diff --git a/autoware_launch/config/planning/preset/xx1_preset.yaml b/autoware_launch/config/planning/preset/xx1_preset.yaml
new file mode 100644
index 0000000000..81046a5f26
--- /dev/null
+++ b/autoware_launch/config/planning/preset/xx1_preset.yaml
@@ -0,0 +1,120 @@
+launch:
+  # behavior path modules
+  - arg:
+      name: launch_avoidance_module
+      default: "true"
+  - arg:
+      name: launch_avoidance_by_lane_change_module
+      default: "true"
+  - arg:
+      name: launch_dynamic_avoidance_module
+      default: "false"
+  - arg:
+      name: launch_lane_change_right_module
+      default: "true"
+  - arg:
+      name: launch_lane_change_left_module
+      default: "true"
+  - arg:
+      name: launch_external_request_lane_change_right_module
+      default: "false"
+  - arg:
+      name: launch_external_request_lane_change_left_module
+      default: "false"
+  - arg:
+      name: launch_goal_planner_module
+      default: "true"
+  - arg:
+      name: launch_start_planner_module
+      default: "true"
+  - arg:
+      name: launch_side_shift_module
+      default: "true"
+  - arg:
+      name: use_experimental_lane_change_function
+      default: "true"
+
+  # behavior velocity modules
+  - arg:
+      name: launch_crosswalk_module
+      default: "true"
+  - arg:
+      name: launch_walkway_module
+      default: "true"
+  - arg:
+      name: launch_traffic_light_module
+      default: "true"
+  - arg:
+      name: launch_intersection_module
+      default: "true"
+  - arg:
+      name: launch_merge_from_private_module
+      default: "true"
+  - arg:
+      name: launch_blind_spot_module
+      default: "true"
+  - arg:
+      name: launch_detection_area_module
+      default: "true"
+  - arg:
+      name: launch_virtual_traffic_light_module
+      default: "false"
+  - arg:
+      name: launch_no_stopping_area_module
+      default: "true"
+  - arg:
+      name: launch_stop_line_module
+      default: "true"
+  - arg:
+      name: launch_occlusion_spot_module
+      default: "false"
+  - arg:
+      name: launch_run_out_module
+      default: "true"
+  - arg:
+      name: launch_speed_bump_module
+      default: "false"
+  - arg:
+      name: launch_out_of_lane_module
+      default: "true"
+  - arg:
+      name: launch_no_drivable_lane_module
+      default: "false"
+
+  # motion planning modules
+  - arg:
+      name: motion_path_smoother_type
+      default: elastic_band
+      # option: elastic_band
+      #         none
+
+  - arg:
+      name: motion_path_planner_type
+      default: obstacle_avoidance_planner
+      # option: obstacle_avoidance_planner
+      #         path_sampler
+      #         none
+
+  - arg:
+      name: motion_stop_planner_type
+      default: obstacle_cruise_planner
+      # option: obstacle_stop_planner
+      #         obstacle_cruise_planner
+      #         none
+
+  - arg:
+      name: motion_velocity_smoother_type
+      default: JerkFiltered
+      # option: JerkFiltered
+      #         L2
+      #         Linf(Unstable)
+      #         Analytical
+
+  - arg:
+      name: launch_surround_obstacle_checker
+      default: "true"
+
+  # parking modules
+  - arg:
+      name: launch_parking_module
+      default: "true"
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 2c867f7349..a7c6f55d1a 100755
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -7,7 +7,7 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- launch module preset -->
-  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+  <arg name="planning_module_preset" default="xx1" description="planning module preset"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index f54b1c6e1a..ce0d432e33 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -8,7 +8,7 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- launch module preset -->
-  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+  <arg name="planning_module_preset" default="xx1" description="planning module preset"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index d10cd2afe5..f0d11d6f0c 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -7,7 +7,7 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <!-- launch module preset -->
-  <arg name="planning_module_preset" default="default" description="planning module preset"/>
+  <arg name="planning_module_preset" default="xx1" description="planning module preset"/>
 
   <!-- Optional parameters -->
   <!-- Map -->