diff --git a/opendbc/safety/safety/safety_rivian.h b/opendbc/safety/safety/safety_rivian.h
index c91b0b5ef8..9f1f908b85 100644
--- a/opendbc/safety/safety/safety_rivian.h
+++ b/opendbc/safety/safety/safety_rivian.h
@@ -138,6 +138,7 @@ static safety_config rivian_init(uint16_t param) {
 
   static RxCheck rivian_rx_checks[] = {
     {.msg = {{0x208, 0, 8, .frequency = 50U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},   // ESP_Status (speed)
+    {.msg = {{0x380, 0, 5, .frequency = 100U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},  // EPAS_SystemStatus (driver torque)
     {.msg = {{0x150, 0, 7, .frequency = 50U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},   // VDM_PropStatus (gas pedal)
     {.msg = {{0x38f, 0, 6, .frequency = 50U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},   // iBESP2 (brakes)
     {.msg = {{0x100, 2, 8, .frequency = 100U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},  // ACM_Status (cruise state)