diff --git a/choreolib/src/main/java/choreo/auto/AutoFactory.java b/choreolib/src/main/java/choreo/auto/AutoFactory.java
index 9e653cfa59..9e121309de 100644
--- a/choreolib/src/main/java/choreo/auto/AutoFactory.java
+++ b/choreolib/src/main/java/choreo/auto/AutoFactory.java
@@ -150,7 +150,7 @@ public void reset() {}
 
           @Override
           public Trigger active() {
-            return new Trigger(this.loop(), () -> false);
+            return new Trigger(this.loop(), () -> true);
           }
         };
   }
@@ -207,7 +207,7 @@ public AutoRoutine newRoutine(String name) {
    *
    * @see AutoRoutine#trajectory(String)
    */
-  AutoTrajectory trajectory(String trajectoryName, AutoRoutine routine) {
+  AutoTrajectory trajectory(String trajectoryName, AutoRoutine routine, boolean useBindings) {
     Optional<? extends Trajectory<?>> optTrajectory =
         trajectoryCache.loadTrajectory(trajectoryName);
     Trajectory<?> trajectory;
@@ -216,7 +216,7 @@ AutoTrajectory trajectory(String trajectoryName, AutoRoutine routine) {
     } else {
       trajectory = new Trajectory<SwerveSample>(trajectoryName, List.of(), List.of(), List.of());
     }
-    return trajectory(trajectory, routine);
+    return trajectory(trajectory, routine, useBindings);
   }
 
   /**
@@ -225,7 +225,8 @@ AutoTrajectory trajectory(String trajectoryName, AutoRoutine routine) {
    *
    * @see AutoRoutine#trajectory(String, int)
    */
-  AutoTrajectory trajectory(String trajectoryName, final int splitIndex, AutoRoutine routine) {
+  AutoTrajectory trajectory(
+      String trajectoryName, final int splitIndex, AutoRoutine routine, boolean useBindings) {
     Optional<? extends Trajectory<?>> optTrajectory =
         trajectoryCache.loadTrajectory(trajectoryName, splitIndex);
     Trajectory<?> trajectory;
@@ -234,7 +235,7 @@ AutoTrajectory trajectory(String trajectoryName, final int splitIndex, AutoRouti
     } else {
       trajectory = new Trajectory<SwerveSample>(trajectoryName, List.of(), List.of(), List.of());
     }
-    return trajectory(trajectory, routine);
+    return trajectory(trajectory, routine, useBindings);
   }
 
   /**
@@ -245,7 +246,7 @@ AutoTrajectory trajectory(String trajectoryName, final int splitIndex, AutoRouti
    */
   @SuppressWarnings("unchecked")
   <ST extends TrajectorySample<ST>> AutoTrajectory trajectory(
-      Trajectory<ST> trajectory, AutoRoutine routine) {
+      Trajectory<ST> trajectory, AutoRoutine routine, boolean useBindings) {
     // type solidify everything
     final Trajectory<ST> solidTrajectory = trajectory;
     final Consumer<ST> solidController = (Consumer<ST>) this.controller;
@@ -259,7 +260,7 @@ <ST extends TrajectorySample<ST>> AutoTrajectory trajectory(
         (TrajectoryLogger<ST>) trajectoryLogger,
         driveSubsystem,
         routine,
-        bindings);
+        useBindings ? bindings : new AutoBindings());
   }
 
   /**
@@ -277,10 +278,7 @@ <ST extends TrajectorySample<ST>> AutoTrajectory trajectory(
    * @return A new {@link AutoTrajectory}.
    */
   public Command trajectoryCmd(String trajectoryName) {
-    AutoRoutine routine = newRoutine("Routine");
-    AutoTrajectory trajectory = routine.trajectory(trajectoryName);
-    routine.active().onTrue(trajectory.cmd());
-    return routine.cmd().until(trajectory.done());
+    return trajectory(trajectoryName, voidRoutine, false).cmd();
   }
 
   /**
@@ -299,10 +297,7 @@ public Command trajectoryCmd(String trajectoryName) {
    * @return A new {@link AutoTrajectory}.
    */
   public Command trajectoryCmd(String trajectoryName, final int splitIndex) {
-    AutoRoutine routine = newRoutine("Routine");
-    AutoTrajectory trajectory = routine.trajectory(trajectoryName, splitIndex);
-    routine.active().onTrue(trajectory.cmd());
-    return routine.cmd().until(trajectory.done());
+    return trajectory(trajectoryName, splitIndex, voidRoutine, false).cmd();
   }
 
   /**
@@ -322,7 +317,7 @@ public Command trajectoryCmd(String trajectoryName, final int splitIndex) {
    * @return A new {@link AutoTrajectory}.
    */
   public <ST extends TrajectorySample<ST>> Command trajectoryCmd(Trajectory<ST> trajectory) {
-    return trajectory(trajectory, voidRoutine).cmd();
+    return trajectory(trajectory, voidRoutine, false).cmd();
   }
 
   /**
@@ -332,7 +327,7 @@ public <ST extends TrajectorySample<ST>> Command trajectoryCmd(Trajectory<ST> tr
    * @return A command that resets the robot's odometry.
    */
   public Command resetOdometry(String trajectoryName) {
-    return trajectory(trajectoryName, voidRoutine).resetOdometry();
+    return trajectory(trajectoryName, voidRoutine, false).resetOdometry();
   }
 
   /**
@@ -343,7 +338,7 @@ public Command resetOdometry(String trajectoryName) {
    * @return A command that resets the robot's odometry.
    */
   public Command resetOdometry(String trajectoryName, final int splitIndex) {
-    return trajectory(trajectoryName, splitIndex, voidRoutine).resetOdometry();
+    return trajectory(trajectoryName, splitIndex, voidRoutine, false).resetOdometry();
   }
 
   /**
@@ -355,7 +350,7 @@ public Command resetOdometry(String trajectoryName, final int splitIndex) {
    * @return A command that resets the robot's odometry.
    */
   public <ST extends TrajectorySample<ST>> Command resetOdometry(Trajectory<ST> trajectory) {
-    return trajectory(trajectory, voidRoutine).resetOdometry();
+    return trajectory(trajectory, voidRoutine, false).resetOdometry();
   }
 
   /**
diff --git a/choreolib/src/main/java/choreo/auto/AutoRoutine.java b/choreolib/src/main/java/choreo/auto/AutoRoutine.java
index fa3abeedea..051ae916ec 100644
--- a/choreolib/src/main/java/choreo/auto/AutoRoutine.java
+++ b/choreolib/src/main/java/choreo/auto/AutoRoutine.java
@@ -41,7 +41,7 @@ public class AutoRoutine {
   private final AllianceContext allianceCtx;
 
   /** A boolean utilized in {@link #active()} to resolve trueness */
-  private boolean isActive = false;
+  boolean isActive = false;
 
   /** A boolean that is true when the loop is killed */
   boolean isKilled = false;
@@ -142,7 +142,7 @@ public void kill() {
    * @return A new {@link AutoTrajectory}.
    */
   public AutoTrajectory trajectory(String trajectoryName) {
-    return factory.trajectory(trajectoryName, this);
+    return factory.trajectory(trajectoryName, this, true);
   }
 
   /**
@@ -153,7 +153,7 @@ public AutoTrajectory trajectory(String trajectoryName) {
    * @return A new {@link AutoTrajectory}.
    */
   public AutoTrajectory trajectory(String trajectoryName, final int splitIndex) {
-    return factory.trajectory(trajectoryName, splitIndex, this);
+    return factory.trajectory(trajectoryName, splitIndex, this, true);
   }
 
   /**
@@ -165,7 +165,7 @@ public AutoTrajectory trajectory(String trajectoryName, final int splitIndex) {
    */
   public <SampleType extends TrajectorySample<SampleType>> AutoTrajectory trajectory(
       Trajectory<SampleType> trajectory) {
-    return factory.trajectory(trajectory, this);
+    return factory.trajectory(trajectory, this, true);
   }
 
   /**
diff --git a/choreolib/src/main/java/choreo/auto/AutoTrajectory.java b/choreolib/src/main/java/choreo/auto/AutoTrajectory.java
index b1b64063eb..0b01147a99 100644
--- a/choreolib/src/main/java/choreo/auto/AutoTrajectory.java
+++ b/choreolib/src/main/java/choreo/auto/AutoTrajectory.java
@@ -176,7 +176,7 @@ private void cmdEnd(boolean interrupted) {
   }
 
   private boolean cmdIsFinished() {
-    return timer.get() > trajectory.getTotalTime() || !routine.active().getAsBoolean();
+    return timer.get() > trajectory.getTotalTime() || !routine.isActive;
   }
 
   /**
diff --git a/choreolib/src/test/java/choreo/auto/DoneTest.java b/choreolib/src/test/java/choreo/auto/DoneTest.java
index 7eddac8456..63f4bedc98 100644
--- a/choreolib/src/test/java/choreo/auto/DoneTest.java
+++ b/choreolib/src/test/java/choreo/auto/DoneTest.java
@@ -37,7 +37,7 @@ public void testExecution() {
     Trajectory<SwerveSample> trajectory =
         TrajectoryTestHelper.linearTrajectory("test", start, end, 3.0, SwerveSample.class);
     AutoRoutine routine = factory.newRoutine("test");
-    AutoTrajectory traj = factory.trajectory(trajectory, routine);
+    AutoTrajectory traj = factory.trajectory(trajectory, routine, true);
 
     BooleanSupplier done = traj.done();
     BooleanSupplier doneDelayed = traj.done(2);