diff --git a/pathplannerlib/src/main/java/com/pathplanner/lib/auto/AutoBuilder.java b/pathplannerlib/src/main/java/com/pathplanner/lib/auto/AutoBuilder.java
index ea3ac839..b149a450 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/auto/AutoBuilder.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/auto/AutoBuilder.java
@@ -1,9 +1,7 @@
 package com.pathplanner.lib.auto;
 
-import com.pathplanner.lib.commands.FollowPathHolonomic;
-import com.pathplanner.lib.commands.FollowPathLTV;
-import com.pathplanner.lib.commands.FollowPathRamsete;
-import com.pathplanner.lib.commands.FollowPathWithEvents;
+import com.pathplanner.lib.commands.*;
+import com.pathplanner.lib.path.PathConstraints;
 import com.pathplanner.lib.path.PathPlannerPath;
 import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
 import com.pathplanner.lib.util.ReplanningConfig;
@@ -34,6 +32,13 @@ public class AutoBuilder {
   private static Supplier<Pose2d> getPose;
   private static Consumer<Pose2d> resetPose;
 
+  // Pathfinding builders
+  private static boolean pathfindingConfigured = false;
+  private static QuadFunction<Pose2d, PathConstraints, Double, Double, Command>
+      pathfindToPoseCommandBuilder;
+  private static TriFunction<PathPlannerPath, PathConstraints, Double, Command>
+      pathfindThenFollowPathCommandBuilder;
+
   /**
    * Configures the AutoBuilder for a holonomic drivetrain.
    *
@@ -71,6 +76,31 @@ public static void configureHolonomic(
     AutoBuilder.getPose = poseSupplier;
     AutoBuilder.resetPose = resetPose;
     AutoBuilder.configured = true;
+
+    AutoBuilder.pathfindToPoseCommandBuilder =
+        (pose, constraints, goalEndVel, rotationDelayDistance) ->
+            new PathfindHolonomic(
+                pose,
+                constraints,
+                goalEndVel,
+                poseSupplier,
+                robotRelativeSpeedsSupplier,
+                robotRelativeOutput,
+                config,
+                rotationDelayDistance,
+                driveSubsystem);
+    AutoBuilder.pathfindThenFollowPathCommandBuilder =
+        (path, constraints, rotationDelayDistance) ->
+            new PathfindThenFollowPathHolonomic(
+                path,
+                constraints,
+                poseSupplier,
+                robotRelativeSpeedsSupplier,
+                robotRelativeOutput,
+                config,
+                rotationDelayDistance,
+                driveSubsystem);
+    AutoBuilder.pathfindingConfigured = true;
   }
 
   /**
@@ -103,6 +133,28 @@ public static void configureRamsete(
     AutoBuilder.getPose = poseSupplier;
     AutoBuilder.resetPose = resetPose;
     AutoBuilder.configured = true;
+
+    AutoBuilder.pathfindToPoseCommandBuilder =
+        (pose, constraints, goalEndVel, rotationDelayDistance) ->
+            new PathfindRamsete(
+                pose.getTranslation(),
+                constraints,
+                goalEndVel,
+                poseSupplier,
+                speedsSupplier,
+                output,
+                driveSubsystem);
+    AutoBuilder.pathfindThenFollowPathCommandBuilder =
+        (path, constraints, rotationDelayDistance) ->
+            new PathfindThenFollowPathRamsete(
+                path,
+                constraints,
+                poseSupplier,
+                speedsSupplier,
+                output,
+                replanningConfig,
+                driveSubsystem);
+    AutoBuilder.pathfindingConfigured = true;
   }
 
   /**
@@ -148,6 +200,32 @@ public static void configureRamsete(
     AutoBuilder.getPose = poseSupplier;
     AutoBuilder.resetPose = resetPose;
     AutoBuilder.configured = true;
+
+    AutoBuilder.pathfindToPoseCommandBuilder =
+        (pose, constraints, goalEndVel, rotationDelayDistance) ->
+            new PathfindRamsete(
+                pose.getTranslation(),
+                constraints,
+                goalEndVel,
+                poseSupplier,
+                speedsSupplier,
+                output,
+                b,
+                zeta,
+                driveSubsystem);
+    AutoBuilder.pathfindThenFollowPathCommandBuilder =
+        (path, constraints, rotationDelayDistance) ->
+            new PathfindThenFollowPathRamsete(
+                path,
+                constraints,
+                poseSupplier,
+                speedsSupplier,
+                output,
+                b,
+                zeta,
+                replanningConfig,
+                driveSubsystem);
+    AutoBuilder.pathfindingConfigured = true;
   }
 
   /**
@@ -183,6 +261,30 @@ public static void configureLTV(
     AutoBuilder.getPose = poseSupplier;
     AutoBuilder.resetPose = resetPose;
     AutoBuilder.configured = true;
+
+    AutoBuilder.pathfindToPoseCommandBuilder =
+        (pose, constraints, goalEndVel, rotationDelayDistance) ->
+            new PathfindLTV(
+                pose.getTranslation(),
+                constraints,
+                goalEndVel,
+                poseSupplier,
+                speedsSupplier,
+                output,
+                dt,
+                driveSubsystem);
+    AutoBuilder.pathfindThenFollowPathCommandBuilder =
+        (path, constraints, rotationDelayDistance) ->
+            new PathfindThenFollowPathLTV(
+                path,
+                constraints,
+                poseSupplier,
+                speedsSupplier,
+                output,
+                dt,
+                replanningConfig,
+                driveSubsystem);
+    AutoBuilder.pathfindingConfigured = true;
   }
 
   /**
@@ -230,10 +332,39 @@ public static void configureLTV(
     AutoBuilder.getPose = poseSupplier;
     AutoBuilder.resetPose = resetPose;
     AutoBuilder.configured = true;
+
+    AutoBuilder.pathfindToPoseCommandBuilder =
+        (pose, constraints, goalEndVel, rotationDelayDistance) ->
+            new PathfindLTV(
+                pose.getTranslation(),
+                constraints,
+                goalEndVel,
+                poseSupplier,
+                speedsSupplier,
+                output,
+                qelems,
+                relems,
+                dt,
+                driveSubsystem);
+    AutoBuilder.pathfindThenFollowPathCommandBuilder =
+        (path, constraints, rotationDelayDistance) ->
+            new PathfindThenFollowPathLTV(
+                path,
+                constraints,
+                poseSupplier,
+                speedsSupplier,
+                output,
+                qelems,
+                relems,
+                dt,
+                replanningConfig,
+                driveSubsystem);
+    AutoBuilder.pathfindingConfigured = true;
   }
 
   /**
-   * Configures the AutoBuilder with custom path following command builder.
+   * Configures the AutoBuilder with custom path following command builder. Building pathfinding
+   * commands is not supported if using a custom command builder.
    *
    * @param pathFollowingCommandBuilder a function that builds a command to follow a given path
    * @param poseSupplier a supplier for the robot's current pose
@@ -253,6 +384,8 @@ public static void configureCustom(
     AutoBuilder.getPose = poseSupplier;
     AutoBuilder.resetPose = resetPose;
     AutoBuilder.configured = true;
+
+    AutoBuilder.pathfindingConfigured = false;
   }
 
   /**
@@ -264,6 +397,15 @@ public static boolean isConfigured() {
     return configured;
   }
 
+  /**
+   * Returns whether the AutoBuilder has been configured for pathfinding.
+   *
+   * @return true if the AutoBuilder has been configured for pathfinding, false otherwise
+   */
+  public static boolean isPathfindingConfigured() {
+    return pathfindingConfigured;
+  }
+
   /**
    * Builds a command to follow a path with event markers.
    *
@@ -280,6 +422,92 @@ public static Command followPathWithEvents(PathPlannerPath path) {
     return new FollowPathWithEvents(pathFollowingCommandBuilder.apply(path), path, getPose);
   }
 
+  /**
+   * Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose
+   * rotation and rotation delay distance will have no effect.
+   *
+   * @param pose The pose to pathfind to
+   * @param constraints The constraints to use while pathfinding
+   * @param goalEndVelocity The goal end velocity of the robot when reaching the target pose
+   * @param rotationDelayDistance The distance the robot should move from the start position before
+   *     attempting to rotate to the final rotation
+   * @return A command to pathfind to a given pose
+   */
+  public static Command pathfindToPose(
+      Pose2d pose,
+      PathConstraints constraints,
+      double goalEndVelocity,
+      double rotationDelayDistance) {
+    if (!isPathfindingConfigured()) {
+      throw new AutoBuilderException(
+          "Auto builder was used to build a pathfinding command before being configured");
+    }
+
+    return pathfindToPoseCommandBuilder.apply(
+        pose, constraints, goalEndVelocity, rotationDelayDistance);
+  }
+
+  /**
+   * Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose
+   * rotation will have no effect.
+   *
+   * @param pose The pose to pathfind to
+   * @param constraints The constraints to use while pathfinding
+   * @param goalEndVelocity The goal end velocity of the robot when reaching the target pose
+   * @return A command to pathfind to a given pose
+   */
+  public static Command pathfindToPose(
+      Pose2d pose, PathConstraints constraints, double goalEndVelocity) {
+    return pathfindToPose(pose, constraints, goalEndVelocity, 0);
+  }
+
+  /**
+   * Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose
+   * rotation will have no effect.
+   *
+   * @param pose The pose to pathfind to
+   * @param constraints The constraints to use while pathfinding
+   * @return A command to pathfind to a given pose
+   */
+  public static Command pathfindToPose(Pose2d pose, PathConstraints constraints) {
+    return pathfindToPose(pose, constraints, 0);
+  }
+
+  /**
+   * Build a command to pathfind to a given path, then follow that path. If not using a holonomic
+   * drivetrain, the pose rotation delay distance will have no effect.
+   *
+   * @param goalPath The path to pathfind to, then follow
+   * @param pathfindingConstraints The constraints to use while pathfinding
+   * @param rotationDelayDistance The distance the robot should move from the start position before
+   *     attempting to rotate to the final rotation
+   * @return A command to pathfind to a given path, then follow the path
+   */
+  public static Command pathfindThenFollowPath(
+      PathPlannerPath goalPath,
+      PathConstraints pathfindingConstraints,
+      double rotationDelayDistance) {
+    if (!isPathfindingConfigured()) {
+      throw new AutoBuilderException(
+          "Auto builder was used to build a pathfinding command before being configured");
+    }
+
+    return pathfindThenFollowPathCommandBuilder.apply(
+        goalPath, pathfindingConstraints, rotationDelayDistance);
+  }
+
+  /**
+   * Build a command to pathfind to a given path, then follow that path.
+   *
+   * @param goalPath The path to pathfind to, then follow
+   * @param pathfindingConstraints The constraints to use while pathfinding
+   * @return A command to pathfind to a given path, then follow the path
+   */
+  public static Command pathfindThenFollowPath(
+      PathPlannerPath goalPath, PathConstraints pathfindingConstraints) {
+    return pathfindThenFollowPath(goalPath, pathfindingConstraints, 0);
+  }
+
   /**
    * Get the starting pose from its JSON representation. This is only used internally.
    *
@@ -340,4 +568,33 @@ public static Command getAutoCommandFromJson(JSONObject autoJson) {
       return autoCommand;
     }
   }
+
+  /** Functional interface for a function that takes 3 inputs */
+  @FunctionalInterface
+  public interface TriFunction<In1, In2, In3, Out> {
+    /**
+     * Apply the inputs to this function
+     *
+     * @param in1 Input 1
+     * @param in2 Input 2
+     * @param in3 Input 3
+     * @return Output
+     */
+    Out apply(In1 in1, In2 in2, In3 in3);
+  }
+
+  /** Functional interface for a function that takes 4 inputs */
+  @FunctionalInterface
+  public interface QuadFunction<In1, In2, In3, In4, Out> {
+    /**
+     * Apply the inputs to this function
+     *
+     * @param in1 Input 1
+     * @param in2 Input 2
+     * @param in3 Input 3
+     * @param in4 Input 4
+     * @return Output
+     */
+    Out apply(In1 in1, In2 in2, In3 in3, In4 in4);
+  }
 }
diff --git a/pathplannerlib/src/main/java/org/json/simple/parser/Yylex.java b/pathplannerlib/src/main/java/org/json/simple/parser/Yylex.java
index 3a88f399..6e761af6 100755
--- a/pathplannerlib/src/main/java/org/json/simple/parser/Yylex.java
+++ b/pathplannerlib/src/main/java/org/json/simple/parser/Yylex.java
@@ -467,8 +467,7 @@ else if (zzAtEOF) {
           break;
         case 1:
           {
-            throw new ParseException(
-                yychar, ParseException.ERROR_UNEXPECTED_CHAR, new Character(yycharat(0)));
+            throw new ParseException(yychar, ParseException.ERROR_UNEXPECTED_CHAR, yycharat(0));
           }
         case 34:
           break;
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/AutoBuilder.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/AutoBuilder.cpp
index 389f03e3..56a7ecf4 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/AutoBuilder.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/AutoBuilder.cpp
@@ -3,6 +3,12 @@
 #include "pathplanner/lib/commands/FollowPathRamsete.h"
 #include "pathplanner/lib/commands/FollowPathLTV.h"
 #include "pathplanner/lib/commands/FollowPathWithEvents.h"
+#include "pathplanner/lib/commands/PathfindHolonomic.h"
+#include "pathplanner/lib/commands/PathfindThenFollowPathHolonomic.h"
+#include "pathplanner/lib/commands/PathfindRamsete.h"
+#include "pathplanner/lib/commands/PathfindThenFollowPathRamsete.h"
+#include "pathplanner/lib/commands/PathfindLTV.h"
+#include "pathplanner/lib/commands/PathfindThenFollowPathLTV.h"
 #include "pathplanner/lib/auto/CommandUtil.h"
 #include <stdexcept>
 #include <frc2/command/Commands.h>
@@ -16,6 +22,14 @@ std::function<frc2::CommandPtr(std::shared_ptr<PathPlannerPath>)> AutoBuilder::m
 std::function<frc::Pose2d()> AutoBuilder::m_getPose;
 std::function<void(frc::Pose2d)> AutoBuilder::m_resetPose;
 
+bool AutoBuilder::m_pathfindingConfigured = false;
+std::function<
+		frc2::CommandPtr(frc::Pose2d, PathConstraints,
+				units::meters_per_second_t, units::meter_t)> AutoBuilder::m_pathfindToPoseCommandBuilder;
+std::function<
+		frc2::CommandPtr(std::shared_ptr<PathPlannerPath>, PathConstraints,
+				units::meter_t)> AutoBuilder::m_pathfindThenFollowPathCommandBuilder;
+
 void AutoBuilder::configureHolonomic(std::function<frc::Pose2d()> poseSupplier,
 		std::function<void(frc::Pose2d)> resetPose,
 		std::function<frc::ChassisSpeeds()> robotRelativeSpeedsSupplier,
@@ -36,6 +50,25 @@ void AutoBuilder::configureHolonomic(std::function<frc::Pose2d()> poseSupplier,
 	AutoBuilder::m_getPose = poseSupplier;
 	AutoBuilder::m_resetPose = resetPose;
 	AutoBuilder::m_configured = true;
+
+	AutoBuilder::m_pathfindToPoseCommandBuilder = [poseSupplier,
+			robotRelativeSpeedsSupplier, robotRelativeOutput, config,
+			driveSubsystem](frc::Pose2d pose, PathConstraints constraints,
+			units::meters_per_second_t goalEndVel,
+			units::meter_t rotationDelayDistance) {
+		return PathfindHolonomic(pose, constraints, goalEndVel, poseSupplier,
+				robotRelativeSpeedsSupplier, robotRelativeOutput, config, {
+						driveSubsystem }, rotationDelayDistance).ToPtr();
+	};
+	AutoBuilder::m_pathfindThenFollowPathCommandBuilder = [poseSupplier,
+			robotRelativeSpeedsSupplier, robotRelativeOutput, config,
+			driveSubsystem](std::shared_ptr<PathPlannerPath> path,
+			PathConstraints constraints, units::meter_t rotationDelayDistance) {
+		return PathfindThenFollowPathHolonomic(path, constraints, poseSupplier,
+				robotRelativeSpeedsSupplier, robotRelativeOutput, config, {
+						driveSubsystem }, rotationDelayDistance).ToPtr();
+	};
+	AutoBuilder::m_pathfindingConfigured = true;
 }
 
 void AutoBuilder::configureRamsete(std::function<frc::Pose2d()> poseSupplier,
@@ -57,6 +90,26 @@ void AutoBuilder::configureRamsete(std::function<frc::Pose2d()> poseSupplier,
 	AutoBuilder::m_getPose = poseSupplier;
 	AutoBuilder::m_resetPose = resetPose;
 	AutoBuilder::m_configured = true;
+
+	AutoBuilder::m_pathfindToPoseCommandBuilder =
+			[poseSupplier, speedsSupplier, output, driveSubsystem](
+					frc::Pose2d pose, PathConstraints constraints,
+					units::meters_per_second_t goalEndVel,
+					units::meter_t rotationDelayDistance) {
+				return PathfindRamsete(pose.Translation(), constraints,
+						goalEndVel, poseSupplier, speedsSupplier, output, {
+								driveSubsystem }).ToPtr();
+			};
+	AutoBuilder::m_pathfindThenFollowPathCommandBuilder =
+			[poseSupplier, speedsSupplier, output, replanningConfig,
+					driveSubsystem](std::shared_ptr<PathPlannerPath> path,
+					PathConstraints constraints,
+					units::meter_t rotationDelayDistance) {
+				return PathfindThenFollowPathRamsete(path, constraints,
+						poseSupplier, speedsSupplier, output, replanningConfig,
+						{ driveSubsystem }).ToPtr();
+			};
+	AutoBuilder::m_pathfindingConfigured = true;
 }
 
 void AutoBuilder::configureRamsete(std::function<frc::Pose2d()> poseSupplier,
@@ -80,6 +133,24 @@ void AutoBuilder::configureRamsete(std::function<frc::Pose2d()> poseSupplier,
 	AutoBuilder::m_getPose = poseSupplier;
 	AutoBuilder::m_resetPose = resetPose;
 	AutoBuilder::m_configured = true;
+
+	AutoBuilder::m_pathfindToPoseCommandBuilder = [poseSupplier, speedsSupplier,
+			output, b, zeta, driveSubsystem](frc::Pose2d pose,
+			PathConstraints constraints, units::meters_per_second_t goalEndVel,
+			units::meter_t rotationDelayDistance) {
+		return PathfindRamsete(pose.Translation(), constraints, goalEndVel,
+				poseSupplier, speedsSupplier, output, b, zeta,
+				{ driveSubsystem }).ToPtr();
+	};
+	AutoBuilder::m_pathfindThenFollowPathCommandBuilder = [poseSupplier,
+			speedsSupplier, output, b, zeta, replanningConfig, driveSubsystem](
+			std::shared_ptr<PathPlannerPath> path, PathConstraints constraints,
+			units::meter_t rotationDelayDistance) {
+		return PathfindThenFollowPathRamsete(path, constraints, poseSupplier,
+				speedsSupplier, output, b, zeta, replanningConfig, {
+						driveSubsystem }).ToPtr();
+	};
+	AutoBuilder::m_pathfindingConfigured = true;
 }
 
 void AutoBuilder::configureLTV(std::function<frc::Pose2d()> poseSupplier,
@@ -103,6 +174,24 @@ void AutoBuilder::configureLTV(std::function<frc::Pose2d()> poseSupplier,
 	AutoBuilder::m_getPose = poseSupplier;
 	AutoBuilder::m_resetPose = resetPose;
 	AutoBuilder::m_configured = true;
+
+	AutoBuilder::m_pathfindToPoseCommandBuilder = [poseSupplier, speedsSupplier,
+			output, Qelms, Relms, dt, driveSubsystem](frc::Pose2d pose,
+			PathConstraints constraints, units::meters_per_second_t goalEndVel,
+			units::meter_t rotationDelayDistance) {
+		return PathfindLTV(pose.Translation(), constraints, goalEndVel,
+				poseSupplier, speedsSupplier, output, Qelms, Relms, dt, {
+						driveSubsystem }).ToPtr();
+	};
+	AutoBuilder::m_pathfindThenFollowPathCommandBuilder = [poseSupplier,
+			speedsSupplier, output, Qelms, Relms, dt, replanningConfig,
+			driveSubsystem](std::shared_ptr<PathPlannerPath> path,
+			PathConstraints constraints, units::meter_t rotationDelayDistance) {
+		return PathfindThenFollowPathLTV(path, constraints, poseSupplier,
+				speedsSupplier, output, Qelms, Relms, dt, replanningConfig, {
+						driveSubsystem }).ToPtr();
+	};
+	AutoBuilder::m_pathfindingConfigured = true;
 }
 
 void AutoBuilder::configureLTV(std::function<frc::Pose2d()> poseSupplier,
@@ -124,6 +213,25 @@ void AutoBuilder::configureLTV(std::function<frc::Pose2d()> poseSupplier,
 	AutoBuilder::m_getPose = poseSupplier;
 	AutoBuilder::m_resetPose = resetPose;
 	AutoBuilder::m_configured = true;
+
+	AutoBuilder::m_pathfindToPoseCommandBuilder =
+			[poseSupplier, speedsSupplier, output, dt, driveSubsystem](
+					frc::Pose2d pose, PathConstraints constraints,
+					units::meters_per_second_t goalEndVel,
+					units::meter_t rotationDelayDistance) {
+				return PathfindLTV(pose.Translation(), constraints, goalEndVel,
+						poseSupplier, speedsSupplier, output, dt, {
+								driveSubsystem }).ToPtr();
+			};
+	AutoBuilder::m_pathfindThenFollowPathCommandBuilder = [poseSupplier,
+			speedsSupplier, output, dt, replanningConfig, driveSubsystem](
+			std::shared_ptr<PathPlannerPath> path, PathConstraints constraints,
+			units::meter_t rotationDelayDistance) {
+		return PathfindThenFollowPathLTV(path, constraints, poseSupplier,
+				speedsSupplier, output, dt, replanningConfig,
+				{ driveSubsystem }).ToPtr();
+	};
+	AutoBuilder::m_pathfindingConfigured = true;
 }
 
 void AutoBuilder::configureCustom(
@@ -139,6 +247,8 @@ void AutoBuilder::configureCustom(
 	AutoBuilder::m_getPose = poseSupplier;
 	AutoBuilder::m_resetPose = resetPose;
 	AutoBuilder::m_configured = true;
+
+	AutoBuilder::m_pathfindingConfigured = false;
 }
 
 frc2::CommandPtr AutoBuilder::followPathWithEvents(
@@ -192,3 +302,28 @@ frc::Pose2d AutoBuilder::getStartingPoseFromJson(const wpi::json &json) {
 
 	return frc::Pose2d(x, y, frc::Rotation2d(deg));
 }
+
+frc2::CommandPtr AutoBuilder::pathfindToPose(frc::Pose2d pose,
+		PathConstraints constraints, units::meters_per_second_t goalEndVel,
+		units::meter_t rotationDelayDistance) {
+	if (!m_pathfindingConfigured) {
+		throw std::runtime_error(
+				"Auto builder was used to build a pathfinding command before being configured");
+	}
+
+	return m_pathfindToPoseCommandBuilder(pose, constraints, goalEndVel,
+			rotationDelayDistance);
+}
+
+frc2::CommandPtr AutoBuilder::pathfindThenFollowPath(
+		std::shared_ptr<PathPlannerPath> goalPath,
+		PathConstraints pathfindingConstraints,
+		units::meter_t rotationDelayDistance) {
+	if (!m_pathfindingConfigured) {
+		throw std::runtime_error(
+				"Auto builder was used to build a pathfinding command before being configured");
+	}
+
+	return m_pathfindThenFollowPathCommandBuilder(goalPath,
+			pathfindingConstraints, rotationDelayDistance);
+}
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/auto/AutoBuilder.h b/pathplannerlib/src/main/native/include/pathplanner/lib/auto/AutoBuilder.h
index 963ec900..1d6d897c 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/auto/AutoBuilder.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/auto/AutoBuilder.h
@@ -113,7 +113,7 @@ class AutoBuilder {
 			ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem);
 
 	/**
-	 * Configures the AutoBuilder with custom path following command builder.
+	 * Configures the AutoBuilder with custom path following command builder. Building pathfinding commands is not supported when using a custom path following command builder.
 	 *
 	 * @param pathFollowingCommandBuilder a function that builds a command to follow a given path
 	 * @param poseSupplier a function that returns the robot's current pose
@@ -160,10 +160,48 @@ class AutoBuilder {
 
 	static frc::Pose2d getStartingPoseFromJson(const wpi::json &json);
 
+	/**
+	 * Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose
+	 * rotation and rotation delay distance will have no effect.
+	 *
+	 * @param pose The pose to pathfind to
+	 * @param constraints The constraints to use while pathfinding
+	 * @param goalEndVelocity The goal end velocity of the robot when reaching the target pose
+	 * @param rotationDelayDistance The distance the robot should move from the start position before
+	 *     attempting to rotate to the final rotation
+	 * @return A command to pathfind to a given pose
+	 */
+	static frc2::CommandPtr pathfindToPose(frc::Pose2d pose,
+			PathConstraints constraints, units::meters_per_second_t goalEndVel =
+					0_mps, units::meter_t rotationDelayDistance = 0_m);
+
+	/**
+	 * Build a command to pathfind to a given path, then follow that path. If not using a holonomic
+	 * drivetrain, the pose rotation delay distance will have no effect.
+	 *
+	 * @param goalPath The path to pathfind to, then follow
+	 * @param pathfindingConstraints The constraints to use while pathfinding
+	 * @param rotationDelayDistance The distance the robot should move from the start position before
+	 *     attempting to rotate to the final rotation
+	 * @return A command to pathfind to a given path, then follow the path
+	 */
+	static frc2::CommandPtr pathfindThenFollowPath(
+			std::shared_ptr<PathPlannerPath> goalPath,
+			PathConstraints pathfindingConstraints,
+			units::meter_t rotationDelayDistance = 0_m);
+
 private:
 	static bool m_configured;
 	static std::function<frc2::CommandPtr(std::shared_ptr<PathPlannerPath>)> m_pathFollowingCommandBuilder;
 	static std::function<frc::Pose2d()> m_getPose;
 	static std::function<void(frc::Pose2d)> m_resetPose;
+
+	static bool m_pathfindingConfigured;
+	static std::function<
+			frc2::CommandPtr(frc::Pose2d, PathConstraints,
+					units::meters_per_second_t, units::meter_t)> m_pathfindToPoseCommandBuilder;
+	static std::function<
+			frc2::CommandPtr(std::shared_ptr<PathPlannerPath>, PathConstraints,
+					units::meter_t)> m_pathfindThenFollowPathCommandBuilder;
 };
 }
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindLTV.h b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindLTV.h
index 0209c8be..7d895402 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindLTV.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindLTV.h
@@ -103,51 +103,5 @@ class PathfindLTV: public PathfindingCommand {
 			goalEndVel, poseSupplier, currentRobotRelativeSpeeds, output,
 			std::make_unique < PPLTVController > (dt), 0_m, requirements) {
 	}
-
-	/**
-	 * Constructs a new PathfindLTV command that will generate a path towards the given position.
-	 *
-	 * @param targetPosition the position to pathfind to
-	 * @param constraints the path constraints to use while pathfinding
-	 * @param poseSupplier a supplier for the robot's current pose
-	 * @param currentRobotRelativeSpeeds a supplier for the robot's current robot relative speeds
-	 * @param output a consumer for the output speeds (robot relative)
-	 * @param Qelems The maximum desired error tolerance for each state.
-	 * @param Relems The maximum desired control effort for each input.
-	 * @param dt Period of the robot control loop in seconds (default 0.02)
-	 * @param requirements the subsystems required by this command
-	 */
-	PathfindLTV(frc::Translation2d targetPosition, PathConstraints constraints,
-			units::meters_per_second_t goalEndVel,
-			std::function<frc::Pose2d()> poseSupplier,
-			std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
-			std::function<void(frc::ChassisSpeeds)> output,
-			const wpi::array<double, 3> &Qelems,
-			const wpi::array<double, 2> &Relems, units::second_t dt,
-			frc2::Requirements requirements) : PathfindLTV(targetPosition,
-			constraints, 0_mps, poseSupplier, currentRobotRelativeSpeeds,
-			output, Qelems, Relems, dt, requirements) {
-	}
-
-	/**
-	 * Constructs a new PathfindLTV command that will generate a path towards the given position.
-	 *
-	 * @param targetPosition the position to pathfind to
-	 * @param constraints the path constraints to use while pathfinding
-	 * @param poseSupplier a supplier for the robot's current pose
-	 * @param currentRobotRelativeSpeeds a supplier for the robot's current robot relative speeds
-	 * @param output a consumer for the output speeds (robot relative)
-	 * @param dt Period of the robot control loop in seconds (default 0.02)
-	 * @param requirements the subsystems required by this command
-	 */
-	PathfindLTV(frc::Translation2d targetPosition, PathConstraints constraints,
-			units::meters_per_second_t goalEndVel,
-			std::function<frc::Pose2d()> poseSupplier,
-			std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
-			std::function<void(frc::ChassisSpeeds)> output, units::second_t dt,
-			frc2::Requirements requirements) : PathfindLTV(targetPosition,
-			constraints, 0_mps, poseSupplier, currentRobotRelativeSpeeds,
-			output, dt, requirements) {
-	}
 };
 }
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindRamsete.h b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindRamsete.h
index 255f3514..4c36febc 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindRamsete.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindRamsete.h
@@ -103,51 +103,5 @@ class PathfindRamsete: public PathfindingCommand {
 			goalEndVel, poseSupplier, currentRobotRelativeSpeeds, output,
 			std::make_unique<PPRamseteController>(), 0_m, requirements) {
 	}
-
-	/**
-	 * Constructs a new PathfindRamsete command that will generate a path towards the given position.
-	 *
-	 * @param targetPosition the position to pathfind to
-	 * @param constraints the path constraints to use while pathfinding
-	 * @param poseSupplier a supplier for the robot's current pose
-	 * @param currentRobotRelativeSpeeds a supplier for the robot's current robot relative speeds
-	 * @param output a consumer for the output speeds (robot relative)
-	 * @param b Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more
-	 *     aggressive like a proportional term.
-	 * @param zeta Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide
-	 *     more damping in response.
-	 * @param requirements the subsystems required by this command
-	 */
-	PathfindRamsete(frc::Translation2d targetPosition,
-			PathConstraints constraints, units::meters_per_second_t goalEndVel,
-			std::function<frc::Pose2d()> poseSupplier,
-			std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
-			std::function<void(frc::ChassisSpeeds)> output,
-			units::unit_t<PPRamseteController::b_unit> b,
-			units::unit_t<PPRamseteController::zeta_unit> zeta,
-			frc2::Requirements requirements) : PathfindRamsete(targetPosition,
-			constraints, 0_mps, poseSupplier, currentRobotRelativeSpeeds,
-			output, b, zeta, requirements) {
-	}
-
-	/**
-	 * Constructs a new PathfindRamsete command that will generate a path towards the given position.
-	 *
-	 * @param targetPosition the position to pathfind to
-	 * @param constraints the path constraints to use while pathfinding
-	 * @param poseSupplier a supplier for the robot's current pose
-	 * @param currentRobotRelativeSpeeds a supplier for the robot's current robot relative speeds
-	 * @param output a consumer for the output speeds (robot relative)
-	 * @param requirements the subsystems required by this command
-	 */
-	PathfindRamsete(frc::Translation2d targetPosition,
-			PathConstraints constraints, units::meters_per_second_t goalEndVel,
-			std::function<frc::Pose2d()> poseSupplier,
-			std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
-			std::function<void(frc::ChassisSpeeds)> output,
-			frc2::Requirements requirements) : PathfindRamsete(targetPosition,
-			constraints, 0_mps, poseSupplier, currentRobotRelativeSpeeds,
-			output, requirements) {
-	}
 };
 }
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindThenFollowPathRamsete.h b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindThenFollowPathRamsete.h
index 1fe8f633..057d2471 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindThenFollowPathRamsete.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/commands/PathfindThenFollowPathRamsete.h
@@ -59,7 +59,7 @@ class PathfindThenFollowPathRamsete: public frc2::SequentialCommandGroup {
 			std::function<frc::Pose2d()> poseSupplier,
 			std::function<frc::ChassisSpeeds()> currentRobotRelativeSpeeds,
 			std::function<void(frc::ChassisSpeeds)> robotRelativeOutput,
-			units::second_t dt, ReplanningConfig replanningConfig,
+			ReplanningConfig replanningConfig,
 			frc2::Requirements requirements) {
 		AddCommands(
 				PathfindRamsete(goalPath, pathfindingConstraints, poseSupplier,