diff --git a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5 b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
index 3ba55dfa..0ffdf2bb 100644
--- a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
+++ b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5
@@ -44,7 +44,7 @@
       /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
       /// Accepts a single value or different values for router, peer and client.
       /// Each value is bit-or-like combinations of "peer", "router" and "client".
-      autoconnect: { router: "", peer: "router|peer" },
+      autoconnect: { router: [], peer: ["router", "peer"] },
       /// Whether or not to listen for scout messages on UDP multicast and reply to them.
       listen: true,
     },
@@ -61,7 +61,7 @@
       /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
       /// Accepts a single value or different values for router, peer and client.
       /// Each value is bit-or-like combinations of "peer", "router" and "client".
-      autoconnect: { router: "", peer: "router|peer" },
+      autoconnect: { router: [], peer: ["router", "peer"] },
     },
   },
 
diff --git a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5 b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
index 6c0ec556..b111bfdf 100644
--- a/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
+++ b/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5
@@ -47,7 +47,7 @@
       /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
       /// Accepts a single value or different values for router, peer and client.
       /// Each value is bit-or-like combinations of "peer", "router" and "client".
-      autoconnect: { router: "", peer: "router|peer" },
+      autoconnect: { router: [], peer: ["router", "peer"] },
       /// Whether or not to listen for scout messages on UDP multicast and reply to them.
       listen: true,
     },
@@ -64,7 +64,7 @@
       /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
       /// Accepts a single value or different values for router, peer and client.
       /// Each value is bit-or-like combinations of "peer", "router" and "client".
-      autoconnect: { router: "", peer: "router|peer" },
+      autoconnect: { router: [], peer: ["router", "peer"] },
     },
   },