diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
index 8d93a95b37..f35d8fa2c5 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    verbose: false
+    verbose: true
     max_iteration_num: 100
 
     traffic_light_signal_timeout: 1.0
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 06fe74e3b7..094ccf439f 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
@@ -16,10 +16,10 @@
         parking_policy: "left_side" # "left_side" or "right_side"
         forward_goal_search_length: 40.0
         backward_goal_search_length: 20.0
-        goal_search_interval: 2.0
+        goal_search_interval: 4.0
         longitudinal_margin: 3.0
-        max_lateral_offset: 1.0
-        lateral_offset_interval: 0.5
+        max_lateral_offset: 0.0
+        lateral_offset_interval: 0.1
         ignore_distance_from_lane_start: 0.0
         margin_from_boundary: 0.75
 
@@ -57,21 +57,21 @@
           maximum_lateral_jerk: 2.0
           minimum_lateral_jerk: 0.5
           deceleration_interval: 15.0
-          after_shift_straight_distance: 1.0
+          after_shift_straight_distance: 3.0
 
         # parallel parking path
         parallel_parking:
           path_interval: 1.0
           max_steer_angle: 0.35  # 20deg
           forward:
-            enable_arc_forward_parking: true
+            enable_arc_forward_parking: false
             after_forward_parking_straight_distance: 2.0
             forward_parking_velocity: 1.38
             forward_parking_lane_departure_margin: 0.0
             forward_parking_path_interval: 1.0
             forward_parking_max_steer_angle: 0.35  # 20deg
           backward:
-            enable_arc_backward_parking: true
+            enable_arc_backward_parking: false
             after_backward_parking_straight_distance: 2.0
             backward_parking_velocity: -1.38
             backward_parking_lane_departure_margin: 0.0
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 0090a29926..584039ba5d 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
@@ -53,7 +53,7 @@
 
     goal_planner:
       enable_rtc: false
-      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
       priority: 1