If you want the robot to consistently drive the same path (or in this case a trajectory because it's time indexed) you need to use some sensors.
I really recommend to view this thread:
https://www.chiefdelphi.com/forums/s....php?p=1474091
In your case you already have a trajectory so you don't need to generate it, and you can use sensors to follow it.
This year my team created our autonomous by recording what the drivers did and some sensors. We used for each of our arms feedforward + PID and for the drivetrain we recorded its position and angle and use non linear control to follow the trajectory. We also constrained the jerk, acceleration, and velocity while recording so it will be motion profiled.