diff --git a/choreolib/src/main/java/choreo/auto/AutoChooser.java b/choreolib/src/main/java/choreo/auto/AutoChooser.java
index 10f13a102a..5d79ee3674 100644
--- a/choreolib/src/main/java/choreo/auto/AutoChooser.java
+++ b/choreolib/src/main/java/choreo/auto/AutoChooser.java
@@ -191,7 +191,10 @@ public Command selectedCommand() {
     if (RobotBase.isSimulation() && nameAtGeneration == NONE_NAME) {
       select(selected, true);
     }
-    return generatedCommand;
+    return generatedCommand
+        .unless(DriverStation::isAutonomousEnabled)
+        .until(() -> !DriverStation.isAutonomousEnabled())
+        .withName(generatedCommand.getName());
   }
 
   @Override