_init(uint16_t param) {
   };
 
   const uint16_t SUBARU_PARAM_GEN2 = 1;
+  const uint16_t SUBARU_PARAM_LKAS_ANGLE = 4;
 
   subaru_gen2 = GET_FLAG(param, SUBARU_PARAM_GEN2);
+  subaru_lkas_angle = GET_FLAG(param, SUBARU_PARAM_LKAS_ANGLE);
 
 #ifdef ALLOW_DEBUG
   const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
@@ -272,7 +314,10 @@ static safety_config subaru_init(uint16_t param) {
 #endif
 
   safety_config ret;
-  if (subaru_gen2) {
+  if (subaru_lkas_angle) {
+    ret = BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_LKAS_ANGLE_TX_MSGS);
+  }
+  else if (subaru_gen2) {
     ret = subaru_longitudinal ? BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_GEN2_LONG_TX_MSGS) : \
                                 BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_GEN2_TX_MSGS);
   } else {
diff --git a/python/__init__.py b/python/__init__.py
index 88ccf897a1..83c870d26c 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -214,6 +214,7 @@ class Panda:
 
   FLAG_SUBARU_GEN2 = 1
   FLAG_SUBARU_LONG = 2
+  FLAG_SUBARU_LKAS_ANGLE = 4
 
   FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE = 1
 
diff --git a/tests/safety/common.py b/tests/safety/common.py
index 884f21a360..67325d88a9 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -759,6 +759,10 @@ def test_tx_hook_on_wrong_safety_mode(self):
               continue
             if attr.startswith('TestSubaruGen') and current_test.startswith('TestSubaruGen'):
               continue
+            if attr.startswith('TestSubaruAngle') and current_test.startswith('TestSubaruGen'):
+              continue
+            if attr.startswith('TestSubaruGen') and current_test.startswith('TestSubaruAngle'):
+              continue
             if attr.startswith('TestSubaruPreglobal') and current_test.startswith('TestSubaruPreglobal'):
               continue
             if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}):
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 7d07f79aaf..77167946b9 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -68,7 +68,7 @@ class TestSubaruSafetyBase(common.PandaCarSafetyTest):
   ALT_MAIN_BUS = SUBARU_MAIN_BUS
   ALT_CAM_BUS = SUBARU_CAM_BUS
 
-  DEG_TO_CAN = 100
+  DEG_TO_CAN = 100.
 
   INACTIVE_GAS = 1818
 
@@ -167,6 +167,33 @@ def _torque_cmd_msg(self, torque, steer_req=1):
     return self.packer.make_can_msg_panda("ES_LKAS", SUBARU_MAIN_BUS, values)
 
 
+class TestSubaruAngleSafetyBase(TestSubaruSafetyBase, common.AngleSteeringSafetyTest):
+  ALT_MAIN_BUS = SUBARU_ALT_BUS
+
+  TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS, SubaruMsg.ES_LKAS_ANGLE)
+  RELAY_MALFUNCTION_ADDRS = {SUBARU_MAIN_BUS: (SubaruMsg.ES_LKAS_ANGLE, SubaruMsg.ES_LKAS,)}
+  FWD_BLACKLISTED_ADDRS = fwd_blacklisted_addr(SubaruMsg.ES_LKAS_ANGLE)
+
+  FLAGS = Panda.FLAG_SUBARU_LKAS_ANGLE
+
+  ANGLE_RATE_BP = [0, 15]
+  ANGLE_RATE_UP = [5, 0.15]
+  ANGLE_RATE_DOWN = [5, 0.4]
+
+  def _angle_cmd_msg(self, angle, enabled=1):
+    values = {"LKAS_Output": angle, "LKAS_Request": enabled}
+    return self.packer.make_can_msg_panda("ES_LKAS_ANGLE", 0, values)
+
+  def _angle_meas_msg(self, angle):
+    values = {"Steering_Angle": angle}
+    return self.packer.make_can_msg_panda("Steering_Torque", 0, values)
+
+  # need to use ES_DashStatus Message
+  def _pcm_status_msg(self, enable):
+    values = {"Cruise_Activated": enable}
+    return self.packer.make_can_msg_panda("ES_DashStatus", self.ALT_CAM_BUS, values)
+
+
 class TestSubaruGen1TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
   FLAGS = 0
   TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS)
@@ -186,6 +213,13 @@ class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSaf
   TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS)
 
 
+class TestSubaruGen2AngleStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruAngleSafetyBase):
+  ALT_MAIN_BUS = SUBARU_ALT_BUS
+
+  FLAGS = Panda.FLAG_SUBARU_GEN2 | Panda.FLAG_SUBARU_LKAS_ANGLE
+  TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS) + lkas_tx_msgs(SUBARU_MAIN_BUS, SubaruMsg.ES_LKAS_ANGLE)
+
+
 class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruTorqueSafetyBase):
   FLAGS = Panda.FLAG_SUBARU_LONG
   TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) + long_tx_msgs(SUBARU_MAIN_BUS)