Worked on the tier4/autoware_launch repository to enhance diagnostics and system observability for autonomous vehicle planning. Focused on system configuration using YAML, the developer first streamlined the diagnostics subsystem by removing unused trajectory deviation reporting, which simplified maintenance and improved issue triage. Later, they implemented boundary departure diagnostics integrated with the Motion Reference Model, updating planning.yaml to monitor and report boundary-related errors. This enabled proactive detection of vehicles departing defined boundaries and established end-to-end visibility for compliance within the planning system. The work demonstrated depth in Autoware configuration and diagnostics, emphasizing maintainability and robust monitoring without introducing new bug fixes.