diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index c27b6cde4e2f4f..9330f3ab2e74ff 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -1230,6 +1230,28 @@
       b'8646F0801100\x00\x00\x00\x00',
     ],
   },
+  CAR.TOYOTA_YARIS_TSS2_2020: {
+    (Ecu.engine, 0x700, None): [
+      b'\x0189663K015300\x00\x00\x00\x00',
+      b'\x0189663K023000\x00\x00\x00\x00'
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F1526K005600\x00\x00\x00\x00',
+      b'\x01F1526K007500\x00\x00\x00\x00'
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x018965BK002100\x00\x00\x00\x00',
+      b'\x018965BK003200\x00\x00\x00\x00'
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F0D04100\x00\x00\x00\x00',
+      b'\x018821F0D05300\x00\x00\x00\x00'
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0W04300\x00\x00\x00\x008646G0W04200\x00\x00\x00\x00',
+      b'\x028646F5205200\x00\x00\x00\x008646G5202200\x00\x00\x00\x00'
+    ],
+  },
   CAR.LEXUS_CTH: {
     (Ecu.dsu, 0x791, None): [
       b'881517601100\x00\x00\x00\x00',
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index ca232a05abc8e2..b25275847896a3 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -265,6 +265,12 @@ class CAR(Platforms):
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.NO_STOP_TIMER,
   )
+  TOYOTA_YARIS_TSS2_2020 = PlatformConfig(
+    [ToyotaCarDocs("Toyota Yaris 2020-EU")],
+    CarSpecs(mass=1836. * CV.LB_TO_KG, wheelbase=2.70, steerRatio=13.0, tireStiffnessFactor=1.0),
+    dbc_dict('toyota_rav4_prime_generated', 'toyota_tss2_adas'),
+    flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC | ToyotaFlags.ALT_GAS_MSG | ToyotaFlags.GEAR_PACKET_HYBRID,
+  )
 
   # Lexus
   LEXUS_CTH = PlatformConfig(