diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
index 2fdb829aed..63c73e9fb6 100644
--- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml
@@ -68,7 +68,7 @@
     min_jerk: -2.0
 
     # pitch
-    use_trajectory_for_pitch_calculation: false
+    use_trajectory_for_pitch_calculation: true
     lpf_pitch_gain: 0.95
     max_pitch_rad: 0.1
     min_pitch_rad: -0.1
diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
index 1758330718..2fd2ee8542 100644
--- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml
@@ -8,7 +8,7 @@
     margin_to_insert_external_velocity_limit: 0.3   #  margin distance to insert external velocity limit [m]
 
     # curve parameters
-    max_lateral_accel: 1.0             # max lateral acceleration limit [m/ss]
+    max_lateral_accel: 0.6             # max lateral acceleration limit [m/ss]
     min_curve_velocity: 2.74            # min velocity at lateral acceleration limit and steering angle rate limit [m/s]
     decel_distance_before_curve: 3.5   # slow speed distance before a curve for lateral acceleration limit
     decel_distance_after_curve: 2.0    # slow speed distance after a curve for lateral acceleration limit
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
index 122b8bdcaf..e6fab6e5aa 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml
@@ -10,7 +10,7 @@
       enabled: true
       ego:
         extra_footprint_offset:
-          front: 1.0 # [m] extra length to add to the front of the ego footprint
+          front: 1.5 # [m] extra length to add to the front of the ego footprint
           rear: 0.5 # [m] extra length to add to the rear of the ego footprint
           left: 0.5 # [m] extra length to add to the left of the ego footprint
           right: 0.5 # [m] extra length to add to the rear of the ego footprint
@@ -26,12 +26,12 @@
                          # 'lanelet': add lanelets overlapped by the ego footprints
                          # 'polygon': add polygons built around sections of the ego footprint that go out of the drivable area
         max_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
-        max_path_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
+        max_path_arc_length: 80.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
         extra_arc_length: 0.5 # [m] extra expansion arc length around an ego footprint
       avoid_linestring:
         types: # linestring types in the lanelet maps that will not be crossed when expanding the drivable area
           - road_border
-        distance: 0.0 # [m] distance to keep between the drivable area and the linestrings to avoid
+        distance: 0.3 # [m] distance to keep between the drivable area and the linestrings to avoid
         compensate:
           enable: false  # if true, when the drivable area cannot be expanded in one direction to completely include the ego footprint, it is expanded in the opposite direction
           extra_distance: 3.0 # [m] extra distance to add to the compensation
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 cd2bc6168d..6cd6b1f06d 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 +2,7 @@
   ros__parameters:
     goal_planner:
       # general params
-      minimum_request_length: 100.0
+      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.
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index 4e77e0591f..696113d6bf 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -54,5 +54,5 @@
         intersection_to_occlusion: true
 
     merge_from_private:
-      stop_line_margin: 3.0
+      stop_line_margin: 0.5
       stop_duration_sec: 1.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml
index f102af1b2e..2bdfacd868 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/walkway.param.yaml
@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
     walkway:
-      stop_duration: 1.0 # [s] stop time at stop position
-      stop_distance_from_crosswalk: 0.5 # [m] make stop line away from crosswalk when no explicit stop line exists
+      stop_duration: 0.1 # [s] stop time at stop position
+      stop_distance_from_crosswalk: 0.0 # [m] make stop line away from crosswalk when no explicit stop line exists
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
index 9d761b15ee..c0e3e147dc 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -26,8 +26,8 @@
       - "traffic_light"
       - "lane_change_left"
       - "lane_change_right"
-      - "avoidance_left"
-      - "avoidance_right"
+      # - "avoidance_left"
+      # - "avoidance_right"
       - "avoidance_by_lane_change_left"
       - "avoidance_by_lane_change_right"
       - "goal_planner"
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
index 0bf78ead05..0a44d8aabd 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -45,13 +45,13 @@
 
       common:
         num_points: 100        # number of points for optimization [-]
-        delta_arc_length: 1.0  # delta arc length for optimization [m]
+        delta_arc_length: 0.5  # delta arc length for optimization [m]
 
       kinematics:
         # If this parameter is commented out, the parameter is set as below by default.
         # The logic could be `optimization_center_offset = vehicle_info.wheelbase * 0.8`
         # The 0.8 scale is adopted as it performed the best.
-        optimization_center_offset: 0.0 # optimization center offset from base link
+        optimization_center_offset: 2.0 # optimization center offset from base link
 
       clearance:  # clearance(distance) between vehicle and roads/objects when generating trajectory
         # if collision_free_constraints.option.hard_constraint is true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index b71c2d667c..a01df1447c 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -13,7 +13,7 @@
       min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
       safe_distance_margin : 6.0 # This is also used as a stop margin [m]
-      terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
+      terminal_safe_distance_margin : 6.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
 
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index a089da6397..b33e325f14 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -59,6 +59,8 @@
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>
+      <!-- V2X -->
+      <arg name="launch_v2x" value="false"/>
     </include>
   </group>
 </launch>