Summarize: Autoware.AI vs Autoware.Auto vs ROS1 Navigation Stack

Hi I would like to know if Autoware.Auto has the capability or framework such as runtime-manager as Autoware.AI to switch path planners (global or/and local). Or some similar framework as ROS1-MoveIt that allows switch these motion planners and do a benchmark of them?

Finally in ROS1-Navigation Stack it was possible to easy use pkgs of global planners or local planners and switch them changing just few lines on launch file. Also was possible tune the parameters through rqt_gui. How can I do the same with Autoware.Auto? How flexible is Autoware.Auto for this feature? Or it is not?

The complete description of this problem and my doubt is described here: #89 (closed)

Thanks in advance.