diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index bf1711373d..5668f02bab 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -12,7 +12,7 @@
 
       minimum_lane_changing_velocity: 2.78        # [m/s]
       prediction_time_resolution: 0.5           # [s]
-      longitudinal_acceleration_sampling_num: 3
+      longitudinal_acceleration_sampling_num: 5
       lateral_acceleration_sampling_num: 3
 
       # lateral acceleration map
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 32da47b1c9..76ae718c01 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
@@ -7,28 +7,28 @@
       enable_module: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 6
+      priority: 7
       max_module_size: 1
 
     external_request_lane_change_right:
       enable_module: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 6
+      priority: 7
       max_module_size: 1
 
     lane_change_left:
       enable_module: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 5
+      priority: 6
       max_module_size: 1
 
     lane_change_right:
       enable_module: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 5
+      priority: 6
       max_module_size: 1
 
     pull_out:
@@ -56,7 +56,7 @@
       enable_module: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
-      priority: 4
+      priority: 5
       max_module_size: 1
 
     # NOTE: This module is unstable. Deprecated for now.
@@ -64,12 +64,12 @@
       enable_module: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
-      priority: 3
+      priority: 4
       max_module_size: 1
 
     dynamic_avoidance:
       enable_module: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
-      priority: 7
+      priority: 3
       max_module_size: 1