Our team, FRA-UNIted, is in the final stages of preparation for the RoboCup 2024 Robot Soccer World Championship, which will take place from July 15, 2024, in Eindhoven, Netherlands. This year's preparations included a special course focused on the newly introduced bipedal walking model in the 2D simulation league, as well as various optimizations in defensive behavior and set pieces. In just over a week, our team will travel to the Netherlands - fingers crossed!