diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 0ffeeeccf0..5a3139e4c5 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -8,7 +8,7 @@ launch:
       default: "true"
   - arg:
       name: launch_dynamic_obstacle_avoidance
-      default: "true"
+      default: "false"
   - arg:
       name: launch_sampling_planner_module
       default: "false" # Warning, experimental module, use only in simulations
@@ -120,7 +120,7 @@ launch:
 
   - arg:
       name: launch_surround_obstacle_checker
-      default: "true"
+      default: "false"
 
   # parking modules
   - arg:
diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
index 5680a99713..4edbbf2d35 100644
--- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -1,6 +1,6 @@
 /**:
   ros__parameters:
-    max_vel: 11.1           # max velocity limit [m/s]
+    max_vel: 4.17           # max velocity limit [m/s]
 
     # constraints param for normal driving
     normal:
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 069f336959..c9ac6aa1a6 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
@@ -89,7 +89,7 @@
           object_time_margin_to_collision_point: 4.0
 
       occlusion:
-        enable: true
+        enable: false
         occlusion_attention_area_length: 70.0
         free_space_max: 43
         occupied_min: 58
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml
index 17a044fb67..db89a81e47 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml
@@ -3,7 +3,7 @@
     option:
       enable_skip_optimization: false                              # skip elastic band and model predictive trajectory
       enable_reset_prev_optimization: false                        # If true, optimization has no fix constraint to the previous result.
-      enable_outside_drivable_area_stop: false                     # stop if the ego's trajectory footprint is outside the drivable area
+      enable_outside_drivable_area_stop: true                      # stop if the ego's trajectory footprint is outside the drivable area
       use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered.
 
       debug:
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 c9fa876368..b68395aefc 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
@@ -12,7 +12,7 @@
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
       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 : 5.0 # This is also used as a stop margin [m]
+      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]
       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/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
index 7f002b1380..9950acbc7e 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
@@ -3,4 +3,3 @@ files:
 
 edits:
   - { type: remove, path: /autoware/system/duplicated_node_checker }
-  - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
index f35f219df6..42af3f79a3 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
@@ -1,5 +1,2 @@
 files:
   - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
-
-edits:
-  - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
index e11f391606..dfc820f93c 100644
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
+++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
@@ -1,5 +1,2 @@
 files:
   - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml }
-
-edits:
-  - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index 09b817b149..965006a50d 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -4,7 +4,7 @@
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
-  <arg name="enable_autonomous_emergency_braking" default="false"/>
+  <arg name="enable_autonomous_emergency_braking" default="true"/>
   <arg name="enable_predicted_path_checker" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index 6fda11ac7a..d5082a91e8 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -34,11 +34,4 @@
     <arg name="diagnostic_graph_aggregator_param_path" value="$(var diagnostic_graph_aggregator_param_path)"/>
     <arg name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path)"/>
   </include>
-
-  <!-- For logging of diagnostics_graph error -->
-  <include file="$(find-pkg-share diagnostic_graph_utils)/launch/logging.launch.xml">
-    <arg name="root_path" value="/autoware/modes/autonomous"/>
-    <arg name="max_depth" value="3"/>
-    <arg name="show_rate" value="0.2"/>
-  </include>
 </launch>