diff --git a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
index 0eb88ce2fc..f554402cee 100644
--- a/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
+++ b/autoware_launch/config/localization/ndt_scan_matcher.param.yaml
@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    # Use dynamic map loading
+    use_dynamic_map_loading: true
 
     # Vehicle reference frame
     base_frame: "base_link"
@@ -66,6 +68,15 @@
     # regularization scale factor
     regularization_scale_factor: 0.01
 
+    # Dynamic map loading distance
+    dynamic_map_loading_update_distance: 20.0
+
+    # Dynamic map loading loading radius
+    dynamic_map_loading_map_radius: 150.0
+
+    # Radius of input LiDAR range (used for diagnostics of dynamic map loading)
+    lidar_radius: 100.0
+
     # A flag for using scan matching score based on de-grounded LiDAR scan
     estimate_scores_for_degrounded_scan: false
 
diff --git a/autoware_launch/config/map/pointcloud_map_loader.param.yaml b/autoware_launch/config/map/pointcloud_map_loader.param.yaml
index 8f3ccbff00..61b02c490c 100644
--- a/autoware_launch/config/map/pointcloud_map_loader.param.yaml
+++ b/autoware_launch/config/map/pointcloud_map_loader.param.yaml
@@ -2,8 +2,8 @@
   ros__parameters:
     enable_whole_load: true
     enable_downsampled_whole_load: false
-    enable_partial_load: false
-    enable_differential_load: false
+    enable_partial_load: true
+    enable_differential_load: true
 
     # only used when downsample_whole_load enabled
     leaf_size: 3.0 # downsample leaf size [m]