I understand your original sentence to have the meaning that you want. I don't personally see any ambiguity. I don't think you need a comma.
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mariott“We cannot stick to only one way just to simplify the procedure.”Just to simplify the procedure, we cannot stick to one way .
In the above sentence, I want to mean it “Simplifying the procedure cannot be the reason for us to stick to only one way.”
Soeleen
Just to simplify the procedure, we cannot stick to one way .
Perhaps this is correct.