diff --git a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml
index d23e2e9676..5d37138738 100644
--- a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml
@@ -18,5 +18,5 @@
     use_parkinglot: true
     use_objects: true
     use_points: true
-    expand_polygon_size: 1.0
+    expand_polygon_size: 0.5
     size_of_expansion_kernel: 9
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 d1b2cf5936..93677d3ca9 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
@@ -113,9 +113,11 @@
             use_back: true
             adapt_expansion_distance: true
             expansion_distance: 0.5
+            near_goal_distance: 3.0
             distance_heuristic_weight: 2.0
             smoothness_weight: 0.5
             obstacle_distance_weight: 1.75
+            goal_lat_distance_weight: 5.0
           # -- RRT* search Configurations --
           rrtstar:
             enable_update: true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
index 8cfae9e9ad..10eb7486db 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -83,9 +83,11 @@
           use_back: true
           adapt_expansion_distance: true
           expansion_distance: 0.5
+          near_goal_distance: 3.0
           distance_heuristic_weight: 2.0
           smoothness_weight: 0.5
           obstacle_distance_weight: 1.75
+          goal_lat_distance_weight: 5.0
         # -- RRT* search Configurations --
         rrtstar:
           enable_update: true
diff --git a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
index a3e65a89f0..d82a942035 100644
--- a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
@@ -4,11 +4,12 @@
     planning_algorithm: "astar"
     waypoints_velocity: 5.0
     update_rate: 10.0
-    th_arrived_distance_m: 1.0
+    th_arrived_distance_m: 0.5
     th_stopped_time_sec: 1.0
     th_stopped_velocity_mps: 0.01
     th_course_out_distance_m: 1.0
-    vehicle_shape_margin_m: 1.0
+    th_obstacle_time_sec: 1.0
+    vehicle_shape_margin_m: 0.5
     replan_when_obstacle_found: true
     replan_when_course_out: true
 
@@ -36,9 +37,11 @@
       use_back: true
       adapt_expansion_distance: true
       expansion_distance: 0.5
+      near_goal_distance: 3.0
       distance_heuristic_weight: 2.0
       smoothness_weight: 0.5
       obstacle_distance_weight: 1.75
+      goal_lat_distance_weight: 5.0
 
     # -- RRT* search Configurations --
     rrtstar: