diff --git a/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml b/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml
index 8ef60c0ef6a24..bc3213081d86e 100644
--- a/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml
+++ b/control_launch/config/trajectory_follower/longitudinal_controller.param.yaml
@@ -6,7 +6,7 @@
     enable_overshoot_emergency: true
     enable_large_tracking_error_emergency: true
     enable_slope_compensation: true
-    enable_keep_stopped_until_steer_convergence: false
+    enable_keep_stopped_until_steer_convergence: true
 
     # state transition
     drive_state_stop_dist: 0.5
diff --git a/control_launch/config/trajectory_follower/mpc_follower.param.yaml b/control_launch/config/trajectory_follower/mpc_follower.param.yaml
index e8e87e495551a..4085f7025bd8d 100644
--- a/control_launch/config/trajectory_follower/mpc_follower.param.yaml
+++ b/control_launch/config/trajectory_follower/mpc_follower.param.yaml
@@ -56,7 +56,7 @@
     stop_state_entry_ego_speed: 0.001
     stop_state_entry_target_speed: 0.001
     converged_steer_rad: 0.1
-    keep_steer_control_until_converged: false
+    keep_steer_control_until_converged: true
     new_traj_duration_time: 1.0
     new_traj_end_dist: 0.3