diff --git a/system/default_ad_api/src/compatibility/autoware_state.cpp b/system/default_ad_api/src/compatibility/autoware_state.cpp
index 5778edf66559..c2f894f4eedd 100644
--- a/system/default_ad_api/src/compatibility/autoware_state.cpp
+++ b/system/default_ad_api/src/compatibility/autoware_state.cpp
@@ -15,8 +15,86 @@
 #include "autoware_state.hpp"
 
 #include <string>
+#include <unordered_map>
+#include <utility>
 #include <vector>
 
+namespace transition
+{
+
+using State = autoware_auto_system_msgs::msg::AutowareState;
+using Value = State::_state_type;
+struct PairHash
+{
+  size_t operator()(const std::pair<Value, Value> & pair) const noexcept
+  {
+    // This hash only works for uint8 pairs.
+    const auto prev = static_cast<size_t>(pair.first);
+    const auto curr = static_cast<size_t>(pair.second);
+    return (prev << 8) | (curr << 0);
+  }
+};
+
+double get_wait_time(const Value state)
+{
+  if (state == State::INITIALIZING) {
+    return 1.0;
+  }
+  if (state == State::PLANNING) {
+    return 3.0;
+  }
+  if (state == State::ARRIVED_GOAL) {
+    return 2.0;
+  }
+  return 0.0;
+}
+
+const double arrived_goal_timeout = get_wait_time(State::ARRIVED_GOAL);
+
+// clang-format off
+std::unordered_map<std::pair<Value, Value>, Value, PairHash> matrix =
+{
+  {{State::INITIALIZING      , State::INITIALIZING      }, State::INITIALIZING      },
+  {{State::INITIALIZING      , State::WAITING_FOR_ROUTE }, State::WAITING_FOR_ROUTE },
+  {{State::INITIALIZING      , State::PLANNING          }, State::WAITING_FOR_ROUTE },
+  {{State::INITIALIZING      , State::WAITING_FOR_ENGAGE}, State::WAITING_FOR_ROUTE },
+  {{State::INITIALIZING      , State::DRIVING           }, State::WAITING_FOR_ROUTE },
+  {{State::INITIALIZING      , State::ARRIVED_GOAL      }, State::WAITING_FOR_ROUTE },
+  {{State::WAITING_FOR_ROUTE , State::INITIALIZING      }, State::WAITING_FOR_ROUTE },
+  {{State::WAITING_FOR_ROUTE , State::WAITING_FOR_ROUTE }, State::WAITING_FOR_ROUTE },
+  {{State::WAITING_FOR_ROUTE , State::PLANNING          }, State::PLANNING          },
+  {{State::WAITING_FOR_ROUTE , State::WAITING_FOR_ENGAGE}, State::PLANNING          },
+  {{State::WAITING_FOR_ROUTE , State::DRIVING           }, State::DRIVING           },
+  {{State::WAITING_FOR_ROUTE , State::ARRIVED_GOAL      }, State::DRIVING           },
+  {{State::PLANNING          , State::INITIALIZING      }, State::PLANNING          },
+  {{State::PLANNING          , State::WAITING_FOR_ROUTE }, State::WAITING_FOR_ROUTE },
+  {{State::PLANNING          , State::PLANNING          }, State::PLANNING          },
+  {{State::PLANNING          , State::WAITING_FOR_ENGAGE}, State::WAITING_FOR_ENGAGE},
+  {{State::PLANNING          , State::DRIVING           }, State::WAITING_FOR_ENGAGE},
+  {{State::PLANNING          , State::ARRIVED_GOAL      }, State::WAITING_FOR_ENGAGE},
+  {{State::WAITING_FOR_ENGAGE, State::INITIALIZING      }, State::WAITING_FOR_ENGAGE},
+  {{State::WAITING_FOR_ENGAGE, State::WAITING_FOR_ROUTE }, State::WAITING_FOR_ROUTE },
+  {{State::WAITING_FOR_ENGAGE, State::PLANNING          }, State::PLANNING          },
+  {{State::WAITING_FOR_ENGAGE, State::WAITING_FOR_ENGAGE}, State::WAITING_FOR_ENGAGE},
+  {{State::WAITING_FOR_ENGAGE, State::DRIVING           }, State::DRIVING           },
+  {{State::WAITING_FOR_ENGAGE, State::ARRIVED_GOAL      }, State::ARRIVED_GOAL      },
+  {{State::DRIVING           , State::INITIALIZING      }, State::DRIVING           },
+  {{State::DRIVING           , State::WAITING_FOR_ROUTE }, State::WAITING_FOR_ROUTE },
+  {{State::DRIVING           , State::PLANNING          }, State::PLANNING          },
+  {{State::DRIVING           , State::WAITING_FOR_ENGAGE}, State::WAITING_FOR_ENGAGE},
+  {{State::DRIVING           , State::DRIVING           }, State::DRIVING           },
+  {{State::DRIVING           , State::ARRIVED_GOAL      }, State::ARRIVED_GOAL      },
+  {{State::ARRIVED_GOAL      , State::INITIALIZING      }, State::ARRIVED_GOAL      },
+  {{State::ARRIVED_GOAL      , State::WAITING_FOR_ROUTE }, State::WAITING_FOR_ROUTE },
+  {{State::ARRIVED_GOAL      , State::PLANNING          }, State::WAITING_FOR_ROUTE },
+  {{State::ARRIVED_GOAL      , State::WAITING_FOR_ENGAGE}, State::WAITING_FOR_ROUTE },
+  {{State::ARRIVED_GOAL      , State::DRIVING           }, State::WAITING_FOR_ROUTE },
+  {{State::ARRIVED_GOAL      , State::ARRIVED_GOAL      }, State::ARRIVED_GOAL      }
+};
+// clang-format on
+
+}  // namespace transition
+
 namespace default_ad_api
 {
 
@@ -55,6 +133,9 @@ AutowareStateNode::AutowareStateNode(const rclcpp::NodeOptions & options)
   localization_state_.state = LocalizationState::UNKNOWN;
   routing_state_.state = RoutingState::UNKNOWN;
   operation_mode_state_.mode = OperationModeState::UNKNOWN;
+
+  previous_stamp_ = now();
+  previous_state_ = std::nullopt;
 }
 
 void AutowareStateNode::on_localization(const LocalizationState::ConstSharedPtr msg)
@@ -129,15 +210,38 @@ void AutowareStateNode::on_timer()
 
   // Update routing state to reproduce old logic.
   if (routing_state_.state == RoutingState::ARRIVED) {
-    const auto duration = now() - rclcpp::Time(routing_state_.stamp);
-    if (2.0 < duration.seconds()) {
+    const auto duration = (now() - rclcpp::Time(routing_state_.stamp)).seconds();
+    if (transition::arrived_goal_timeout < duration) {
       routing_state_.state = RoutingState::UNSET;
     }
   }
 
+  // Change next state to reproduce old logic.
+  auto current_state = convert_state();
+  if (previous_state_) {
+    const auto pair = std::make_pair(previous_state_.value(), current_state);
+    if (transition::matrix.count(pair)) {
+      current_state = transition::matrix.at(pair);
+    }
+  }
+
+  // Wait state change for sync to reproduce old logic.
+  const auto current_stamp = now();
+  if (previous_state_) {
+    const auto duration = (current_stamp - previous_stamp_).seconds();
+    const auto previous = previous_state_.value();
+    if (duration < transition::get_wait_time(previous)) {
+      current_state = previous;
+    }
+  }
+  if (current_state != previous_state_) {
+    previous_stamp_ = current_stamp;
+    previous_state_ = current_state;
+  }
+
   AutowareState msg;
-  msg.stamp = now();
-  msg.state = convert_state();
+  msg.stamp = current_stamp;
+  msg.state = current_state;
   pub_autoware_state_->publish(msg);
 }
 
diff --git a/system/default_ad_api/src/compatibility/autoware_state.hpp b/system/default_ad_api/src/compatibility/autoware_state.hpp
index 4cd6233f5df0..a4eeb6943b43 100644
--- a/system/default_ad_api/src/compatibility/autoware_state.hpp
+++ b/system/default_ad_api/src/compatibility/autoware_state.hpp
@@ -23,6 +23,7 @@
 #include <std_srvs/srv/trigger.hpp>
 #include <tier4_system_msgs/msg/mode_change_available.hpp>
 
+#include <optional>
 #include <vector>
 
 // This file should be included after messages.
@@ -60,6 +61,9 @@ class AutowareStateNode : public rclcpp::Node
   RoutingState routing_state_;
   OperationModeState operation_mode_state_;
 
+  rclcpp::Time previous_stamp_;
+  std::optional<AutowareState::_state_type> previous_state_;
+
   void on_timer();
   void on_localization(const LocalizationState::ConstSharedPtr msg);
   void on_routing(const RoutingState::ConstSharedPtr msg);