diff --git a/SceneManager/Menus/PathMainMenu.cs b/SceneManager/Menus/PathMainMenu.cs
index a29ae0b..3a10a37 100644
--- a/SceneManager/Menus/PathMainMenu.cs
+++ b/SceneManager/Menus/PathMainMenu.cs
@@ -12,7 +12,8 @@ namespace SceneManager
     {
         FromPath = 0,
         FromWaypoint = 1,
-        FromWorld = 2
+        FromWorld = 2,
+        FromDirect = 3
     }
 
     static class PathMainMenu
@@ -141,11 +142,7 @@ namespace SceneManager
                     {
                         cv.Driver.GetAttachedBlip().Delete();
                     }
-                    Logger.Log($"{cv.Vehicle.Model.Name} task status before clear/dismiss: {cv.Driver.Tasks.CurrentTaskStatus.ToString()}");
-                    cv.Driver.Tasks.Clear();
-                    cv.Driver.Tasks.ClearSecondary();
                     cv.Driver.Dismiss();
-                    Logger.Log($"{cv.Vehicle.Model.Name} task status after clear/dismiss: {cv.Driver.Tasks.CurrentTaskStatus.ToString()}");
                     cv.Vehicle.IsSirenOn = false;
                     cv.Vehicle.IsSirenSilent = true;
                     cv.Vehicle.Dismiss();
@@ -250,13 +247,6 @@ namespace SceneManager
                     var firstWaypoint = waypoints.First();
                     var nearestWaypoint = waypoints.Where(wp => wp.Position.DistanceTo2D(nearbyVehicle.FrontPosition) < wp.Position.DistanceTo2D(nearbyVehicle.RearPosition)).OrderBy(wp => wp.Position.DistanceTo2D(nearbyVehicle)).FirstOrDefault();
 
-                    if(collectedVehicle != null)
-                    {
-                        collectedVehicle.Dismiss();
-                        collectedVehicle = null;
-                    }
-                    //VehicleCollector.SetVehicleAndDriverPersistence(nearbyVehicle);
-
                     // The vehicle should only be added to the collection when it's not null AND if the selected item is First Waypoint OR if the selected item is nearestWaypoint AND nearestWaypoint is not null
                     if (collectedVehicle == null && directOptions.SelectedItem == "First waypoint" || (directOptions.SelectedItem == "Nearest waypoint" && nearestWaypoint != null))
                     {
@@ -272,17 +262,12 @@ namespace SceneManager
                     }
                     collectedVehicle.Directed = true;
                     collectedVehicle.Driver.Tasks.Clear();
-                    if (collectedVehicle.StoppedAtWaypoint)
-                    {
-                        collectedVehicle.StoppedAtWaypoint = false;
-                        Rage.Native.NativeFunction.Natives.x260BE8F09E326A20(collectedVehicle.Vehicle, 0f, 1, true);
-                    }
 
                     if (directOptions.SelectedItem == "First waypoint")
                     {
                         GameFiber.StartNew(() =>
                         {
-                            AITasking.AssignWaypointTasks(collectedVehicle, waypoints, firstWaypoint);
+                            AITasking.AssignWaypointTasks(collectedVehicle, path, firstWaypoint);
                         });
                     }
                     else
@@ -291,7 +276,7 @@ namespace SceneManager
                         {
                             GameFiber.StartNew(() =>
                             {
-                                AITasking.AssignWaypointTasks(collectedVehicle, waypoints, nearestWaypoint);
+                                AITasking.AssignWaypointTasks(collectedVehicle, path, nearestWaypoint);
                             });
                         }
                     }
diff --git a/SceneManager/Object Classes/CollectedVehicle.cs b/SceneManager/Object Classes/CollectedVehicle.cs
index 68cbf1f..efe0ed9 100644
--- a/SceneManager/Object Classes/CollectedVehicle.cs	
+++ b/SceneManager/Object Classes/CollectedVehicle.cs	
@@ -14,6 +14,7 @@ namespace SceneManager
         internal bool Dismissed { get; set; } = false;
         internal bool Directed { get; set; } = false;
         internal bool SkipWaypoint { get; set; } = false;
+        internal bool ReadyForDirectTasks { get; set; } = false;
 
         internal CollectedVehicle(Vehicle vehicle, Path path, Waypoint currentWaypoint)
         {
@@ -52,14 +53,16 @@ namespace SceneManager
                 return;
             }
 
-            Driver.Tasks.Clear();
             if(StoppedAtWaypoint)
             {
                 Logger.Log($"Unstucking {Vehicle.Model.Name}");
                 StoppedAtWaypoint = false;
+                Rage.Native.NativeFunction.Natives.x260BE8F09E326A20(Vehicle, 0f, 1, true);
+                Driver.Tasks.CruiseWithVehicle(5f);
             }
+            Driver.Tasks.Clear();
 
-            if(dismissOption == DismissOption.FromWaypoint)
+            if (dismissOption == DismissOption.FromWaypoint)
             {
                 DismissFromWaypoint();
             }
@@ -69,6 +72,11 @@ namespace SceneManager
                 DismissFromPath();
             }
 
+            if(dismissOption == DismissOption.FromDirect)
+            {
+                DismissFromDirect();
+            }
+
             void DismissFromWorld()
             {
                 Game.LogTrivial($"Dismissed {Vehicle.Model.Name} from the world");
@@ -105,12 +113,64 @@ namespace SceneManager
             {
                 Logger.Log($"Dismissing from path");
                 Dismissed = true;
+
+                // Check if the vehicle is near any of the path's collector waypoints
                 GameFiber.StartNew(() =>
                 {
-                    // check if the vehicle is near any of the path's collector waypoints
                     var nearestCollectorWaypoint = Path.Waypoints.Where(wp => wp.IsCollector).OrderBy(wp => Vehicle.DistanceTo2D(wp.Position)).FirstOrDefault();
-                    if(nearestCollectorWaypoint != null)
+                    if (nearestCollectorWaypoint != null)
                     {
+                        // Enabling this will keep the menu, but the dismissed vehicle is immediately re - collected
+                        while (nearestCollectorWaypoint != null && Vehicle && Vehicle.HasDriver && Driver && Driver.IsAlive && Vehicle.FrontPosition.DistanceTo2D(nearestCollectorWaypoint.Position) <= nearestCollectorWaypoint.CollectorRadius)
+                        {
+                            //Game.LogTrivial($"{Vehicle.Model.Name} is within 2x collector radius, cannot be fully dismissed yet.");
+                            GameFiber.Yield();
+                        }
+                    }
+                    else
+                    {
+                        Logger.Log($"Nearest collector is null");
+                    }
+
+                    if (!Vehicle || !Driver)
+                    {
+                        return;
+                    }
+
+                    if (!Directed)
+                    {
+                        VehicleCollector.collectedVehicles.Remove(this);
+                        Logger.Log($"{Vehicle.Model.Name} dismissed successfully.");
+                        if (Driver)
+                        {
+                            if (Driver.GetAttachedBlip())
+                            {
+                                Driver.GetAttachedBlip().Delete();
+                            }
+                            Driver.BlockPermanentEvents = false;
+                            Driver.Dismiss();
+                        }
+                        if (Vehicle)
+                        {
+                            Vehicle.IsSirenOn = false;
+                            Vehicle.IsSirenSilent = true;
+                            Vehicle.Dismiss();
+                        }
+                    }
+                });
+                
+            }
+
+            void DismissFromDirect()
+            {
+                Logger.Log($"Dismissing from direct.");
+                ReadyForDirectTasks = false;
+                GameFiber.StartNew(() =>
+                {
+                    var nearestCollectorWaypoint = Path.Waypoints.Where(wp => wp.IsCollector).OrderBy(wp => Vehicle.DistanceTo2D(wp.Position)).FirstOrDefault();
+                    if (nearestCollectorWaypoint != null)
+                    {
+                        // Enabling this will keep the menu, but the dismissed vehicle is immediately re - collected
                         while (nearestCollectorWaypoint != null && Vehicle && Driver && Vehicle.FrontPosition.DistanceTo2D(nearestCollectorWaypoint.Position) <= nearestCollectorWaypoint.CollectorRadius)
                         {
                             //Game.LogTrivial($"{Vehicle.Model.Name} is within 2x collector radius, cannot be fully dismissed yet.");
@@ -122,23 +182,7 @@ namespace SceneManager
                         Logger.Log($"Nearest collector is null");
                     }
 
-
-                    if (!Vehicle || !Driver)
-                    {
-                        return;
-                    }
-
-                    VehicleCollector.collectedVehicles.Remove(this);
-                    Logger.Log($"{Vehicle.Model.Name} dismissed successfully.");
-                    if (Driver.GetAttachedBlip())
-                    {
-                        Driver.GetAttachedBlip().Delete();
-                    }
-                    Driver.BlockPermanentEvents = false;
-                    Driver.Dismiss();
-                    Vehicle.IsSirenOn = false;
-                    Vehicle.IsSirenSilent = true;
-                    Vehicle.Dismiss();
+                    ReadyForDirectTasks = true;
                 });
             }
         }