diff --git a/src/rj_strategy/include/rj_strategy/agent/position/free_kicker.hpp b/src/rj_strategy/include/rj_strategy/agent/position/free_kicker.hpp
index 0671ef1eb8..2f2eb3953d 100644
--- a/src/rj_strategy/include/rj_strategy/agent/position/free_kicker.hpp
+++ b/src/rj_strategy/include/rj_strategy/agent/position/free_kicker.hpp
@@ -38,6 +38,8 @@ class FreeKicker : public Position {
 
 private:
     std::optional<RobotIntent> derived_get_task(RobotIntent intent) override;
+    double get_shot_dist_to_goalie(rj_geometry::Point const& goalie_pos,
+                                   rj_geometry::Point const& shot_target);
 };
 
 }  // namespace strategy
diff --git a/src/rj_strategy/src/agent/position/free_kicker.cpp b/src/rj_strategy/src/agent/position/free_kicker.cpp
index 29611d40d0..f71d6b7d8f 100644
--- a/src/rj_strategy/src/agent/position/free_kicker.cpp
+++ b/src/rj_strategy/src/agent/position/free_kicker.cpp
@@ -11,11 +11,49 @@ std::optional<RobotIntent> FreeKicker::derived_get_task(RobotIntent intent) {
 
     // SPDLOG_INFO("Free Kicker {} is running", this->robot_id_);
 
-    rj_geometry::Point goal_corner{
-        this->field_dimensions_.their_goal_loc().x() + 0.5 * this->field_dimensions_.goal_width(),
-        this->field_dimensions_.their_goal_loc().y()};
+    // Read positions of their team
+    std::vector<RobotState> const their_robots = this->last_world_state_->their_robots;
+    rj_geometry::Point enemy_goalie_location = this->field_dimensions_.their_goal_loc();
 
-    planning::LinearMotionInstant target{goal_corner};
+    for (const RobotState& enemy : their_robots) {
+        // Get position of their goalie
+        if (this->field_dimensions_.their_defense_area().hit(enemy.pose.position())) {
+            enemy_goalie_location = enemy.pose.position();
+            break;
+        }
+    }
+
+    constexpr double BALL_WIDTH_OFFSET = kBallRadius * 10;
+    rj_geometry::Point const right_goal_post =
+        this->field_dimensions_.their_goal_loc() +
+        rj_geometry::Point((this->field_dimensions_.goal_width() / 2.0) - BALL_WIDTH_OFFSET, 0);
+
+    rj_geometry::Point const left_goal_post =
+        this->field_dimensions_.their_goal_loc() -
+        rj_geometry::Point((this->field_dimensions_.goal_width() / 2.0) - BALL_WIDTH_OFFSET, 0);
+
+    double const left_dist = get_shot_dist_to_goalie(enemy_goalie_location, left_goal_post);
+    double const right_dist = get_shot_dist_to_goalie(enemy_goalie_location, right_goal_post);
+    rj_geometry::Point const best_shot = left_dist < right_dist ? right_goal_post : left_goal_post;
+
+    /*
+    LOGIC FOR PASSING WHEN SHOT TOO EXTREME (i.e. CORNER KICK)
+
+    double const shot_angle = abs((best_shot - this->last_world_state_->ball.position).angle());
+
+    if (shot_angle > 3 * M_PI / 4.0 ||
+        shot_angle < M_PI / 4.0) {
+        SPDLOG_INFO("Free Kicker {}: Shot angle {} too extreme, not shooting", this->robot_id_,
+           shot_angle);
+        // PASS
+        return intent;
+    }
+
+    SPDLOG_INFO("Free Kicker {} shooting at point {}, {} with angle {}", this->robot_id_,
+    best_shot.x(), best_shot.y(), shot_angle);
+    */
+
+    planning::LinearMotionInstant target{best_shot};
     auto line_kick_cmd = planning::MotionCommand{"line_kick", target};
     intent.motion_command = line_kick_cmd;
 
@@ -37,4 +75,10 @@ void FreeKicker::derived_pass_ball() {}
 
 void FreeKicker::derived_acknowledge_ball_in_transit() {}
 
-}  // namespace strategy
+double FreeKicker::get_shot_dist_to_goalie(rj_geometry::Point const& goalie_pos,
+                                           rj_geometry::Point const& shot_target) {
+    rj_geometry::Point const ball_position = this->last_world_state_->ball.position;
+    return std::abs((goalie_pos - ball_position).cross(shot_target - ball_position)) /
+           (shot_target - ball_position).mag();
+}
+}  // namespace strategy
\ No newline at end of file