If you are looking for an on-robot switch like ekapalka is saying, you could use this:
https://www.estoprobotics.com/estore...d&productId=63
Which would give you the ability to choose between 8 different autonomous modes using the same logic he used. I still prefer SendableChooser, but if you aren't looking to mess around with new dashboards and such it's definitely an option.
(note: it does take up 3 DIO ports on the sidecar, and I know my team is sitting around 12-13 out of 14 atm...)