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 e1a0c7e38d..940bb82a59 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
@@ -7,7 +7,7 @@
 
     # Dynamic expansion by using the path curvature
     dynamic_expansion:
-      enabled: false
+      enabled: true
       print_runtime: false
       max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
       smoothing:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
index 7a0ef047f7..9c6e9925db 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -19,8 +19,8 @@
       # behavior_velocity_planner::VirtualTrafficLightModulePlugin
       - behavior_velocity_planner::NoStoppingAreaModulePlugin     # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom.
       - behavior_velocity_planner::StopLineModulePlugin           # Permanent stop line module should be after no stopping area
-      # behavior_velocity_planner::OcclusionSpotModulePlugin
-      # behavior_velocity_planner::RunOutModulePlugin
-      # behavior_velocity_planner::SpeedBumpModulePlugin
+      - behavior_velocity_planner::OcclusionSpotModulePlugin
+      - behavior_velocity_planner::RunOutModulePlugin
+      - behavior_velocity_planner::SpeedBumpModulePlugin
       - behavior_velocity_planner::OutOfLaneModulePlugin
-      # behavior_velocity_planner::NoDrivableLaneModulePlugin
+      - behavior_velocity_planner::NoDrivableLaneModulePlugin