Abstract: A method and a system for a tail-adjacent pallet picking are disclosed. The method includes obtaining a geometry of a ramp, where the ramp operatively connects a trailer floor to a warehouse floor associated with operation of an autonomous forklift and obtaining data comprising a location of the tail-adjacent pallet and a location of pallet pockets of the tail-adjacent pallet. Further, the method includes determining, based on the geometry of the ramp and the obtained data, an inserting trajectory of forks and determining a configuration of the forks of the autonomous forklift based on the inserting trajectory. The forks of the autonomous forklift are inserted into the pallet pockets of the tail-adjacent pallet based on the determined configuration of the forks and the tail-adjacent pallet are extracted based on an extraction trajectory and associated configuration of the forks of the autonomous forklift.