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In-situ manufacturing of thermoplastic composites using Hot Gas Torch (HGT)-assisted Automated Fiber Placement (AFP) has the potential to produce laminates in an efficient manner by avoiding a secondary process, like autoclave consolidation. One of the advantages of AFP technique is its capability to steer fiber path and to manufacture Variable Angle Tow (VAT) laminates which have shown to have improved mechanical performance. This study investigates the process parameters that affect steering of carbon fiber reinforced thermoplastic tapes (AS4/polyether ether ketone) using an HGT-assisted AFP machine. The effect of the steering radius, laydown speed, number of repasses, and substrate angle on the geometry and bond strength of steered tape was investigated through observation and testing. A modified lap shear test was devised and used to study the bond strength between the steered tape and the substrate and the results were compared with autoclave treated samples which served as a reference. It was found that with a decrease in the steering radius of the tape, there was a decrease in the tape width and an increase in the tape thickness. A significant reduction in the steering-induced defects was observed at higher laydown speeds where the defects were intermittent unlike in the case of lower laydown speeds. Performing a repass over the steered tape smoothed some of the tape defects caused by steering. Furthermore, the lap shear strengths of the steered tapes were found to be functions of laydown speed and substrate angle.