diff --git a/Elastic/auto-setup.json b/Elastic/auto-setup.json
index 902954b7c..acf62dba2 100644
--- a/Elastic/auto-setup.json
+++ b/Elastic/auto-setup.json
@@ -113,6 +113,398 @@
               "period": 0.06,
               "show_type": true
             }
+          },
+          {
+            "title": "Left Vision Auto",
+            "x": 0.0,
+            "y": 256.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Command",
+            "properties": {
+              "topic": "/SmartDashboard/Left Vision Auto",
+              "period": 0.06,
+              "show_type": true
+            }
+          },
+          {
+            "title": "Right Vision Auto",
+            "x": 1152.0,
+            "y": 256.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Command",
+            "properties": {
+              "topic": "/SmartDashboard/Right Vision Auto",
+              "period": 0.06,
+              "show_type": true
+            }
+          },
+          {
+            "title": "GlobalHorizontalOffset-Inches",
+            "x": 768.0,
+            "y": 384.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/AdvantageKit/AlignCameraToAprilTagCalculator//GlobalHorizontalOffset-Inches",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          }
+        ]
+      }
+    },
+    {
+      "name": "BranchAOffsets",
+      "grid_layout": {
+        "layouts": [],
+        "containers": [
+          {
+            "title": "BranchAOffset-Tag10",
+            "x": 0.0,
+            "y": 512.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchAOffset-Tag10",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchAOffset-Tag11",
+            "x": 512.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchAOffset-Tag11",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchAOffset-Tag18",
+            "x": 512.0,
+            "y": 256.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchAOffset-Tag18",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchAOffset-Tag6",
+            "x": 0.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchAOffset-Tag6",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchAOffset-Tag7",
+            "x": 0.0,
+            "y": 128.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchAOffset-Tag7",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchAOffset-Tag8",
+            "x": 0.0,
+            "y": 256.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchAOffset-Tag8",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchBOffset-Tag17",
+            "x": 512.0,
+            "y": 128.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchBOffset-Tag17",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchAOffset-Tag9",
+            "x": 0.0,
+            "y": 384.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchAOffset-Tag9",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchAOffset-Tag19",
+            "x": 512.0,
+            "y": 384.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchAOffset-Tag19",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchAOffset-Tag20",
+            "x": 512.0,
+            "y": 512.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchAOffset-Tag20",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchAOffset-Tag21",
+            "x": 1024.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchAOffset-Tag21",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchAOffset-Tag22",
+            "x": 1024.0,
+            "y": 128.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchAOffset-Tag22",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          }
+        ]
+      }
+    },
+    {
+      "name": "BranchBOffsets",
+      "grid_layout": {
+        "layouts": [],
+        "containers": [
+          {
+            "title": "BranchBOffset-Tag21",
+            "x": 1024.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchBOffset-Tag21",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchBOffset-Tag22",
+            "x": 1024.0,
+            "y": 128.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchBOffset-Tag22",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchBOffset-Tag10",
+            "x": 0.0,
+            "y": 512.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchBOffset-Tag10",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchBOffset-Tag9",
+            "x": 0.0,
+            "y": 384.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchBOffset-Tag9",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchBOffset-Tag8",
+            "x": 0.0,
+            "y": 256.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchBOffset-Tag8",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchBOffset-Tag7",
+            "x": 0.0,
+            "y": 128.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchBOffset-Tag7",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchBOffset-Tag6",
+            "x": 0.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchBOffset-Tag6",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchBOffset-Tag11",
+            "x": 512.0,
+            "y": 0.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchBOffset-Tag11",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchBOffset-Tag17",
+            "x": 512.0,
+            "y": 128.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchBOffset-Tag17",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchBOffset-Tag18",
+            "x": 512.0,
+            "y": 256.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchBOffset-Tag18",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchBOffset-Tag19",
+            "x": 512.0,
+            "y": 384.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchBOffset-Tag19",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
+          },
+          {
+            "title": "BranchBOffset-Tag20",
+            "x": 512.0,
+            "y": 512.0,
+            "width": 256.0,
+            "height": 128.0,
+            "type": "Text Display",
+            "properties": {
+              "topic": "/Preferences/AlignCameraToAprilTagCalculator/BranchBOffset-Tag20",
+              "period": 0.06,
+              "data_type": "double",
+              "show_submit_button": false
+            }
           }
         ]
       }
diff --git a/src/main/java/competition/operator_interface/OperatorCommandMap.java b/src/main/java/competition/operator_interface/OperatorCommandMap.java
index 3508170cb..952bc9ad1 100644
--- a/src/main/java/competition/operator_interface/OperatorCommandMap.java
+++ b/src/main/java/competition/operator_interface/OperatorCommandMap.java
@@ -43,6 +43,7 @@
 import competition.subsystems.pose.Landmarks;
 import competition.subsystems.pose.PoseSubsystem;
 import competition.subsystems.vision.CoprocessorCommunicationSubsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.ConditionalCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
diff --git a/src/main/java/competition/subsystems/drive/logic/AlignCameraToAprilTagCalculator.java b/src/main/java/competition/subsystems/drive/logic/AlignCameraToAprilTagCalculator.java
index a82854a5f..084f4f799 100644
--- a/src/main/java/competition/subsystems/drive/logic/AlignCameraToAprilTagCalculator.java
+++ b/src/main/java/competition/subsystems/drive/logic/AlignCameraToAprilTagCalculator.java
@@ -29,6 +29,8 @@
 import xbot.common.subsystems.drive.control_logic.HeadingModule;
 import xbot.common.subsystems.vision.AprilTagVisionIO;
 
+import java.util.HashMap;
+import java.util.Map;
 import java.util.Optional;
 
 import static edu.wpi.first.units.Units.Degrees;
@@ -97,6 +99,7 @@ public enum ApproachMode {
 
     final DoubleProperty globalHorizontalOffsetInches;
     private double globalTemporaryHorizontalOffsetInches;
+    private double branchOffsetMeters;
 
     double lastKnownHorizontalErrorMeters = 999999;
     double shoveStartTime = 0;
@@ -113,6 +116,9 @@ public enum ApproachMode {
     private Translation2d coralStationPreShovePoint;
     boolean retryActive;
 
+    record BranchOffsetKey(Landmarks.Branch branch, Integer tagID) {}
+    Map<BranchOffsetKey, DoubleProperty> branchOffsetHashMap = new HashMap<>();
+
     public static Translation2d generateAlignmentPointOffset(Distance robotCenterToOuterBumperX, CameraInfo cameraInfo,
                                                              Distance offset, boolean isCameraBackwards) {
         return new Translation2d(
@@ -162,6 +168,8 @@ public AlignCameraToAprilTagCalculator(AprilTagVisionSubsystemExtended vision, D
 
         globalHorizontalOffsetInches = pf.createPersistentProperty("GlobalHorizontalOffset-Inches", 0.0);
 
+        initializeBranchOffsets(pf);
+
         reset();
     }
 
@@ -219,9 +227,13 @@ public void configureAndReset(int targetAprilTagID, int targetCameraID, Distance
                 isCameraBackwards
         );
 
+
+        branchOffsetMeters = branchOffsetHashMap.get(
+                new BranchOffsetKey(targetCameraID == 0 ? Landmarks.Branch.B : Landmarks.Branch.A, targetAprilTagID)).get();
+
         this.alignmentPointOffset = new Translation2d(
                 alignmentPointOffset.getX(),
-                -getHorizontalTrimAdjustmentMeters()
+                (-getHorizontalTrimAdjustmentMeters() + branchOffsetMeters)
         );
 
         // Now for some other one-time calculations about the tag itself
@@ -280,7 +292,7 @@ public void configureAndReset(int targetAprilTagID, int targetCameraID, Distance
             );
         }
 
-
+        akitLog.record("alignmentPointOffset", alignmentPointOffset);
         akitLog.record("InterstitialPoint", interstitialPoint);
     }
 
@@ -477,7 +489,7 @@ private void updateFinalTargetState(Pose2d currentPose) {
         Optional<Translation2d> aprilTagData = aprilTagVisionSubsystem.getRobotRelativeLocationOfAprilTag(targetCameraID, targetAprilTagID);
 
         if (aprilTagData.isPresent()) {
-            lastKnownHorizontalErrorMeters = aprilTagData.get().getY() + getHorizontalTrimAdjustmentMeters();
+            lastKnownHorizontalErrorMeters = aprilTagData.get().getY() + getHorizontalTrimAdjustmentMeters() + branchOffsetMeters;
         }
         akitLog.record("AprilTagData", aprilTagData.orElse(null));
 
@@ -515,4 +527,14 @@ private Translation2d getCoralStationPreShovePoint() {
         var projectedDelta = new Translation2d(0.25, stationLocation.getRotation());
         return stationLocation.getTranslation().plus(projectedDelta);
     }
+
+    private void initializeBranchOffsets(PropertyFactory pf) {
+        int[] tagIds = {6, 7, 8, 9, 10, 11, 17, 18, 19, 20, 21, 22};
+        for (int tagId : tagIds) {
+            branchOffsetHashMap.put(new BranchOffsetKey(Landmarks.Branch.A, tagId),
+                    pf.createPersistentProperty("BranchAOffset-Tag" + tagId, 0.0));
+            branchOffsetHashMap.put(new BranchOffsetKey(Landmarks.Branch.B, tagId),
+                    pf.createPersistentProperty("BranchBOffset-Tag" + tagId, 0.0));
+        }
+    }
 }