Is there a way to practice the transition from Autonomous Mode to Teleop Mode?

Hello,
My team wants to practice the transition from Autonomous Mode to Teleop Mode. However, we are unsure of how to practice that on the driver station. Is there a way for us to do that, or is it not possible?

Practice mode on the driver station, which is below auto and teleport, will simulate a full match.

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Oh ok, thanks!

You can adjust the timings in one of the driver station tabs.

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