diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md
index 3d925ca12d3dd..c2a987b034a41 100644
--- a/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md
+++ b/planning/behavior_path_planner/docs/behavior_path_planner_goal_planner_design.md
@@ -101,7 +101,6 @@ Each is activated when all conditions are met.
   - we support `2D Rough Goal Pose` with the key bind `r` in rviz, but in the future there will be a panel of tools to manipulate various Route API from rviz.
 - ego-vehicle is in the same lane as the goal.
 
-
 <img src="https://user-images.githubusercontent.com/39142679/237929941-2ce26ea5-c84d-4d17-8cdc-103f5246db90.png" width="600">
 
 #### pull over on shoulder lane
diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_manager_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_manager_design.md
index 9e11f0b7eaf5a..61ce21d514623 100644
--- a/planning/behavior_path_planner/docs/behavior_path_planner_manager_design.md
+++ b/planning/behavior_path_planner/docs/behavior_path_planner_manager_design.md
@@ -13,15 +13,16 @@ The manager launches and executes scene modules in `behavior_path_planner` depen
 
 Support status:
 
-| Name                     | Simple exclusive execution | Advanced simultaneous execution |
-| :----------------------- | :------------------------: | :-----------------------------: |
-| Avoidance                |     :heavy_check_mark:     |       :heavy_check_mark:        |
-| Avoidance By Lane Change |     :heavy_check_mark:     |    :heavy_multiplication_x:     |
-| Lane Change              |     :heavy_check_mark:     |       :heavy_check_mark:        |
-| External Lane Change     |     :heavy_check_mark:     |    :heavy_multiplication_x:     |
-| Pull Over                |     :heavy_check_mark:     |    :heavy_multiplication_x:     |
-| Pull Out                 |     :heavy_check_mark:     |    :heavy_multiplication_x:     |
-| Side Shift               |     :heavy_check_mark:     |    :heavy_multiplication_x:     |
+| Name                                     | Simple exclusive execution | Advanced simultaneous execution |
+| :--------------------------------------- | :------------------------: | :-----------------------------: |
+| Avoidance                                |     :heavy_check_mark:     |       :heavy_check_mark:        |
+| Avoidance By Lane Change                 |     :heavy_check_mark:     |    :heavy_multiplication_x:     |
+| Lane Change                              |     :heavy_check_mark:     |       :heavy_check_mark:        |
+| External Lane Change                     |     :heavy_check_mark:     |    :heavy_multiplication_x:     |
+| Goal Planner (without goal modification) |     :heavy_check_mark:     |       :heavy_check_mark:        |
+| Goal Planner (with goal modification)    |     :heavy_check_mark:     |    :heavy_multiplication_x:     |
+| Pull Out                                 |     :heavy_check_mark:     |       :heavy_check_mark:        |
+| Side Shift                               |     :heavy_check_mark:     |    :heavy_multiplication_x:     |
 
 Click [here](../README.md) for supported scene modules.