        ret.wheelbase = 2.91
        ret.steerRatio = 14.8
        tire_stiffness_factor = 0.8
        ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
        set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
  
      elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
        stop_and_go = True
        ret.wheelbase = 3.00
        ret.steerRatio = 14.2
 
</s> remove       set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
 </s> add  </s> remove       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 </s> add  </s> remove       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)

      # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
      # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
      for fw in car_fw:
        if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
          set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
          break
 </s> add  </s> remove       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 </s> add  </s> remove       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 </s> add 
        ret.wheelbase = 2.91
        ret.steerRatio = 14.8
        tire_stiffness_factor = 0.8
        ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG

  
      elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
        stop_and_go = True
        ret.wheelbase = 3.00
        ret.steerRatio = 14.2
keep keep keep keep replace keep keep keep keep keep
 [torqued] Extend to all Toyota and Hyundai cars (#26238)

* extend to toyota and hyundai

* remove all pid control in hyundai

* remove indi tunes

* remove toyota lat tunes

* release notes

* rm tunes.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> 
selfdrive/car/toyota/interface.py