diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
index 01904fd8..6db5e6ca 100644
--- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java
@@ -105,6 +105,7 @@ public SwerveSubsystem(File directory)
     swerveDrive.setHeadingCorrection(false); // Heading correction should only be used while controlling the robot via angle.
     swerveDrive.setCosineCompensator(false);//!SwerveDriveTelemetry.isSimulation); // Disables cosine compensation for simulations since it causes discrepancies not seen in real life.
     swerveDrive.setAngularVelocityCompensation(true, true, 0.1); //Correct for skew that gets worse as angular velocity increases. Start with a coefficient of 0.1.
+    swerveDrive.setModuleEncoderAutoSynchronize(false, 1); // Enable if you want to resynchronize your absolute encoders and motor encoders periodically when they are not moving.
     if (visionDriveTest)
     {
       setupPhotonVision();
diff --git a/src/main/java/swervelib/SwerveDrive.java b/src/main/java/swervelib/SwerveDrive.java
index d2f288d7..6fa97228 100644
--- a/src/main/java/swervelib/SwerveDrive.java
+++ b/src/main/java/swervelib/SwerveDrive.java
@@ -868,6 +868,20 @@ public void setMotorIdleMode(boolean brake)
     }
   }
 
+  /**
+   * Enable auto synchronization for encoders during a match. This will only occur when the modules are not moving for a few seconds.
+   * @param enabled Enable state
+   * @param deadband Deadband in degrees, default is 3 degrees.
+   */
+  public void setModuleEncoderAutoSynchronize(boolean enabled, double deadband)
+  {
+    for(SwerveModule swerveModule : swerveModules)
+    {
+      swerveModule.setEncoderAutoSynchronize(enabled, deadband);
+    }
+  }
+
+
   /**
    * Set the maximum speed of the drive motors, modified {@link SwerveDrive#maxSpeedMPS} which is used for the
    * {@link SwerveDrive#setRawModuleStates(SwerveModuleState[], ChassisSpeeds, boolean)} function and
diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
index efc3aefe..1fbbe15a 100644
--- a/src/main/java/swervelib/SwerveModule.java
+++ b/src/main/java/swervelib/SwerveModule.java
@@ -112,6 +112,14 @@ public class SwerveModule
    * Encoder synchronization queued.
    */
   private       boolean                synchronizeEncoderQueued = false;
+  /**
+   * Encoder <- Absolute encoder synchronization enabled.
+   */
+  private boolean synchronizeEncoderEnabled = false;
+  /**
+   * Encoder synchronization deadband in degrees.
+   */
+  private double synchronizeEncoderDeadband = 3;
 
 
   /**
@@ -242,12 +250,32 @@ public void setDriveMotorVoltageCompensation(double optimalVoltage)
    */
   public void queueSynchronizeEncoders()
   {
-    if (absoluteEncoder != null)
+    if (absoluteEncoder != null && synchronizeEncoderEnabled)
     {
       synchronizeEncoderQueued = true;
     }
   }
 
+  /**
+   * Enable auto synchronization for encoders during a match. This will only occur when the modules are not moving for a few seconds.
+   * @param enabled Enable state
+   * @param deadband Deadband in degrees, default is 3 degrees.
+   */
+  public void setEncoderAutoSynchronize(boolean enabled, double deadband)
+  {
+    synchronizeEncoderEnabled = enabled;
+    synchronizeEncoderDeadband = deadband;
+  }
+
+  /**
+   * Enable auto synchronization for encoders during a match. This will only occur when the modules are not moving for a few seconds.
+   * @param enabled Enable state
+   */
+  public void setEncoderAutoSynchronize(boolean enabled)
+  {
+    synchronizeEncoderEnabled = enabled;
+  }
+
   /**
    * Set the antiJitter functionality, if true the modules will NOT auto center. Pushes the offsets to the angle motor
    * controllers as well.
@@ -355,10 +383,12 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop,
 
     // Prevent module rotation if angle is the same as the previous angle.
     // Synchronize encoders if queued and send in the current position as the value from the absolute encoder.
-    if (absoluteEncoder != null && synchronizeEncoderQueued)
+    if (absoluteEncoder != null && synchronizeEncoderQueued && synchronizeEncoderEnabled)
     {
       double absoluteEncoderPosition = getAbsolutePosition();
-      angleMotor.setPosition(absoluteEncoderPosition);
+      if(Math.abs(angleMotor.getPosition() - absoluteEncoderPosition) >= synchronizeEncoderDeadband) {
+        angleMotor.setPosition(absoluteEncoderPosition);
+      }
       angleMotor.setReference(desiredState.angle.getDegrees(), 0, absoluteEncoderPosition);
       synchronizeEncoderQueued = false;
     } else