diff --git a/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml b/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml
index 6556656cc8..3de702aa00 100644
--- a/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml
+++ b/autoware_launch/config/control/external_cmd_selector/external_cmd_selector.param.yaml
@@ -1,4 +1,4 @@
 /**:
   ros__parameters:
     update_rate: 10.0
-    initial_selector_mode: "local" # ["local", "remote"]
+    initial_selector_mode: "remote" # ["local", "remote"]
diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
index 54c87f45b6..e451ea24f9 100644
--- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
+++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -2,9 +2,9 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
-    use_emergency_handling: false
+    use_emergency_handling: true
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
-    use_start_request: false
+    use_start_request: true
     enable_cmd_limit_filter: true
     filter_activated_count_threshold: 5
     filter_activated_velocity_threshold: 1.0