diff --git a/autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml
new file mode 100644
index 0000000000..21ba13787f
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
+    timeout_ms: 70.0
+    match_threshold_ms: 50.0
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 68000747b7..bd1ccd2065 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
@@ -4,15 +4,16 @@
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
+      th_blinker_on_lateral_offset: 1.0
       collision_check_margin: 1.0
       collision_check_distance_from_end: 1.0
       # shift pull out
       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
+      minimum_lateral_jerk: 0.1
       deceleration_interval: 15.0
       # geometric pull out
       enable_geometric_pull_out: true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
index af82a3461f..2e53b5d246 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -7,8 +7,6 @@
       - "intersection"
       - "no_stopping_area"
       - "traffic_light"
-      - "external_request_lane_change_left"
-      - "external_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index c0c2e4fc4c..4417dba4d8 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -21,6 +21,7 @@
       name="object_recognition_detection_pointcloud_map_filter_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml"
     />
+    <arg name="object_recognition_detection_fusion_sync_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/roi_sync.param.yaml"/>
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"