diff --git a/configuration/index.rst b/configuration/index.rst
index 1679d21bd0..544e9cd15d 100644
--- a/configuration/index.rst
+++ b/configuration/index.rst
@@ -6,34 +6,65 @@ Configuration Guide
 This guide provides a process through which the user can adjust the tunable parameters to obtain
 the best navigation performance.
 
+Core Servers
+************
+
 .. toctree::
    :maxdepth: 1
 
+   packages/configuring-behavior-server.rst
    packages/configuring-bt-navigator.rst
    packages/configuring-bt-xml.rst
+   packages/configuring-collision-monitor.rst
+   packages/configuring-controller-server.rst
    packages/configuring-costmaps.rst
+   packages/configuring-docking-server.rst
    packages/configuring-lifecycle.rst
+   packages/configuring-map-server.rst
    packages/configuring-planner-server.rst
-   packages/configuring-coverage-server.rst
+   packages/configuring-route-server.rst
+   packages/configuring-smoother-server.rst
+   packages/configuring-velocity-smoother.rst
+   packages/configuring-waypoint-follower.rst
+
+Planners Plugins
+****************
+
+.. toctree::
+   :maxdepth: 1
+
    packages/configuring-navfn.rst
    packages/configuring-smac-planner.rst
    packages/configuring-thetastar.rst
-   packages/configuring-controller-server.rst
+
+Controller Plugins
+******************
+
+.. toctree::
+   :maxdepth: 1
+
    packages/configuring-dwb-controller.rst
-   packages/configuring-regulated-pp.rst
+   packages/configuring-graceful-motion-controller.rst
    packages/configuring-mppic.rst
+   packages/configuring-regulated-pp.rst
    packages/configuring-rotation-shim-controller.rst
-   packages/configuring-graceful-motion-controller.rst
-   packages/configuring-map-server.rst
-   packages/configuring-amcl.rst
-   packages/configuring-behavior-server.rst
-   packages/configuring-smoother-server.rst
-   packages/configuring-simple-smoother.rst
-   packages/configuring-savitzky-golay-smoother.rst
+
+Smoother Plugins
+****************
+
+.. toctree::
+   :maxdepth: 1
+
    packages/configuring-constrained-smoother.rst
-   packages/configuring-velocity-smoother.rst
-   packages/configuring-collision-monitor.rst
-   packages/configuring-waypoint-follower.rst
+   packages/configuring-savitzky-golay-smoother.rst
+   packages/configuring-simple-smoother.rst
+
+Others
+******
+
+.. toctree::
+   :maxdepth: 1
+
+   packages/configuring-amcl.rst
+   packages/configuring-coverage-server.rst
    packages/configuring-loopback-sim.rst
-   packages/configuring-docking-server.rst
-   packages/configuring-route-server.rst
diff --git a/plugin_tutorials/index.rst b/plugin_tutorials/index.rst
index 1f408e2501..a106240f25 100644
--- a/plugin_tutorials/index.rst
+++ b/plugin_tutorials/index.rst
@@ -8,9 +8,9 @@ Navigation2 Tutorials
 .. toctree::
    :maxdepth: 1
 
-   docs/writing_new_costmap2d_plugin.rst
-   docs/writing_new_nav2planner_plugin.rst
-   docs/writing_new_nav2controller_plugin.rst
-   docs/writing_new_bt_plugin.rst
    docs/writing_new_behavior_plugin.rst
+   docs/writing_new_bt_plugin.rst
+   docs/writing_new_nav2controller_plugin.rst
+   docs/writing_new_costmap2d_plugin.rst
    docs/writing_new_navigator_plugin.rst
+   docs/writing_new_nav2planner_plugin.rst
diff --git a/tutorials/docs/navigation2_with_gps.rst b/tutorials/docs/navigation2_with_gps.rst
index 17028c340d..58ccc0a315 100644
--- a/tutorials/docs/navigation2_with_gps.rst
+++ b/tutorials/docs/navigation2_with_gps.rst
@@ -1,6 +1,6 @@
 .. _navigation2-with-gps:
 
-Navigating Using GPS Localization
+Navigating using GPS Localization
 *********************************
 
 - `Overview`_
diff --git a/tutorials/docs/navigation2_with_slam.rst b/tutorials/docs/navigation2_with_slam.rst
index b6a8b1a4b9..65c9ad0c45 100644
--- a/tutorials/docs/navigation2_with_slam.rst
+++ b/tutorials/docs/navigation2_with_slam.rst
@@ -1,6 +1,6 @@
 .. _navigation2-with-slam:
 
-(SLAM) Navigating While Mapping
+Navigating while Mapping (SLAM)
 *******************************
 
 - `Overview`_
diff --git a/tutorials/docs/navigation2_with_stvl.rst b/tutorials/docs/navigation2_with_stvl.rst
index d092aadd08..e369c40b98 100644
--- a/tutorials/docs/navigation2_with_stvl.rst
+++ b/tutorials/docs/navigation2_with_stvl.rst
@@ -1,6 +1,6 @@
 .. _stvl:
 
-(STVL) Using an External Costmap Plugin
+Using an External Costmap Plugin (STVL)
 ***************************************
 
 - `Overview`_