diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index 6cd6b1f06d..d9d897c964 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -2,7 +2,6 @@
   ros__parameters:
     goal_planner:
       # general params
-      minimum_request_length: 10.0
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 2.0  # It must be greater than the state_machine's.
@@ -36,6 +35,7 @@
 
       # pull over
       pull_over:
+        minimum_request_length: 0.0
         pull_over_velocity: 3.0
         pull_over_minimum_velocity: 1.38
         decide_path_distance: 10.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
index b28b2adee8..2fd1229aa2 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -8,6 +8,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 7
       max_module_size: 1
 
@@ -16,6 +17,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 7
       max_module_size: 1
 
@@ -24,6 +26,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 6
       max_module_size: 1
 
@@ -32,6 +35,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 6
       max_module_size: 1
 
@@ -40,6 +44,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 0
       max_module_size: 1
 
@@ -48,6 +53,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 2
       max_module_size: 1
 
@@ -56,6 +62,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: true
       priority: 1
       max_module_size: 1
 
@@ -64,6 +71,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 5
       max_module_size: 1
 
@@ -72,6 +80,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 4
       max_module_size: 1
 
@@ -80,5 +89,6 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 3
       max_module_size: 1