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 eea6d0acdc..edccc2a41e 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
@@ -108,6 +108,8 @@
           astar:
             only_behind_solutions: false
             use_back: false
+            use_curve_weight: true
+            use_complete_astar: true
             distance_heuristic_weight: 1.0
           # -- RRT* search Configurations --
           rrtstar:
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 41e4f90bbc..f1e384d750 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
@@ -81,6 +81,8 @@
         astar:
           only_behind_solutions: false
           use_back: false
+          use_curve_weight: true
+          use_complete_astar: true
           distance_heuristic_weight: 1.0
         # -- RRT* search Configurations --
         rrtstar:
diff --git a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
index ffd99df533..93c9e235dd 100644
--- a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
@@ -36,6 +36,8 @@
     astar:
       only_behind_solutions: false
       use_back: true
+      use_curve_weight: true
+      use_complete_astar: true
       distance_heuristic_weight: 1.0
 
     # -- RRT* search Configurations --