diff --git a/aip_x1_launch/config/concatenate_and_time_sync_node.param.yaml b/aip_x1_launch/config/concatenate_and_time_sync_node.param.yaml
index 374a65fa..fcc00d60 100644
--- a/aip_x1_launch/config/concatenate_and_time_sync_node.param.yaml
+++ b/aip_x1_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -1,7 +1,5 @@
 /**:
   ros__parameters:
-    # ignore the lidar_timestamp_offsets and lidar_timestamp_noise_window if 'use_naive_approach' is true
-    use_naive_approach: false
     debug_mode: false
     has_static_tf_only: false
     rosbag_length: 10.0
@@ -18,5 +16,7 @@
                     "/sensing/lidar/top/pointcloud_before_sync", # 0.055
                 ]
     output_frame: base_link
-    lidar_timestamp_offsets: [0.0, 0.03]
-    lidar_timestamp_noise_window: [0.01, 0.01]
+    matching_strategy:
+      type: advanced
+      lidar_timestamp_offsets: [0.0, 0.03]
+      lidar_timestamp_noise_window: [0.01, 0.01]
diff --git a/aip_x2_launch/config/concatenate_and_time_sync_node.param.yaml b/aip_x2_launch/config/concatenate_and_time_sync_node.param.yaml
index fe37a3d9..fac6393b 100644
--- a/aip_x2_launch/config/concatenate_and_time_sync_node.param.yaml
+++ b/aip_x2_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -1,7 +1,5 @@
 /**:
   ros__parameters:
-    # ignore the lidar_timestamp_offsets and lidar_timestamp_noise_window if 'use_naive_approach' is true
-    use_naive_approach: false
     debug_mode: false
     has_static_tf_only: false
     rosbag_length: 10.0
@@ -24,5 +22,7 @@
                     "/sensing/lidar/right_lower/pointcloud_before_sync", # 0.00
                 ]
     output_frame: base_link
-    lidar_timestamp_offsets: [0.0, 0.005, 0.006, 0.006, 0.031, 0.03, 0.046, 0.056]
-    lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01]
+    matching_strategy:
+      type: advanced
+      lidar_timestamp_offsets: [0.0, 0.005, 0.006, 0.006, 0.031, 0.03, 0.046, 0.056]
+      lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01]
diff --git a/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml b/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
index e889deef..9e5ffa7e 100644
--- a/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
+++ b/aip_xx1_gen2_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -1,7 +1,5 @@
 /**:
   ros__parameters:
-    # ignore the lidar_timestamp_offsets and lidar_timestamp_noise_window if 'use_naive_approach' is true
-    use_naive_approach: false
     debug_mode: false
     has_static_tf_only: false
     rosbag_length: 10.0
@@ -21,5 +19,7 @@
                     "/sensing/lidar/side_right/pointcloud_before_sync",  # 0.99
                 ]
     output_frame: base_link
-    lidar_timestamp_offsets: [0.0, 0.0, 0.0, 0.0, 0.0]
-    lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01]
+    matching_strategy:
+      type: advanced
+      lidar_timestamp_offsets: [0.0, 0.0, 0.0, 0.0, 0.0]
+      lidar_timestamp_noise_window: [0.01, 0.01, 0.01, 0.01, 0.01]
\ No newline at end of file
diff --git a/aip_xx1_launch/config/concatenate_and_time_sync_node.param.yaml b/aip_xx1_launch/config/concatenate_and_time_sync_node.param.yaml
index 54745186..453c5408 100644
--- a/aip_xx1_launch/config/concatenate_and_time_sync_node.param.yaml
+++ b/aip_xx1_launch/config/concatenate_and_time_sync_node.param.yaml
@@ -1,7 +1,5 @@
 /**:
   ros__parameters:
-    # ignore the lidar_timestamp_offsets and lidar_timestamp_noise_window if 'use_naive_approach' is true
-    use_naive_approach: false
     debug_mode: false
     has_static_tf_only: false
     rosbag_length: 10.0
@@ -20,5 +18,7 @@
                     "/sensing/lidar/rear/pointcloud_before_sync",
                 ]
     output_frame: base_link
-    lidar_timestamp_offsets: [0.0, 0.02, 0.02, 0.02]
-    lidar_timestamp_noise_window: [0.02, 0.02, 0.02, 0.02]
+    matching_strategy:
+      type: advanced
+      lidar_timestamp_offsets: [0.0, 0.02, 0.02, 0.02]
+      lidar_timestamp_noise_window: [0.02, 0.02, 0.02, 0.02]