diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index 00f84eea074bbc..2c9e062f797d1e 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -113,7 +113,7 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
       if (controls_allowed && long_controls_allowed) {
         int violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
         if (violation) return 0;
-      } else if (!controls_allowed && (desired_accel != 0)) {
+      } else if (desired_accel != 0) {
         return 0;
       }
     }
diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
index ac376350b9e380..9badaec0f6959d 100644
--- a/tests/safety/test_toyota.py
+++ b/tests/safety/test_toyota.py
@@ -174,11 +174,17 @@ def test_prev_gas_interceptor(self):
     self.safety.set_gas_interceptor_detected(False)
 
   def test_disengage_on_gas(self):
-    self.safety.toyota_rx_hook(self._pcm_cruise_msg(False, False))
-    self.safety.toyota_rx_hook(self._pcm_cruise_msg(True, False))
-    self.assertTrue(self.safety.get_controls_allowed())
-    self.safety.toyota_rx_hook(self._pcm_cruise_msg(True, True))
-    self.assertFalse(self.safety.get_controls_allowed())
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      self.safety.toyota_rx_hook(self._pcm_cruise_msg(False, False))
+      self.safety.toyota_rx_hook(self._pcm_cruise_msg(True, False))
+      self.assertTrue(self.safety.get_controls_allowed())
+      self.safety.toyota_rx_hook(self._pcm_cruise_msg(True, True))
+      if long_controls_allowed:
+        self.assertFalse(self.safety.get_controls_allowed())
+      else:
+        self.assertTrue(self.safety.get_controls_allowed())
+    self.safety.set_long_controls_allowed(True)
 
   def test_allow_engage_with_gas_pressed(self):
     self.safety.toyota_rx_hook(self._pcm_cruise_msg(False, True))
@@ -188,12 +194,18 @@ def test_allow_engage_with_gas_pressed(self):
     self.assertTrue(self.safety.get_controls_allowed())
 
   def test_disengage_on_gas_interceptor(self):
-    self.safety.toyota_rx_hook(self._send_interceptor_msg(0, 0x201))
-    self.safety.set_controls_allowed(1)
-    self.safety.toyota_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
-    self.assertFalse(self.safety.get_controls_allowed())
-    self.safety.toyota_rx_hook(self._send_interceptor_msg(0, 0x201))
-    self.safety.set_gas_interceptor_detected(False)
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      self.safety.toyota_rx_hook(self._send_interceptor_msg(0, 0x201))
+      self.safety.set_controls_allowed(1)
+      self.safety.toyota_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
+      if long_controls_allowed:
+        self.assertFalse(self.safety.get_controls_allowed())
+      else:
+        self.assertTrue(self.safety.get_controls_allowed())
+      self.safety.toyota_rx_hook(self._send_interceptor_msg(0, 0x201))
+      self.safety.set_gas_interceptor_detected(False)
+    self.safety.set_long_controls_allowed(True)
 
   def test_allow_engage_with_gas_interceptor_pressed(self):
     self.safety.toyota_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
@@ -204,15 +216,17 @@ def test_allow_engage_with_gas_interceptor_pressed(self):
     self.safety.set_gas_interceptor_detected(False)
 
   def test_accel_actuation_limits(self):
-    for accel in np.arange(MIN_ACCEL - 1000, MAX_ACCEL + 1000, 100):
-      for controls_allowed in [True, False]:
-        self.safety.set_controls_allowed(controls_allowed)
-
-        if controls_allowed:
-          send = MIN_ACCEL <= accel <= MAX_ACCEL
-        else:
-          send = accel == 0
-        self.assertEqual(send, self.safety.toyota_tx_hook(self._accel_msg(accel)))
+    for long_controls_allowed in [0, 1]:
+      self.safety.set_long_controls_allowed(long_controls_allowed)
+      for accel in np.arange(MIN_ACCEL - 1000, MAX_ACCEL + 1000, 100):
+        for controls_allowed in [True, False]:
+          self.safety.set_controls_allowed(controls_allowed)
+          if controls_allowed and long_controls_allowed:
+            send = MIN_ACCEL <= accel <= MAX_ACCEL
+          else:
+            send = accel == 0
+          self.assertEqual(send, self.safety.toyota_tx_hook(self._accel_msg(accel)))
+    self.safety.set_long_controls_allowed(True)
 
   def test_torque_absolute_limits(self):
     for controls_allowed in [True, False]: