diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
index dde7cd93f9..86e8c1adff 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
@@ -11,7 +11,7 @@
       enable_shift_pull_out: true
       shift_pull_out_velocity: 2.0
       pull_out_sampling_num: 4
-      minimum_shift_pull_out_distance: 20.0
+      minimum_shift_pull_out_distance: 0.0
       maximum_lateral_jerk: 2.0
       minimum_lateral_jerk: 0.5
       deceleration_interval: 15.0