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 c4d1b7bb1b..94ae9fa6d9 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
@@ -153,7 +153,7 @@
         # For safety check
         safety_check_params:
           # safety check configuration
-          enable_safety_check: true
+          enable_safety_check: false # Don't set to true if auto_mode is enabled
           # collision check parameters
           check_all_predicted_path: true
           publish_debug_marker: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
index 492bf1ddca..e12a1a3519 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -120,7 +120,7 @@
         # For safety check
         safety_check_params:
           # safety check configuration
-          enable_safety_check: true
+          enable_safety_check: false # Don't set to true if auto_mode is enabled
           # collision check parameters
           check_all_predicted_path: true
           publish_debug_marker: false