diff --git a/src/initialization.jl b/src/initialization.jl
index 7ec14b12d..8b45bb6a6 100644
--- a/src/initialization.jl
+++ b/src/initialization.jl
@@ -60,21 +60,24 @@ end
 
 function Base.showerror(io::IO, e::CheckInitFailureError)
     print(io,
-        "DAE initialization failed: your u0 did not satisfy the initialization requirements, 
-        normresid = $(e.normresid) > abstol = $(e.abstol)."
-    )
+        """
+        DAE initialization failed: your u0 did not satisfy the initialization requirements, \
+        normresid = $(e.normresid) > abstol = $(e.abstol).
+        """)
 
     if e.isdae
-        print(io, " If you wish for the system to 
-            automatically change the algebraic variables to satisfy the algebraic constraints, 
-            please pass `initializealg = BrownBasicInit()` to solve (this option will require 
-            `using OrdinaryDiffEqNonlinearSolve`). If you wish to perform an initialization on the
-            complete u0, please pass `initializealg = ShampineCollocationInit()` to solve. Note that 
-            initialization can be a very difficult process for DAEs and in many cases can be 
-            numerically intractable without symbolic manipulation of the system. For an automated 
-            system that will generate numerically stable initializations, see ModelingToolkit.jl 
-            structural simplification for more details."
-        )
+        print(io,
+            """
+            If you wish for the system to automatically change the algebraic variables to \
+            satisfy the algebraic constraints, please pass `initializealg = BrownBasicInit()` \
+            to solve (this option will require `using OrdinaryDiffEqNonlinearSolve`). If you \
+            wish to perform an initialization on the complete u0, please pass \
+            `initializealg = ShampineCollocationInit()` to `solve`. Note that initialization \
+            can be a very difficult process for DAEs and in many cases can be numerically \
+            intractable without symbolic manipulation of the system. For an automated \
+            system that will generate numerically stable initializations, see \
+            ModelingToolkit.jl structural simplification for more details.
+            """)
     end
 end
 
@@ -188,6 +191,9 @@ Keyword arguments:
   provided to the `OverrideInit` constructor takes priority over this keyword argument.
   If the former is `nothing`, this keyword argument will be used. If it is also not provided,
   an error will be thrown.
+
+In case the initialization problem is trivial, `nlsolve_alg`, `abstol` and `reltol` are
+not required.
 """
 function get_initial_values(prob, valp, f, alg::OverrideInit,
         iip::Union{Val{true}, Val{false}}; nlsolve_alg = nothing, abstol = nothing, reltol = nothing, kwargs...)
@@ -201,35 +207,55 @@ function get_initial_values(prob, valp, f, alg::OverrideInit,
     initdata::OverrideInitData = f.initialization_data
     initprob = initdata.initializeprob
 
-    nlsolve_alg = something(nlsolve_alg, alg.nlsolve, Some(nothing))
-    if nlsolve_alg === nothing && state_values(initprob) !== nothing
-        throw(OverrideInitMissingAlgorithm())
-    end
-
     if initdata.update_initializeprob! !== nothing
         initdata.update_initializeprob!(initprob, valp)
     end
 
-    if alg.abstol !== nothing
-        _abstol = alg.abstol
-    elseif abstol !== nothing
-        _abstol = abstol
+    if is_trivial_initialization(initdata)
+        nlsol = initprob
+        success = true
     else
-        throw(OverrideInitNoTolerance(:abstol))
+        nlsolve_alg = something(nlsolve_alg, alg.nlsolve, Some(nothing))
+        if nlsolve_alg === nothing && state_values(initprob) !== nothing
+            throw(OverrideInitMissingAlgorithm())
+        end
+        if alg.abstol !== nothing
+            _abstol = alg.abstol
+        elseif abstol !== nothing
+            _abstol = abstol
+        else
+            throw(OverrideInitNoTolerance(:abstol))
+        end
+        if alg.reltol !== nothing
+            _reltol = alg.reltol
+        elseif reltol !== nothing
+            _reltol = reltol
+        else
+            throw(OverrideInitNoTolerance(:reltol))
+        end
+        nlsol = solve(initprob, nlsolve_alg; abstol = _abstol, reltol = _reltol)
+        success = SciMLBase.successful_retcode(nlsol)
     end
-    if alg.reltol !== nothing
-        _reltol = alg.reltol
-    elseif reltol !== nothing
-        _reltol = reltol
-    else
-        throw(OverrideInitNoTolerance(:reltol))
-    end
-    nlsol = solve(initprob, nlsolve_alg; abstol = _abstol, reltol = _reltol)
 
     u0 = initdata.initializeprobmap(nlsol)
     if initdata.initializeprobpmap !== nothing
         p = initdata.initializeprobpmap(valp, nlsol)
     end
 
-    return u0, p, SciMLBase.successful_retcode(nlsol)
+    return u0, p, success
+end
+
+is_trivial_initialization(::Nothing) = true
+
+function is_trivial_initialization(initdata::OverrideInitData)
+    !(initdata.initializeprob isa NonlinearLeastSquaresProblem) &&
+        state_values(initdata.initializeprob) === nothing
+end
+
+function is_trivial_initialization(f::AbstractSciMLFunction)
+    has_initialization_data(f) && is_trivial_initialization(f.initialization_data)
+end
+
+function is_trivial_initialization(prob::AbstractSciMLProblem)
+    is_trivial_initialization(prob.f)
 end
diff --git a/src/remake.jl b/src/remake.jl
index 026a9d2a4..b16476473 100644
--- a/src/remake.jl
+++ b/src/remake.jl
@@ -114,6 +114,7 @@ function remake(prob::ODEProblem; f = missing,
         interpret_symbolicmap = true,
         build_initializeprob = true,
         use_defaults = false,
+        lazy_initialization = nothing,
         _kwargs...)
     if tspan === missing
         tspan = prob.tspan
@@ -123,6 +124,8 @@ function remake(prob::ODEProblem; f = missing,
 
     iip = isinplace(prob)
 
+    initialization_data = prob.f.initialization_data
+
     if f === missing
         if build_initializeprob
             initialization_data = remake_initialization_data_compat_wrapper(
@@ -170,13 +173,28 @@ function remake(prob::ODEProblem; f = missing,
         _f = ODEFunction{isinplace(prob), specialization(prob.f)}(f)
     end
 
-    if kwargs === missing
+    prob = if kwargs === missing
         ODEProblem{isinplace(prob)}(
             _f, newu0, tspan, newp, prob.problem_type; prob.kwargs...,
             _kwargs...)
     else
         ODEProblem{isinplace(prob)}(_f, newu0, tspan, newp, prob.problem_type; kwargs...)
     end
+
+    if lazy_initialization === nothing
+        lazy_initialization = !is_trivial_initialization(initialization_data)
+    end
+    if !lazy_initialization
+        u0, p, _ = get_initial_values(
+            prob, prob, prob.f, OverrideInit(), Val(isinplace(prob)))
+        if u0 !== nothing && eltype(u0) == Any && isempty(u0)
+            u0 = nothing
+        end
+        @reset prob.u0 = u0
+        @reset prob.p = p
+    end
+
+    return prob
 end
 
 """
diff --git a/test/downstream/modelingtoolkit_remake.jl b/test/downstream/modelingtoolkit_remake.jl
index ef0bca75f..7b69e7746 100644
--- a/test/downstream/modelingtoolkit_remake.jl
+++ b/test/downstream/modelingtoolkit_remake.jl
@@ -336,3 +336,12 @@ end
     @test sccprob4.p !== sccprob4.probs[1].p
     @test sccprob4.p !== sccprob4.probs[2].p
 end
+
+@testset "Lazy initialization" begin
+    @variables x(t) [guess = 1.0] y(t) [guess = 1.0]
+    @parameters p=missing [guess = 1.0]
+    @mtkbuild sys = ODESystem([D(x) ~ x, x + y ~ p], t)
+    prob = ODEProblem(sys, [x => 1.0, y => 1.0], (0.0, 1.0))
+    prob2 = remake(prob; u0 = [x => 2.0])
+    @test prob2.ps[p] ≈ 3.0
+end
diff --git a/test/initialization.jl b/test/initialization.jl
index 1ea1da694..7d5dfb01d 100644
--- a/test/initialization.jl
+++ b/test/initialization.jl
@@ -244,4 +244,30 @@ end
         @test p ≈ 0.0
         @test success
     end
+
+    @testset "Trivial initialization" begin
+        initprob = NonlinearProblem(Returns(nothing), nothing, [1.0])
+        update_initializeprob! = function (iprob, integ)
+            iprob.p[1] = integ.u[1]
+        end
+        initprobmap = function (nlsol)
+            u1 = parameter_values(nlsol)[1]
+            return [u1, u1]
+        end
+        initprobpmap = function (_, nlsol)
+            return 0.0
+        end
+        initialization_data = SciMLBase.OverrideInitData(
+            initprob, update_initializeprob!, initprobmap, initprobpmap)
+        fn = ODEFunction(rhs2; initialization_data)
+        prob = ODEProblem(fn, [2.0, 0.0], (0.0, 1.0), 0.0)
+        integ = init(prob; initializealg = NoInit())
+
+        u0, p, success = SciMLBase.get_initial_values(
+            prob, integ, fn, SciMLBase.OverrideInit(), Val(false)
+        )
+        @test u0 ≈ [2.0, 2.0]
+        @test p ≈ 0.0
+        @test success
+    end
 end