diff --git a/google_auth_oauthlib/flow.py b/google_auth_oauthlib/flow.py
index e564ca4..143c80f 100644
--- a/google_auth_oauthlib/flow.py
+++ b/google_auth_oauthlib/flow.py
@@ -160,7 +160,7 @@ def from_client_config(cls, client_config, scopes, **kwargs):
 
         # these args cannot be passed to requests_oauthlib.OAuth2Session
         code_verifier = kwargs.pop("code_verifier", None)
-        autogenerate_code_verifier = kwargs.pop("autogenerate_code_verifier", None)
+        autogenerate_code_verifier = kwargs.pop("autogenerate_code_verifier", True)
 
         (
             session,