An engine control system of the present disclosure comprises a target speed module and a coupling module. The target speed module determines a target speed of a vehicle based on a speed of the vehicle and at least one of an accelerator input and a speed control input. The coupling module controls coupling of an engine system and a drive system of the vehicle based on the speed and the target speed. The engine system transfers torque to the drive system when coupled and does not transfer torque to the drive system when decoupled. In other features, the engine control system further comprises a torque control module that controls torque output by the engine system based on the coupling of the engine system and the drive system, the speed, and the target speed.