diff --git a/pathplannerlib-python/pathplannerlib/auto.py b/pathplannerlib-python/pathplannerlib/auto.py
index ac161e4e..717fcc12 100644
--- a/pathplannerlib-python/pathplannerlib/auto.py
+++ b/pathplannerlib-python/pathplannerlib/auto.py
@@ -9,7 +9,7 @@
     PathfindThenFollowPathLTV
 from .geometry_util import flipFieldPose
 import os
-from wpilib import getDeployDirectory
+from wpilib import getDeployDirectory, reportError
 import json
 from commands2.command import Command
 from commands2.subsystem import Subsystem
@@ -172,7 +172,7 @@ def configureHolonomic(pose_supplier: Callable[[], Pose2d], reset_pose: Callable
         :param drive_subsystem: the subsystem for the robot's drive
         """
         if AutoBuilder._configured:
-            raise RuntimeError('AutoBuilder has already been configured. Please only configure AutoBuilder once')
+            reportError('AutoBuilder has already been configured. This is likely in error.', True)
 
         AutoBuilder._pathFollowingCommandBuilder = lambda path: FollowPathHolonomic(
             path,
@@ -233,7 +233,7 @@ def configureRamsete(pose_supplier: Callable[[], Pose2d], reset_pose: Callable[[
         :param drive_subsystem: the subsystem for the robot's drive
         """
         if AutoBuilder._configured:
-            raise RuntimeError('AutoBuilder has already been configured. Please only configure AutoBuilder once')
+            reportError('AutoBuilder has already been configured. This is likely in error.', True)
 
         AutoBuilder._pathFollowingCommandBuilder = lambda path: FollowPathRamsete(
             path,
@@ -296,7 +296,7 @@ def configureLTV(pose_supplier: Callable[[], Pose2d], reset_pose: Callable[[Pose
         :param drive_subsystem: the subsystem for the robot's drive
         """
         if AutoBuilder._configured:
-            raise RuntimeError('AutoBuilder has already been configured. Please only configure AutoBuilder once')
+            reportError('AutoBuilder has already been configured. This is likely in error.', True)
 
         AutoBuilder._pathFollowingCommandBuilder = lambda path: FollowPathLTV(
             path,
@@ -351,7 +351,7 @@ def configureCustom(path_following_command_builder: Callable[[PathPlannerPath],
         :param reset_pose: a consumer for resetting the robot's pose
         """
         if AutoBuilder._configured:
-            raise RuntimeError('AutoBuilder has already been configured. Please only configure AutoBuilder once')
+            reportError('AutoBuilder has already been configured. This is likely in error.', True)
 
         AutoBuilder._pathFollowingCommandBuilder = path_following_command_builder
         AutoBuilder._getPose = pose_supplier
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 629ea209..08bf0564 100644
--- a/pathplannerlib/src/main/java/com/pathplanner/lib/auto/AutoBuilder.java
+++ b/pathplannerlib/src/main/java/com/pathplanner/lib/auto/AutoBuilder.java
@@ -12,6 +12,7 @@
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.numbers.N2;
 import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -60,7 +61,6 @@ public class AutoBuilder {
    * @param shouldFlipPath Supplier that determines if paths should be flipped to the other side of
    *     the field. This will maintain a global blue alliance origin.
    * @param driveSubsystem the subsystem for the robot's drive
-   * @throws AutoBuilderException if AutoBuilder has already been configured
    */
   public static void configureHolonomic(
       Supplier<Pose2d> poseSupplier,
@@ -71,8 +71,8 @@ public static void configureHolonomic(
       BooleanSupplier shouldFlipPath,
       Subsystem driveSubsystem) {
     if (configured) {
-      throw new AutoBuilderException(
-          "Auto builder has already been configured. Please only configure auto builder once");
+      DriverStation.reportError(
+          "Auto builder has already been configured. This is likely in error.", true);
     }
 
     AutoBuilder.pathFollowingCommandBuilder =
@@ -128,7 +128,6 @@ public static void configureHolonomic(
    * @param shouldFlipPath Supplier that determines if paths should be flipped to the other side of
    *     the field. This will maintain a global blue alliance origin.
    * @param driveSubsystem the subsystem for the robot's drive
-   * @throws AutoBuilderException if AutoBuilder has already been configured
    */
   public static void configureRamsete(
       Supplier<Pose2d> poseSupplier,
@@ -139,8 +138,8 @@ public static void configureRamsete(
       BooleanSupplier shouldFlipPath,
       Subsystem driveSubsystem) {
     if (configured) {
-      throw new AutoBuilderException(
-          "Auto builder has already been configured. Please only configure auto builder once");
+      DriverStation.reportError(
+          "Auto builder has already been configured. This is likely in error.", true);
     }
 
     AutoBuilder.pathFollowingCommandBuilder =
@@ -198,7 +197,6 @@ public static void configureRamsete(
    * @param shouldFlipPath Supplier that determines if paths should be flipped to the other side of
    *     the field. This will maintain a global blue alliance origin.
    * @param driveSubsystem the subsystem for the robot's drive
-   * @throws AutoBuilderException if AutoBuilder has already been configured
    */
   public static void configureRamsete(
       Supplier<Pose2d> poseSupplier,
@@ -211,8 +209,8 @@ public static void configureRamsete(
       BooleanSupplier shouldFlipPath,
       Subsystem driveSubsystem) {
     if (configured) {
-      throw new AutoBuilderException(
-          "Auto builder has already been configured. Please only configure auto builder once");
+      DriverStation.reportError(
+          "Auto builder has already been configured. This is likely in error.", true);
     }
 
     AutoBuilder.pathFollowingCommandBuilder =
@@ -274,7 +272,6 @@ public static void configureRamsete(
    * @param shouldFlipPath Supplier that determines if paths should be flipped to the other side of
    *     the field. This will maintain a global blue alliance origin.
    * @param driveSubsystem the subsystem for the robot's drive
-   * @throws AutoBuilderException if AutoBuilder has already been configured
    */
   public static void configureLTV(
       Supplier<Pose2d> poseSupplier,
@@ -286,8 +283,8 @@ public static void configureLTV(
       BooleanSupplier shouldFlipPath,
       Subsystem driveSubsystem) {
     if (configured) {
-      throw new AutoBuilderException(
-          "Auto builder has already been configured. Please only configure auto builder once");
+      DriverStation.reportError(
+          "Auto builder has already been configured. This is likely in error.", true);
     }
 
     AutoBuilder.pathFollowingCommandBuilder =
@@ -348,7 +345,6 @@ public static void configureLTV(
    * @param shouldFlipPath Supplier that determines if paths should be flipped to the other side of
    *     the field. This will maintain a global blue alliance origin.
    * @param driveSubsystem the subsystem for the robot's drive
-   * @throws AutoBuilderException if AutoBuilder has already been configured
    */
   public static void configureLTV(
       Supplier<Pose2d> poseSupplier,
@@ -362,8 +358,8 @@ public static void configureLTV(
       BooleanSupplier shouldFlipPath,
       Subsystem driveSubsystem) {
     if (configured) {
-      throw new AutoBuilderException(
-          "Auto builder has already been configured. Please only configure auto builder once");
+      DriverStation.reportError(
+          "Auto builder has already been configured. This is likely in error.", true);
     }
 
     AutoBuilder.pathFollowingCommandBuilder =
@@ -423,15 +419,14 @@ public static void configureLTV(
    * @param pathFollowingCommandBuilder a function that builds a command to follow a given path
    * @param poseSupplier a supplier for the robot's current pose
    * @param resetPose a consumer for resetting the robot's pose
-   * @throws AutoBuilderException if AutoBuilder has already been configured
    */
   public static void configureCustom(
       Function<PathPlannerPath, Command> pathFollowingCommandBuilder,
       Supplier<Pose2d> poseSupplier,
       Consumer<Pose2d> resetPose) {
     if (configured) {
-      throw new AutoBuilderException(
-          "Auto builder has already been configured. Please only configure auto builder once");
+      DriverStation.reportError(
+          "Auto builder has already been configured. This is likely in error.", true);
     }
 
     AutoBuilder.pathFollowingCommandBuilder = pathFollowingCommandBuilder;
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 25b38ecc..66653813 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/AutoBuilder.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/AutoBuilder.cpp
@@ -38,8 +38,8 @@ void AutoBuilder::configureHolonomic(std::function<frc::Pose2d()> poseSupplier,
 		HolonomicPathFollowerConfig config,
 		std::function<bool()> shouldFlipPath, frc2::Subsystem *driveSubsystem) {
 	if (m_configured) {
-		throw std::runtime_error(
-				"Auto builder has already been configured. Please only configure auto builder once");
+		FRC_ReportError(frc::err::Error,
+				"Auto builder has already been configured. This is likely in error.");
 	}
 
 	AutoBuilder::m_pathFollowingCommandBuilder = [poseSupplier,
@@ -85,8 +85,8 @@ void AutoBuilder::configureRamsete(std::function<frc::Pose2d()> poseSupplier,
 		ReplanningConfig replanningConfig, std::function<bool()> shouldFlipPath,
 		frc2::Subsystem *driveSubsystem) {
 	if (m_configured) {
-		throw std::runtime_error(
-				"Auto builder has already been configured. Please only configure auto builder once");
+		FRC_ReportError(frc::err::Error,
+				"Auto builder has already been configured. This is likely in error.");
 	}
 
 	AutoBuilder::m_pathFollowingCommandBuilder = [poseSupplier, speedsSupplier,
@@ -128,8 +128,8 @@ void AutoBuilder::configureRamsete(std::function<frc::Pose2d()> poseSupplier,
 		ReplanningConfig replanningConfig, std::function<bool()> shouldFlipPath,
 		frc2::Subsystem *driveSubsystem) {
 	if (m_configured) {
-		throw std::runtime_error(
-				"Auto builder has already been configured. Please only configure auto builder once");
+		FRC_ReportError(frc::err::Error,
+				"Auto builder has already been configured. This is likely in error.");
 	}
 
 	AutoBuilder::m_pathFollowingCommandBuilder =
@@ -172,8 +172,8 @@ void AutoBuilder::configureLTV(std::function<frc::Pose2d()> poseSupplier,
 		units::second_t dt, ReplanningConfig replanningConfig,
 		std::function<bool()> shouldFlipPath, frc2::Subsystem *driveSubsystem) {
 	if (m_configured) {
-		throw std::runtime_error(
-				"Auto builder has already been configured. Please only configure auto builder once");
+		FRC_ReportError(frc::err::Error,
+				"Auto builder has already been configured. This is likely in error.");
 	}
 
 	AutoBuilder::m_pathFollowingCommandBuilder =
@@ -217,8 +217,8 @@ void AutoBuilder::configureLTV(std::function<frc::Pose2d()> poseSupplier,
 		ReplanningConfig replanningConfig, std::function<bool()> shouldFlipPath,
 		frc2::Subsystem *driveSubsystem) {
 	if (m_configured) {
-		throw std::runtime_error(
-				"Auto builder has already been configured. Please only configure auto builder once");
+		FRC_ReportError(frc::err::Error,
+				"Auto builder has already been configured. This is likely in error.");
 	}
 
 	AutoBuilder::m_pathFollowingCommandBuilder = [poseSupplier, speedsSupplier,
@@ -256,8 +256,8 @@ void AutoBuilder::configureCustom(
 		std::function<frc::Pose2d()> poseSupplier,
 		std::function<void(frc::Pose2d)> resetPose) {
 	if (m_configured) {
-		throw std::runtime_error(
-				"Auto builder has already been configured. Please only configure auto builder once");
+		FRC_ReportError(frc::err::Error,
+				"Auto builder has already been configured. This is likely in error.");
 	}
 
 	AutoBuilder::m_pathFollowingCommandBuilder = pathFollowingCommandBuilder;