diff --git a/src/main/java/competition/command_groups/DriveToNeutralZoneForIntakeCommand.java b/src/main/java/competition/command_groups/DriveToNeutralZoneForIntakeCommand.java
index 8e4e194c..2d7a7106 100644
--- a/src/main/java/competition/command_groups/DriveToNeutralZoneForIntakeCommand.java
+++ b/src/main/java/competition/command_groups/DriveToNeutralZoneForIntakeCommand.java
@@ -38,7 +38,7 @@ public void initialize() {
         var pathPoses = this.autoLandmarks.getStartCollectionPath(currentPose);
         super.setSegmentType(SegmentType.Start);
         super.logic.setKeyPoints(this.pathPlanning.generateSwervePoints(currentPose, pathPoses,
-                                                                        false, true));
+                                                                        false, false));
 
         super.initialize();
     }
diff --git a/src/main/java/competition/subsystems/pose/AutoLandmarks.java b/src/main/java/competition/subsystems/pose/AutoLandmarks.java
index 8c2adfcf..1ef09669 100644
--- a/src/main/java/competition/subsystems/pose/AutoLandmarks.java
+++ b/src/main/java/competition/subsystems/pose/AutoLandmarks.java
@@ -152,6 +152,7 @@ public List<Pose2d> getNearestAllianceToNeutralTrenchPath(Pose2d startingPose) {
         var changeInX = alliance == Alliance.Blue ? -1 : 1;
         var driverSideTranslation = nearestAllianceTrenchPose.getTranslation()
                 .plus(new Translation2d(this.trenchPlanningOffsetMeters.get() * changeInX, 0));
+        var midpointTranslation = nearestAllianceTrenchPose.getTranslation();
         var neutralSideTranslation = nearestAllianceTrenchPose.getTranslation()
                 .plus(new Translation2d(this.trenchPlanningOffsetMeters.get() * -1 * changeInX, 0));
         var rotationThroughTrench = alliance == Alliance.Blue
@@ -159,6 +160,7 @@ public List<Pose2d> getNearestAllianceToNeutralTrenchPath(Pose2d startingPose) {
                 : Rotation2d.kPi;
 
         results.add(new Pose2d(driverSideTranslation, rotationThroughTrench));
+        results.add(new Pose2d(midpointTranslation, rotationThroughTrench));
         results.add(new Pose2d(neutralSideTranslation, rotationThroughTrench));
 
         return results;