diff --git a/rio/src/main/java/org/teamtators/common/config/ConfigCommandStore.java b/rio/src/main/java/org/teamtators/common/config/ConfigCommandStore.java
index 76437edb..d8be9aa3 100644
--- a/rio/src/main/java/org/teamtators/common/config/ConfigCommandStore.java
+++ b/rio/src/main/java/org/teamtators/common/config/ConfigCommandStore.java
@@ -102,12 +102,14 @@ public void createCommandsFromConfig(ObjectNode json) throws ConfigException {
             JsonNode config = json.get(command.getName());
             configureCommand(command, config);
         }
-        for (int i = 0; i < 10; i++) {
+        boolean wasUpdated;
+        do {
+            wasUpdated = false;
             for (Map.Entry<String, Command> commandEntry : commandsMapCopy.entrySet()) {
                 Command command = commandEntry.getValue();
-                command.updateRequirements();
+                wasUpdated = wasUpdated || command.updateRequirements();
             }
-        }
+        } while (wasUpdated);
     }
 
     public void configureCommand(Command command, JsonNode config) throws ConfigException {
diff --git a/rio/src/main/java/org/teamtators/common/scheduler/Command.java b/rio/src/main/java/org/teamtators/common/scheduler/Command.java
index 02cc2b5d..f41674b9 100644
--- a/rio/src/main/java/org/teamtators/common/scheduler/Command.java
+++ b/rio/src/main/java/org/teamtators/common/scheduler/Command.java
@@ -105,8 +105,12 @@ public boolean doesRequire(Subsystem subsystem) {
         return requirements != null && requirements.contains(subsystem);
     }
 
-    public void updateRequirements() {
-
+    /**
+     * Updates any requirements on this command to require all child commands
+     * @return If any requirements had to be added
+     */
+    public boolean updateRequirements() {
+        return false;
     }
 
     private boolean isRequiring(Subsystem subsystem, CommandRunContext context) {
diff --git a/rio/src/main/java/org/teamtators/common/scheduler/SequentialCommand.java b/rio/src/main/java/org/teamtators/common/scheduler/SequentialCommand.java
index 2e9013b6..578098fb 100644
--- a/rio/src/main/java/org/teamtators/common/scheduler/SequentialCommand.java
+++ b/rio/src/main/java/org/teamtators/common/scheduler/SequentialCommand.java
@@ -76,13 +76,17 @@ private void updateValidStates() {
     }
 
     @Override
-    public void updateRequirements() {
+    public boolean updateRequirements() {
         // A sequential command requires all subsystems required by all child commands
-        sequence.forEach(run -> {
-            run.command.updateRequirements();
-            if (run.command.getRequirements() != null)
+        boolean wasUpdated = false;
+        for (SequentialCommandRun run : sequence) {
+            wasUpdated = wasUpdated || run.command.updateRequirements();
+            int lengthBefore = getRequirements().size();
+            if (run.command.getRequirements() != null && !run.parallel)
                 requiresAll(run.command.getRequirements());
-        });
+            wasUpdated = wasUpdated || (lengthBefore != getRequirements().size());
+        }
+        return wasUpdated;
     }
 
     @Override
diff --git a/rio/src/main/java/org/teamtators/levitator/commands/AutoSelector.java b/rio/src/main/java/org/teamtators/levitator/commands/AutoSelector.java
index bf892113..594ce657 100644
--- a/rio/src/main/java/org/teamtators/levitator/commands/AutoSelector.java
+++ b/rio/src/main/java/org/teamtators/levitator/commands/AutoSelector.java
@@ -141,9 +141,9 @@ public void configure(Config config) {
     }
 
     @Override
-    public void updateRequirements() {
+    public boolean updateRequirements() {
         if (config == null) {
-            return;
+            return false;
         }
         List<String> commandNames = new ArrayList<>();
         if (config.type == SelectorType.FIELD_CONFIGURATION) {
@@ -156,6 +156,7 @@ public void updateRequirements() {
         } else {
             logger.error("Invalid selector type: " + config.type);
         }
+        boolean wasUpdated = false;
         for (String commandName : commandNames) {
             Command command;
             try {
@@ -163,8 +164,11 @@ public void updateRequirements() {
             } catch (IllegalArgumentException e) {
                 continue;
             }
+            int lengthBefore = getRequirements().size();
             requiresAll(command.getRequirements());
+            wasUpdated = wasUpdated || (lengthBefore != getRequirements().size());
         }
+        return wasUpdated;
     }
 
     public enum SelectorType {