diff --git a/planning/behavior_path_start_planner_module/config/start_planner.param.yaml b/planning/behavior_path_start_planner_module/config/start_planner.param.yaml
index 514d61e225ecd..4904be536ee95 100644
--- a/planning/behavior_path_start_planner_module/config/start_planner.param.yaml
+++ b/planning/behavior_path_start_planner_module/config/start_planner.param.yaml
@@ -36,6 +36,7 @@
       backward_path_update_duration: 3.0
       ignore_distance_from_lane_end: 15.0
       # turns signal
+      prepare_time_before_start: 0.0
       th_turn_signal_on_lateral_offset: 1.0
       intersection_search_length: 30.0
       length_ratio_for_turn_signal_deactivation_near_intersection: 0.5
diff --git a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
index a143f34ead649..bf5a64b4d0973 100644
--- a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
+++ b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
@@ -69,6 +69,10 @@ struct PullOutStatus
   bool prev_is_safe_dynamic_objects{false};
   std::shared_ptr<PathWithLaneId> prev_stop_path_after_approval{nullptr};
   bool has_stop_point{false};
+  std::optional<Pose> stop_pose{std::nullopt};
+  //! record the first time when ego started forward-driving (maybe after backward driving
+  //! completion) in AUTONOMOUS operation mode
+  std::optional<rclcpp::Time> first_engaged_and_driving_forward_time{std::nullopt};
 
   PullOutStatus() {}
 };
@@ -228,6 +232,7 @@ class StartPlannerModule : public SceneModuleInterface
   void updateStatusAfterBackwardDriving();
   PredictedObjects filterStopObjectsInPullOutLanes(
     const lanelet::ConstLanelets & pull_out_lanes, const double velocity_threshold) const;
+  bool needToPrepareBlinkerBeforeStartDrivingForward() const;
   bool hasFinishedPullOut() const;
   bool hasFinishedBackwardDriving() const;
   bool hasCollisionWithDynamicObjects() const;
diff --git a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_parameters.hpp b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_parameters.hpp
index 783aace0983ca..c50648ecd3731 100644
--- a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_parameters.hpp
+++ b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_parameters.hpp
@@ -38,6 +38,7 @@ struct StartPlannerParameters
   double th_arrived_distance{0.0};
   double th_stopped_velocity{0.0};
   double th_stopped_time{0.0};
+  double prepare_time_before_start{0.0};
   double th_turn_signal_on_lateral_offset{0.0};
   double th_distance_to_middle_of_the_road{0.0};
   double intersection_search_length{0.0};
diff --git a/planning/behavior_path_start_planner_module/src/manager.cpp b/planning/behavior_path_start_planner_module/src/manager.cpp
index 58d0fbee7921b..c8c12363921b1 100644
--- a/planning/behavior_path_start_planner_module/src/manager.cpp
+++ b/planning/behavior_path_start_planner_module/src/manager.cpp
@@ -36,6 +36,7 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
   p.th_arrived_distance = node->declare_parameter<double>(ns + "th_arrived_distance");
   p.th_stopped_velocity = node->declare_parameter<double>(ns + "th_stopped_velocity");
   p.th_stopped_time = node->declare_parameter<double>(ns + "th_stopped_time");
+  p.prepare_time_before_start = node->declare_parameter<double>(ns + "prepare_time_before_start");
   p.th_turn_signal_on_lateral_offset =
     node->declare_parameter<double>(ns + "th_turn_signal_on_lateral_offset");
   p.th_distance_to_middle_of_the_road =
diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
index c9fa15d855268..1eb5aa9191a5c 100644
--- a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
+++ b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -104,7 +104,7 @@ void StartPlannerModule::onFreespacePlannerTimer()
 BehaviorModuleOutput StartPlannerModule::run()
 {
   updateData();
-  if (!isActivated()) {
+  if (!isActivated() || needToPrepareBlinkerBeforeStartDrivingForward()) {
     return planWaitingApproval();
   }
 
@@ -161,6 +161,12 @@ void StartPlannerModule::updateData()
     DEBUG_PRINT("StartPlannerModule::updateData() received new route, reset status");
   }
 
+  if (
+    planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS &&
+    status_.driving_forward && !status_.first_engaged_and_driving_forward_time) {
+    status_.first_engaged_and_driving_forward_time = clock_->now();
+  }
+
   if (hasFinishedBackwardDriving()) {
     updateStatusAfterBackwardDriving();
     DEBUG_PRINT("StartPlannerModule::updateData() completed backward driving");
@@ -962,6 +968,18 @@ bool StartPlannerModule::hasFinishedPullOut() const
   return has_finished;
 }
 
+bool StartPlannerModule::needToPrepareBlinkerBeforeStartDrivingForward() const
+{
+  if (!status_.first_engaged_and_driving_forward_time) {
+    return false;
+  }
+  const auto first_engaged_and_driving_forward_time =
+    status_.first_engaged_and_driving_forward_time.value();
+  const double elapsed =
+    rclcpp::Duration(clock_->now() - first_engaged_and_driving_forward_time).seconds();
+  return elapsed < parameters_->prepare_time_before_start;
+}
+
 bool StartPlannerModule::isStuck()
 {
   if (!isStopped()) {