diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp
index 4b88eb669a2cf..be8bcb3fb970d 100644
--- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp
+++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp
@@ -19,12 +19,11 @@
 #include "behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/time.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
 
 #include <lanelet2_core/primitives/Lanelet.h>
@@ -34,6 +33,7 @@
 #include <memory>
 #include <string>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 namespace behavior_path_planner
@@ -48,7 +48,6 @@ using tier4_planning_msgs::msg::AvoidanceDebugMsgArray;
 
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
-using geometry_msgs::msg::TransformStamped;
 
 using behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug;
 
@@ -329,8 +328,13 @@ struct AvoidanceParameters
 struct ObjectData  // avoidance target
 {
   ObjectData() = default;
-  ObjectData(const PredictedObject & obj, double lat, double lon, double len, double overhang)
-  : object(obj), to_centerline(lat), longitudinal(lon), length(len), overhang_dist(overhang)
+
+  ObjectData(PredictedObject obj, double lat, double lon, double len, double overhang)
+  : object(std::move(obj)),
+    to_centerline(lat),
+    longitudinal(lon),
+    length(len),
+    overhang_dist(overhang)
   {
   }
 
@@ -345,16 +349,17 @@ struct ObjectData  // avoidance target
   Behavior behavior{Behavior::NONE};
 
   // lateral position of the CoM, in Frenet coordinate from ego-pose
-  double to_centerline;
+
+  double to_centerline{0.0};
 
   // longitudinal position of the CoM, in Frenet coordinate from ego-pose
-  double longitudinal;
+  double longitudinal{0.0};
 
   // longitudinal length of vehicle, in Frenet coordinate
-  double length;
+  double length{0.0};
 
   // lateral distance to the closest footprint, in Frenet coordinate
-  double overhang_dist;
+  double overhang_dist{0.0};
 
   // lateral shiftable ratio
   double shiftable_ratio{0.0};
@@ -414,7 +419,7 @@ struct ObjectData  // avoidance target
   Direction direction{Direction::NONE};
 
   // unavoidable reason
-  std::string reason{""};
+  std::string reason{};
 
   // lateral avoid margin
   std::optional<double> avoid_margin{std::nullopt};
@@ -457,8 +462,8 @@ using AvoidLineArray = std::vector<AvoidLine>;
 
 struct AvoidOutline
 {
-  AvoidOutline(const AvoidLine & avoid_line, const AvoidLine & return_line)
-  : avoid_line{avoid_line}, return_line{return_line}
+  AvoidOutline(AvoidLine avoid_line, AvoidLine return_line)
+  : avoid_line{std::move(avoid_line)}, return_line{std::move(return_line)}
   {
   }
 
diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/debug.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/debug.hpp
index 2705af5af4020..f49f457ddd066 100644
--- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/debug.hpp
+++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/debug.hpp
@@ -16,33 +16,23 @@
 #define BEHAVIOR_PATH_AVOIDANCE_MODULE__DEBUG_HPP_
 
 #include "behavior_path_avoidance_module/data_structs.hpp"
-#include "behavior_path_planner_common/marker_utils/utils.hpp"
 
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 
-#include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
-#include <geometry_msgs/msg/polygon.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
-#include <lanelet2_core/Forward.h>
-
 #include <string>
-#include <vector>
 
 namespace marker_utils::avoidance_marker
 {
-using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using behavior_path_planner::AvoidancePlanningData;
-using behavior_path_planner::AvoidanceState;
 using behavior_path_planner::AvoidLineArray;
 using behavior_path_planner::DebugData;
 using behavior_path_planner::ObjectDataArray;
 using behavior_path_planner::PathShifter;
 using behavior_path_planner::ShiftLineArray;
-using geometry_msgs::msg::Point;
-using geometry_msgs::msg::Polygon;
 using geometry_msgs::msg::Pose;
 using visualization_msgs::msg::MarkerArray;
 
@@ -50,7 +40,7 @@ MarkerArray createEgoStatusMarkerArray(
   const AvoidancePlanningData & data, const Pose & p_ego, std::string && ns);
 
 MarkerArray createAvoidLineMarkerArray(
-  const AvoidLineArray & shift_points, std::string && ns, const float & r, const float & g,
+  const AvoidLineArray & shift_lines, std::string && ns, const float & r, const float & g,
   const float & b, const double & w);
 
 MarkerArray createPredictedVehiclePositions(const PathWithLaneId & path, std::string && ns);
@@ -63,11 +53,11 @@ MarkerArray createDebugMarkerArray(
   const AvoidancePlanningData & data, const PathShifter & shifter, const DebugData & debug);
 }  // namespace marker_utils::avoidance_marker
 
-std::string toStrInfo(const behavior_path_planner::ShiftLineArray & sp_arr);
+std::string toStrInfo(const behavior_path_planner::ShiftLineArray & sl_arr);
 
 std::string toStrInfo(const behavior_path_planner::AvoidLineArray & ap_arr);
 
-std::string toStrInfo(const behavior_path_planner::ShiftLine & sp);
+std::string toStrInfo(const behavior_path_planner::ShiftLine & sl);
 
 std::string toStrInfo(const behavior_path_planner::AvoidLine & ap);
 
diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp
index df9640fa75626..f5b797978b744 100644
--- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp
+++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp
@@ -60,7 +60,7 @@ class AvoidanceHelper
 
   geometry_msgs::msg::Pose getEgoPose() const { return data_->self_odometry->pose.pose; }
 
-  size_t getConstraintsMapIndex(const double velocity, const std::vector<double> & values) const
+  static size_t getConstraintsMapIndex(const double velocity, const std::vector<double> & values)
   {
     const auto itr = std::find_if(
       values.begin(), values.end(), [&](const auto value) { return velocity < value; });
diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/manager.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/manager.hpp
index 72cfbe6f0a1ed..e23a8a96ee7da 100644
--- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/manager.hpp
+++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/manager.hpp
@@ -19,11 +19,10 @@
 #include "behavior_path_avoidance_module/scene.hpp"
 #include "behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/node.hpp>
+#include <rclcpp/parameter.hpp>
 
 #include <memory>
-#include <string>
-#include <unordered_map>
 #include <vector>
 
 namespace behavior_path_planner
diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp
index 473b1d18c59ef..91c115706e030 100644
--- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp
+++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp
@@ -20,9 +20,10 @@
 #include "behavior_path_avoidance_module/shift_line_generator.hpp"
 #include "behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "behavior_path_planner_common/interface/scene_module_visitor.hpp"
-#include "behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp"
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/logging.hpp>
+#include <rclcpp/node.hpp>
+#include <rclcpp/time.hpp>
 
 #include <autoware_auto_perception_msgs/msg/predicted_object.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
@@ -30,11 +31,9 @@
 #include <tier4_planning_msgs/msg/avoidance_debug_msg.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
 
-#include <algorithm>
 #include <memory>
 #include <string>
 #include <unordered_map>
-#include <utility>
 #include <vector>
 
 namespace behavior_path_planner
@@ -374,8 +373,8 @@ class AvoidanceModule : public SceneModuleInterface
    */
   void removeRegisteredShiftLines()
   {
-    constexpr double THRESHOLD = 0.1;
-    if (std::abs(path_shifter_.getBaseOffset()) > THRESHOLD) {
+    constexpr double threshold = 0.1;
+    if (std::abs(path_shifter_.getBaseOffset()) > threshold) {
       RCLCPP_INFO(getLogger(), "base offset is not zero. can't reset registered shift lines.");
       return;
     }
@@ -396,7 +395,7 @@ class AvoidanceModule : public SceneModuleInterface
    * @brief remove behind shift lines.
    * @param path shifter.
    */
-  void postProcess()
+  void postProcess() override
   {
     const size_t idx = planner_data_->findEgoIndex(path_shifter_.getReferencePath().points);
     path_shifter_.removeBehindShiftLineAndSetBaseOffset(idx);
@@ -411,8 +410,6 @@ class AvoidanceModule : public SceneModuleInterface
 
   using RegisteredShiftLineArray = std::vector<RegisteredShiftLine>;
 
-  bool is_avoidance_maneuver_starts;
-
   bool arrived_path_end_{false};
 
   bool safe_{true};
diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/shift_line_generator.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/shift_line_generator.hpp
index edfe9ab9663ce..efdda622a664c 100644
--- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/shift_line_generator.hpp
+++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/shift_line_generator.hpp
@@ -17,11 +17,8 @@
 
 #include "behavior_path_avoidance_module/data_structs.hpp"
 #include "behavior_path_avoidance_module/helper.hpp"
-#include "behavior_path_planner_common/data_manager.hpp"
 #include "behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 
-#include <rclcpp/rclcpp.hpp>
-
 #include <memory>
 
 namespace behavior_path_planner::utils::avoidance
@@ -29,8 +26,6 @@ namespace behavior_path_planner::utils::avoidance
 
 using behavior_path_planner::PathShifter;
 using behavior_path_planner::helper::avoidance::AvoidanceHelper;
-using motion_utils::calcSignedArcLength;
-using motion_utils::findNearestIndex;
 
 class ShiftLineGenerator
 {
diff --git a/planning/behavior_path_avoidance_module/package.xml b/planning/behavior_path_avoidance_module/package.xml
index 642f83497acfb..f72adf0591493 100644
--- a/planning/behavior_path_avoidance_module/package.xml
+++ b/planning/behavior_path_avoidance_module/package.xml
@@ -27,7 +27,6 @@
   <depend>behavior_path_planner_common</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
-  <depend>libboost-dev</depend>
   <depend>magic_enum</depend>
   <depend>motion_utils</depend>
   <depend>objects_of_interest_marker_interface</depend>
diff --git a/planning/behavior_path_avoidance_module/src/debug.cpp b/planning/behavior_path_avoidance_module/src/debug.cpp
index 9d0492829c53b..ee36f8c33149d 100644
--- a/planning/behavior_path_avoidance_module/src/debug.cpp
+++ b/planning/behavior_path_avoidance_module/src/debug.cpp
@@ -14,6 +14,7 @@
 
 #include "behavior_path_avoidance_module/debug.hpp"
 
+#include "behavior_path_planner_common/marker_utils/utils.hpp"
 #include "behavior_path_planner_common/utils/utils.hpp"
 
 #include <lanelet2_extension/visualization/visualization.hpp>
@@ -22,9 +23,6 @@
 
 #include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>
 
-#include <lanelet2_core/primitives/LineString.h>
-#include <tf2/utils.h>
-
 #include <string>
 #include <vector>
 
diff --git a/planning/behavior_path_avoidance_module/src/scene.cpp b/planning/behavior_path_avoidance_module/src/scene.cpp
index 952747cd64791..a05bcd90bdfb9 100644
--- a/planning/behavior_path_avoidance_module/src/scene.cpp
+++ b/planning/behavior_path_avoidance_module/src/scene.cpp
@@ -20,6 +20,7 @@
 #include "behavior_path_planner_common/utils/create_vehicle_footprint.hpp"
 #include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
+#include "behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp"
 #include "behavior_path_planner_common/utils/path_utils.hpp"
 #include "behavior_path_planner_common/utils/utils.hpp"
 
@@ -28,14 +29,11 @@
 #include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
-#include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>
-#include <tier4_planning_msgs/msg/avoidance_debug_msg.hpp>
-#include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
+#include "tier4_planning_msgs/msg/detail/avoidance_debug_msg_array__struct.hpp"
+#include <tier4_planning_msgs/msg/detail/avoidance_debug_factor__struct.hpp>
 
 #include <boost/geometry/algorithms/centroid.hpp>
-#include <boost/geometry/strategies/cartesian/centroid_bashein_detmer.hpp>
 
 #include <algorithm>
 #include <limits>
@@ -1234,7 +1232,6 @@ void AvoidanceModule::initVariables()
   debug_marker_.markers.clear();
   resetPathCandidate();
   resetPathReference();
-  is_avoidance_maneuver_starts = false;
   arrived_path_end_ = false;
 }
 
@@ -1271,8 +1268,8 @@ void AvoidanceModule::updateRTCData()
 
   CandidateOutput output;
 
-  const auto sl_front = candidates.front();
-  const auto sl_back = candidates.back();
+  const auto & sl_front = candidates.front();
+  const auto & sl_back = candidates.back();
 
   output.path_candidate = data.candidate_path.path;
   output.lateral_shift = helper_->getRelativeShiftToPath(shift_line);
diff --git a/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp
index 4332008b95e70..01bfc375e9515 100644
--- a/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp
+++ b/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp
@@ -19,7 +19,7 @@
 
 #include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
-#include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>
+#include <tier4_planning_msgs/msg/detail/avoidance_debug_factor__struct.hpp>
 
 namespace behavior_path_planner::utils::avoidance
 {
diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp
index f28ad324267cc..6abfc2e107348 100644
--- a/planning/behavior_path_avoidance_module/src/utils.cpp
+++ b/planning/behavior_path_avoidance_module/src/utils.cpp
@@ -21,29 +21,23 @@
 #include "behavior_path_planner_common/utils/traffic_light_utils.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
-#include <autoware_auto_tf2/tf2_autoware_auto_msgs.hpp>
-#include <lanelet2_extension/utility/utilities.hpp>
-#include <motion_utils/trajectory/interpolation.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 #include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
-#include <tier4_planning_msgs/msg/avoidance_debug_factor.hpp>
+#include <geometry_msgs/msg/detail/transform_stamped__struct.hpp>
+#include <tier4_planning_msgs/msg/detail/avoidance_debug_factor__struct.hpp>
 
-#include <boost/geometry.hpp>
+#include <boost/geometry/algorithms/buffer.hpp>
 #include <boost/geometry/algorithms/convex_hull.hpp>
 #include <boost/geometry/algorithms/correct.hpp>
 #include <boost/geometry/algorithms/union.hpp>
-#include <boost/geometry/geometries/geometries.hpp>
 #include <boost/geometry/geometries/point_xy.hpp>
-#include <boost/geometry/strategies/convex_hull.hpp>
 
 #include <lanelet2_routing/RoutingGraphContainer.h>
 
 #include <algorithm>
 #include <limits>
 #include <memory>
-#include <set>
 #include <string>
 #include <vector>
 
@@ -53,6 +47,7 @@ namespace behavior_path_planner::utils::avoidance
 using autoware_perception_msgs::msg::TrafficSignalElement;
 using behavior_path_planner::utils::traffic_light::calcDistanceToRedTrafficLight;
 using behavior_path_planner::utils::traffic_light::getDistanceToNextTrafficLight;
+using geometry_msgs::msg::TransformStamped;
 using motion_utils::calcLongitudinalOffsetPoint;
 using motion_utils::calcSignedArcLength;
 using motion_utils::findNearestIndex;
@@ -65,7 +60,6 @@ using tier4_autoware_utils::calcYawDeviation;
 using tier4_autoware_utils::createQuaternionFromRPY;
 using tier4_autoware_utils::getPose;
 using tier4_autoware_utils::pose2transform;
-using tier4_autoware_utils::toHexString;
 using tier4_planning_msgs::msg::AvoidanceDebugFactor;
 using tier4_planning_msgs::msg::AvoidanceDebugMsg;
 
diff --git a/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
index 58bf36d978cea..7b9a608aecec3 100644
--- a/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
@@ -17,9 +17,6 @@
 #include "planning_interface_test_manager/planning_interface_test_manager.hpp"
 #include "planning_interface_test_manager/planning_interface_test_manager_utils.hpp"
 
-#include <gtest/gtest.h>
-
-#include <cmath>
 #include <vector>
 
 using behavior_path_planner::BehaviorPathPlannerNode;