A method for providing operating mode transition for a vehicle includes receiving an input indicating a request to transition from a first operating mode of the vehicle to a second operating mode of the vehicle and determining a first planned trajectory corresponding to the first operating mode. The method also includes determining a second planned trajectory corresponding to the second operating mode. The method also includes determining a first road wheel actuator angle corresponding to the first planned trajectory and determining a second road wheel actuator angle corresponding to the second planned trajectory. The method also includes determining a difference between a current handwheel actuator angle and a handwheel actuator angle corresponding to the second road wheel actuator angle and, in response to a determination that the difference is less than a threshold, transitioning from the first operating mode to the second operating mode over a determined period.