We propose a universal driving protocol for the realization of symmetry-protected topological phases in 2 + 1 dimensional Floquet systems. Our proposal is based on the theoretical analysis of the possible symmetries of a square lattice model with pairwise nearest-neighbor coupling terms. Among the eight possible symmetry operators we identify the two relevant choices for topological phases with either time-reversal, chiral, or particle-hole symmetry. From the corresponding symmetry conditions on the protocol parameters, we obtain the universal driving protocol where each of the symmetries can be realized or broken individually. We provide specific parameter values for the different cases, and demonstrate the existence of symmetry-protected copropagating and counterpropagating topological boundary states. The driving protocol especially allows us to switch between bosonic and fermionic time-reversal symmetry, and thus between a trivial and non-trivial symmetry-protected topological phase, through continuous variation of a parameter. TRS CS PHS Π 2 = 1 step 1 ∆A = ∆B = ∆ ∆A = ∆ ∆C = ∆D = −∆ ∆C = −∆ this J = 2π/T J = 2π/T J = 2π/T work ∆ = 3/T ∆ = 9/T J = π/T