diff --git a/src/main/java/competition/auto_programs/FromCageScoreOneCoralAutoFactory.java b/src/main/java/competition/auto_programs/FromCageScoreOneCoralAutoFactory.java
index 02d7c6cd..50201be0 100644
--- a/src/main/java/competition/auto_programs/FromCageScoreOneCoralAutoFactory.java
+++ b/src/main/java/competition/auto_programs/FromCageScoreOneCoralAutoFactory.java
@@ -7,8 +7,11 @@
 import competition.subsystems.pose.PoseSubsystem;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 import xbot.common.subsystems.autonomous.AutonomousCommandSelector;
 
+import static edu.wpi.first.units.Units.Seconds;
+
 import javax.inject.Inject;
 
 public class FromCageScoreOneCoralAutoFactory {
@@ -44,6 +47,8 @@ public BaseAutonomousSequentialCommandGroup create(Pose2d startingLocation,
                 .alongWith(new InstantCommand(() -> simulator.resetPosition(PoseSubsystem.convertBlueToRedIfNeeded(startingLocation))));
         auto.addCommands(initializeStateCommand);
 
+        auto.addCommands(new WaitCommand(Seconds.of(1)));
+
         var driveAndScore = driveToFaceAndScoreCommandGroupFact.create(targetReefFace, targetBranch, targetLevel)
                 .alongWith(
                         auto.getDriveAndScoreStatusMessageCommand(targetReefFace, targetBranch, targetLevel));
diff --git a/src/main/java/competition/auto_programs/vision/LeftFourCoralAuto.java b/src/main/java/competition/auto_programs/vision/LeftFourCoralAuto.java
index f65c9d3c..b58c53b6 100644
--- a/src/main/java/competition/auto_programs/vision/LeftFourCoralAuto.java
+++ b/src/main/java/competition/auto_programs/vision/LeftFourCoralAuto.java
@@ -14,6 +14,8 @@
 import javax.inject.Inject;
 import javax.inject.Provider;
 
+import static edu.wpi.first.units.Units.Seconds;
+
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import xbot.common.subsystems.autonomous.AutonomousCommandSelector;
 
@@ -26,6 +28,7 @@ public LeftFourCoralAuto(
             Provider<PathDriveToLocationForCoralStationFactory> pathDriveToLocationAndIntakeUntilCollectedProvider) {
         super(autoSelector);
 
+        this.addCommands(new WaitCommand(Seconds.of(1)));
 
         // Score 1
         getDriveAndScoreStatusMessageCommand(Landmarks.ReefFace.FAR_LEFT,
diff --git a/src/main/java/competition/auto_programs/vision/RightFourCoralAuto.java b/src/main/java/competition/auto_programs/vision/RightFourCoralAuto.java
index 3cc99a21..720eefac 100644
--- a/src/main/java/competition/auto_programs/vision/RightFourCoralAuto.java
+++ b/src/main/java/competition/auto_programs/vision/RightFourCoralAuto.java
@@ -13,6 +13,8 @@
 import javax.inject.Inject;
 import javax.inject.Provider;
 
+import static edu.wpi.first.units.Units.Seconds;
+
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import xbot.common.subsystems.autonomous.AutonomousCommandSelector;
 
@@ -25,7 +27,7 @@ public RightFourCoralAuto(
             Provider<PathDriveToLocationForCoralStationFactory> pathDriveToLocationAndIntakeUntilCollectedProvider) {
         super(autoSelector);
 
-
+        this.addCommands(new WaitCommand(Seconds.of(1)));
 
         // Score 1
         getDriveAndScoreStatusMessageCommand(Landmarks.ReefFace.FAR_RIGHT,