diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index 1ce02624eec5a2..b99965e98621b7 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -9,7 +9,7 @@ const int32_t MAX_TORQUE = 1500;       // max torque cmd allowed ever
 // packet is sent at 100hz, so this limit is 1000/sec
 const int32_t MAX_RATE_UP = 10;        // ramp up slow
 const int32_t MAX_RATE_DOWN = 25;      // ramp down fast
-const int32_t MAX_TORQUE_ERROR = 500;  // max torque cmd in excess of torque motor
+const int32_t MAX_TORQUE_ERROR = 350;  // max torque cmd in excess of torque motor
 
 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec