diff --git a/smarts/core/plan.py b/smarts/core/plan.py
index ae9f398ccb..d5412a7eb3 100644
--- a/smarts/core/plan.py
+++ b/smarts/core/plan.py
@@ -76,10 +76,8 @@ def from_pose(cls, pose: Pose):
 
 
 @dataclass(frozen=True)
-class AutomaticStart(StartBase):
-    """Generates a start"""
-
-    pass
+class InheritedStart(StartBase):
+    """A starting state that inherits from the original vehicle."""
 
 
 @dataclass(frozen=True, unsafe_hash=True)
@@ -95,6 +93,12 @@ def is_reached(self, vehicle_state) -> bool:
         return False
 
 
+@dataclass(frozen=True)
+class InheritedGoal(Goal):
+    """Describes a goal that is inherited from the vehicle (or original dataset)."""
+
+    pass
+
 @dataclass(frozen=True, unsafe_hash=True)
 class AutomaticGoal(Goal):
     """A goal that determines an end result from pre-existing vehicle and mission values."""
diff --git a/smarts/primatives/constants.py b/smarts/primatives/constants.py
index b11a8bc63d..2bc5a95b4e 100644
--- a/smarts/primatives/constants.py
+++ b/smarts/primatives/constants.py
@@ -25,13 +25,15 @@
 
 
 class SmartsLiteral(Enum):
-    AUTO: Final = "auto"
-    MAX: Final = 9223372036854775807
-    MISSING: Final = MAX
-    NONE: Final = None
+    AUTO = "auto"
+    INHERIT = ...
+    MAX = 9223372036854775807
+    MISSING = MAX
+    NONE = None
 
 
 AUTO: Final = SmartsLiteral.AUTO
+INHERIT: Final = SmartsLiteral.INHERIT
 MAX: Final = SmartsLiteral.MAX
 MISSING = SmartsLiteral.MISSING
 NONE: Final = SmartsLiteral.NONE
diff --git a/smarts/sstudio/types/actor/social_agent_actor.py b/smarts/sstudio/types/actor/social_agent_actor.py
index 28bcbe89b5..e7beaf0ae8 100644
--- a/smarts/sstudio/types/actor/social_agent_actor.py
+++ b/smarts/sstudio/types/actor/social_agent_actor.py
@@ -31,8 +31,8 @@
 
 @dataclass(frozen=True)
 class SocialAgentActor(Actor):
-    """Used as a description/spec for zoo traffic actors. These actors use a
-    pre-trained model to understand how to act in the environment.
+    """Used as a description/spec for zoo traffic actors. These actors are controlled by a
+    pre-trained model that understands how to behave in the environment.
     """
 
     name: str
@@ -43,7 +43,7 @@ class SocialAgentActor(Actor):
     agent_locator: str
     """The locator reference to the zoo registration call. Expects a string in the format
     of 'path.to.file:locator-name' where the path to the registration call is in the form
-    `{PYTHONPATH}[n]/path/to/file.py`
+    ``{PYTHONPATH}[n]/path/to/file.py``.
     """
     policy_kwargs: Dict[str, Any] = field(default_factory=dict)
     """Additional keyword arguments to be passed to the constructed class overriding the
diff --git a/smarts/sstudio/types/mission.py b/smarts/sstudio/types/mission.py
index 431a34b34e..3a701414dd 100644
--- a/smarts/sstudio/types/mission.py
+++ b/smarts/sstudio/types/mission.py
@@ -75,7 +75,7 @@ def __post_init__(self):
 class EndlessMission:
     """The descriptor for an actor's mission that has no end."""
 
-    begin: Tuple[str, int, float]
+    begin: Union[Tuple[str, int, float], Literal[AUTO]]
     """The (road, lane_index, offset) details of the start location for the route.
 
     road:
diff --git a/smarts/sstudio/types/route.py b/smarts/sstudio/types/route.py
index 66c5675f13..7f68fe85e1 100644
--- a/smarts/sstudio/types/route.py
+++ b/smarts/sstudio/types/route.py
@@ -86,7 +86,7 @@ class Route:
     """The ids of roads that must be included in the route between `begin` and `end`."""
 
     map_spec: Optional[MapSpec] = None
-    """All routes are relative to a road map.  If not specified here,
+    """All routes are relative to a road map. If not specified here,
     the default map_spec for the scenario is used."""
 
     @property