diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 29360c2039718b..a1a09047187b97 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -27,6 +27,8 @@
 # - prolonged high driver torque: 17 (permanent)
 PERM_STEER_FAULTS = (3, 17)
 
+ZSS_THRESHOLD = 4.0
+ZSS_THRESHOLD_COUNT = 10
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -49,6 +51,11 @@ def __init__(self, CP):
 
     # FrogPilot variables
     self.profile_restored = False
+    self.zss_compute = False
+    self.zss_cruise_active_last = False
+
+    self.zss_angle_offset = 0
+    self.zss_threshold_count = 0
 
     self.traffic_signals = {}
 
@@ -256,6 +263,30 @@ def update(self, cp, cp_cam, frogpilot_variables):
     SpeedLimitController.car_speed_limit = self.calculate_speed_limit(frogpilot_variables)
     SpeedLimitController.write_car_state()
 
+    # ZSS Support - Credit goes to the DragonPilot team!
+    if self.CP.flags & ToyotaFlags.ZSS and self.zss_threshold_count < ZSS_THRESHOLD_COUNT:
+      zorro_steer = cp.vl["SECONDARY_STEER_ANGLE"]["ZORRO_STEER"]
+      # Only compute ZSS offset when acc is active
+      zss_cruise_active = ret.cruiseState.available
+      if zss_cruise_active and not self.zss_cruise_active_last:
+        self.zss_compute = True  # Cruise was just activated, so allow offset to be recomputed
+        self.zss_threshold_count = 0
+      self.zss_cruise_active_last = zss_cruise_active
+
+      # Compute ZSS offset
+      if self.zss_compute:
+        if abs(ret.steeringAngleDeg) > 1e-3 and abs(zorro_steer) > 1e-3:
+          self.zss_compute = False
+          self.zss_angle_offset = zorro_steer - ret.steeringAngleDeg
+
+      # Error check
+      new_steering_angle_deg = zorro_steer - self.zss_angle_offset
+      if abs(ret.steeringAngleDeg - new_steering_angle_deg) > ZSS_THRESHOLD:
+        self.zss_threshold_count += 1
+      else:
+        # Apply offset
+        ret.steeringAngleDeg = new_steering_angle_deg
+
     return ret
 
   def update_traffic_signals(self, cp_cam):
@@ -329,6 +360,8 @@ def get_can_parser(CP):
         ("SDSU", 100),
       ]
 
+    messages += [("SECONDARY_STEER_ANGLE", 0)]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index e1ec032cd1801d..6a45db5b552214 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -43,6 +43,9 @@ def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long,
       ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
       ret.steerLimitTimer = 0.4
 
+      if 0x23 in fingerprint[0]:  # Detect if ZSS is present
+        ret.flags |= ToyotaFlags.ZSS.value
+
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
 
     stop_and_go = candidate in TSS2_CAR
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 8fec1ee46627c9..0190aa9ed2be16 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -46,6 +46,7 @@ class ToyotaFlags(IntFlag):
   HYBRID = 1
   SMART_DSU = 2
   DISABLE_RADAR = 4
+  ZSS = 8
   RADAR_CAN_FILTER = 16