diff --git a/common/op_params.py b/common/op_params.py
index abb272836d2f57..a319fb088ace71 100644
--- a/common/op_params.py
+++ b/common/op_params.py
@@ -92,6 +92,7 @@ def __init__(self):
                                                                   'localizer might not work correctly'),
                         'prius_use_lqr': Param(False, bool, 'If you have a newer Prius with a good angle sensor, you can try enabling this to use LQR'),
                         'corolla_use_lqr': Param(False, bool, 'Enable this to use LQR for lat with your Corolla (2017)'),
+                        'corollaTSS2_use_indi': Param(False, bool, 'Enable this to use INDI for lat with your Corolla with TSS2'),
                         'username': Param(None, [type(None), str, bool], 'Your identifier provided with any crash logs sent to Sentry.\n'
                                                                          'Helps the developer reach out to you if anything goes wrong'),
 
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index c7da513acc543f..050d71a795a85e 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -10,6 +10,7 @@
 op_params = opParams()
 prius_use_lqr = op_params.get('prius_use_lqr')
 corolla_use_lqr = op_params.get('corolla_use_lqr')
+corollaTSS2_use_indi = op_params.get('corollaTSS2_use_indi')
 EventName = car.CarEvent.EventName
 
 class CarInterface(CarInterfaceBase):
@@ -255,8 +256,20 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.steerRatio = 13.9
       tire_stiffness_factor = 0.444  # not optimized yet
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
-      ret.lateralTuning.pid.kf = 0.00007818594
+      
+      # birdman6450#7399's Corolla 2020 TSS2 Tune
+      if corollaTSS2_use_indi:
+        ret.steerRatio = 15.33
+        tire_stiffness_factor = 0.996
+        ret.lateralTuning.init('indi')
+        ret.lateralTuning.indi.innerLoopGain = 6.0
+        ret.lateralTuning.indi.outerLoopGain = 15.0
+        ret.lateralTuning.indi.timeConstant = 5.5
+        ret.lateralTuning.indi.actuatorEffectiveness = 6.0
+        ret.steerActuatorDelay = 0.57
+      else:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
+        ret.lateralTuning.pid.kf = 0.00007818594 
 
     elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
       stop_and_go = True