diff --git a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
index 4d576457f2..1ee2699a23 100644
--- a/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
+++ b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
@@ -1,5 +1,5 @@
 /**:
   ros__parameters:
     update_rate: 30
-    target_acceleration: -3.0
-    target_jerk: -3.0
+    target_acceleration: -2.5
+    target_jerk: -1.5
diff --git a/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml
index e82ee36a78..2370259cbe 100644
--- a/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml
+++ b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml
@@ -10,7 +10,7 @@
     timeout_emergency_recovery: 5.0
     use_parking_after_stopped: false
     use_pull_over: false
-    use_comfortable_stop: false
+    use_comfortable_stop: true
 
     # setting whether to turn hazard lamp on for each situation
     turning_hazard_on: