diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
index 667217d259..1c16624605 100644
--- a/autoware_launch/config/localization/ekf_localizer.param.yaml
+++ b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -24,9 +24,9 @@
 
     # for diagnostics
     pose_no_update_count_threshold_warn: 50
-    pose_no_update_count_threshold_error: 250
+    pose_no_update_count_threshold_error: 100
     twist_no_update_count_threshold_warn: 50
-    twist_no_update_count_threshold_error: 250
+    twist_no_update_count_threshold_error: 100
 
     # for velocity measurement limitation (Set 0.0 if you want to ignore)
     threshold_observable_velocity_mps: 0.0 # [m/s]
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 0f1b441bed..295c9caf84 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
@@ -48,7 +48,7 @@
         maximum_deceleration: 1.0
         maximum_jerk: 1.0
         path_priority: "efficient_path" # "efficient_path" or "close_goal"
-        efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exculde freespace parking)
+        efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking)
 
         # shift parking
         shift_parking:
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
index b8da5f4e7c..6a763eace4 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -24,6 +24,7 @@
         /autoware/localization/node_alive_monitoring: default
         /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
         /autoware/localization/performance_monitoring/localization_accuracy: default
+        /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" }
 
         /autoware/map/node_alive_monitoring: default