diff --git a/CHANGELOG.md b/CHANGELOG.md
index a3519020..de7aca27 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,19 +2,17 @@
 
 ## Unreleased
 * Start & Stop Navigation in existing Map
-    - Removed: `NavigationViewController(for route: Route, dayStyle: Style, routeController: RouteController? = nil, locationManager: NavigationLocationManager? = nil, voiceController: RouteVoiceController? = nil)` use `NavigationViewController(dayStyleURL: URL, nightStyleURL: URL? = nil,directions: Directions = .shared, voiceController: RouteVoiceController = RouteVoiceController())` followed by `startNavigation(with route: Route)` instead.
-    - To simulate a route, pass a `SimulatedLocationManager` to `startNavigation()` function: 
+    - Removed: `NavigationViewController(for route: Route, dayStyle: Style, routeController: RouteController? = nil, locationManager: NavigationLocationManager? = nil, voiceController: RouteVoiceController? = nil)` use `NavigationViewController(dayStyleURL: URL, nightStyleURL: URL? = nil,directions: Directions = .shared, voiceController: RouteVoiceController = RouteVoiceController())` followed by `startNavigation(with route: Route, animated: Bool)` instead.
+    - To simulate a route, pass a `SimulatedLocationManager` to `startNavigation()` function:
 
     ```swift
-    let vc = NavigationViewController(dayStyleURL: AppConfig().tileserverStyleUrl)
-
-    if Env.current.simulateLocationForTesting {
-        let simulatedLocationManager = SimulatedLocationManager(route: route)
-        simulatedLocationManager.speedMultiplier = 5
-        vc.startNavigation(with: route, locationManager: simulatedLocationManager)
-    } else {
-        vc.startNavigation(with: route)
-    }
+    #if targetEnvironment(simulator) 
+        let locationManager = SimulatedLocationManager(route: route)
+        locationManager.speedMultiplier = 2
+        self.startNavigation(with: route, animated: false, locationManager: locationManager)
+    #else
+        self.startNavigation(with: route, animated: false)
+    #endif
     ```
 
 ## 3.0.0 (Jun 15, 2024)
diff --git a/MapboxNavigation/NavigationViewController.swift b/MapboxNavigation/NavigationViewController.swift
index a2a035c1..a17fde98 100644
--- a/MapboxNavigation/NavigationViewController.swift
+++ b/MapboxNavigation/NavigationViewController.swift
@@ -422,7 +422,7 @@ open class NavigationViewController: UIViewController {
     
     // MARK: - NavigationViewController
 	
-    public func startNavigation(with route: Route, routeController: RouteController? = nil, locationManager: NavigationLocationManager? = nil) {
+    public func startNavigation(with route: Route, animated: Bool, routeController: RouteController? = nil, locationManager: NavigationLocationManager? = nil) {
         if let locationManager {
             self.locationManager = locationManager
         }
@@ -431,7 +431,7 @@ open class NavigationViewController: UIViewController {
         }
         self.route = route
 		
-        self.mapViewController.navigationView.showUI(animated: true)
+        self.mapViewController.navigationView.showUI(animated: animated)
         self.mapViewController.destination = route.legs.last?.destination
 
         self.routeController?.usesDefaultUserInterface = true
@@ -496,8 +496,8 @@ open class NavigationViewController: UIViewController {
                 let directions = routeController.directions
                 let route = routeController.routeProgress.route
                 let navigationViewController = NavigationViewController(dayStyle: DayStyle(demoStyle: ()), nightStyle: NightStyle(demoStyle: ()), directions: directions)
-                navigationViewController.startNavigation(with: route, routeController: routeController, locationManager: locationManager)
-                
+                navigationViewController.startNavigation(with: route, animated: true, routeController: routeController, locationManager: locationManager)
+
                 window.rootViewController?.topMostViewController()?.present(navigationViewController, animated: true, completion: {
                     navigationViewController.isUsedInConjunctionWithCarPlayWindow = true
                 })
diff --git a/MapboxNavigationTests/Sources/Tests/NavigationViewControllerTests.swift b/MapboxNavigationTests/Sources/Tests/NavigationViewControllerTests.swift
index b6ec64ea..5485873d 100644
--- a/MapboxNavigationTests/Sources/Tests/NavigationViewControllerTests.swift
+++ b/MapboxNavigationTests/Sources/Tests/NavigationViewControllerTests.swift
@@ -21,8 +21,8 @@ class NavigationViewControllerTests: XCTestCase {
                                            voiceController: voice)
         
         nav.delegate = self
-        nav.startNavigation(with: self.initialRoute, locationManager: SimulatedLocationManager(route: self.initialRoute))
-        
+        nav.startNavigation(with: self.initialRoute, animated: false, locationManager: SimulatedLocationManager(route: self.initialRoute))
+
         let routeController = nav.routeController!
         let firstCoord = routeController.routeProgress.currentLegProgress.nearbyCoordinates.first!
         let firstLocation = location(at: firstCoord)
@@ -92,7 +92,7 @@ class NavigationViewControllerTests: XCTestCase {
         let navigationViewController = NavigationViewController(dayStyle: DayStyle(demoStyle: ()),
                                                                 directions: fakeDirections,
                                                                 voiceController: FakeVoiceController())
-        navigationViewController.startNavigation(with: self.initialRoute, locationManager: SimulatedLocationManager(route: self.initialRoute))
+        navigationViewController.startNavigation(with: self.initialRoute, animated: false, locationManager: SimulatedLocationManager(route: self.initialRoute))
         let routeController = navigationViewController.routeController!
         navigationViewController.styleManager.delegate = self
         
@@ -109,7 +109,7 @@ class NavigationViewControllerTests: XCTestCase {
     // If tunnel flags are enabled and we need to switch styles, we should not force refresh the map style because we have only 1 style.
     func testNavigationShouldNotCallStyleManagerDidRefreshAppearanceWhenOnlyOneStyle() {
         let navigationViewController = NavigationViewController(dayStyle: DayStyle(demoStyle: ()), directions: fakeDirections, voiceController: FakeVoiceController())
-        navigationViewController.startNavigation(with: self.initialRoute, locationManager: SimulatedLocationManager(route: self.initialRoute))
+        navigationViewController.startNavigation(with: self.initialRoute, animated: false, locationManager: SimulatedLocationManager(route: self.initialRoute))
         let routeController = navigationViewController.routeController!
         navigationViewController.styleManager.delegate = self
         
@@ -125,7 +125,7 @@ class NavigationViewControllerTests: XCTestCase {
     
     func testNavigationShouldNotCallStyleManagerDidRefreshAppearanceMoreThanOnceWithTwoStyles() {
         let navigationViewController = NavigationViewController(dayStyle: DayStyle(demoStyle: ()), nightStyle: NightStyle(demoStyle: ()), directions: fakeDirections, voiceController: FakeVoiceController())
-        navigationViewController.startNavigation(with: self.initialRoute, locationManager: SimulatedLocationManager(route: self.initialRoute))
+        navigationViewController.startNavigation(with: self.initialRoute, animated: false, locationManager: SimulatedLocationManager(route: self.initialRoute))
         let routeController = navigationViewController.routeController!
         navigationViewController.styleManager.delegate = self
         
@@ -179,11 +179,11 @@ class NavigationViewControllerTests: XCTestCase {
     
     func testDestinationAnnotationUpdatesUponReroute() {
         let styleLoaded = XCTestExpectation(description: "Style Loaded")
-        let navigationViewController = NavigationViewControllerTestable(for: initialRoute, dayStyle: DayStyle.blankStyleForTesting, styleLoaded: styleLoaded)
+        let navigationViewController = NavigationViewControllerTestable(dayStyle: DayStyle.blankStyleForTesting, styleLoaded: styleLoaded)
 
         // wait for the style to load -- routes won't show without it.
         wait(for: [styleLoaded], timeout: 5)
-        navigationViewController.startNavigation(with: self.initialRoute, locationManager: SimulatedLocationManager(route: self.initialRoute))
+        navigationViewController.startNavigation(with: self.initialRoute, animated: false, locationManager: SimulatedLocationManager(route: self.initialRoute))
 
         runUntil {
             !(navigationViewController.mapView.annotations?.isEmpty ?? true)
@@ -255,12 +255,10 @@ private extension NavigationViewControllerTests {
 class NavigationViewControllerTestable: NavigationViewController {
     var styleLoadedExpectation: XCTestExpectation
    
-    required init(for route: Route,
-                  dayStyle: Style,
+    required init(dayStyle: Style,
                   styleLoaded: XCTestExpectation) {
         self.styleLoadedExpectation = styleLoaded
         super.init(dayStyle: dayStyle, directions: Directions(accessToken: "abc", host: ""), voiceController: FakeVoiceController())
-        self.startNavigation(with: route)
     }
     
     @objc(initWithRoute:dayStyle:nightStyle:directions:routeController:locationManager:voiceController:)
diff --git a/README.md b/README.md
index 69afaeb1..d7620eaf 100644
--- a/README.md
+++ b/README.md
@@ -34,9 +34,9 @@ Start the navigation by calling `startNavigation(with: route)`. If you want to s
 #if targetEnvironment(simulator) 
     let locationManager = SimulatedLocationManager(route: route)
     locationManager.speedMultiplier = 2
-    self.startNavigation(with: route, locationManager: locationManager)
+    self.startNavigation(with: route, animated: false, locationManager: locationManager)
 #else
-    self.startNavigation(with: route)
+    self.startNavigation(with: route, animated: false)
 #endif
 ```