diff --git a/docs/design/autoware-interfaces/ad-api/features/routing.md b/docs/design/autoware-interfaces/ad-api/features/routing.md
index 30ef703212..a2a6909a48 100644
--- a/docs/design/autoware-interfaces/ad-api/features/routing.md
+++ b/docs/design/autoware-interfaces/ad-api/features/routing.md
@@ -35,3 +35,7 @@ See the sections below for supported options and details.
 ### allow_goal_modification
 
 **[v1.1.0]** Autoware tries to look for an alternate goal when goal is unreachable (e.g., when there is an obstacle on the given goal). When setting a route from the API, applications can choose whether they allow Autoware to adjust goal pose in such situation. When set false, Autoware may get stuck until the given goal becomes reachable.
+
+### allow_while_using_route
+
+**[v1.6.0]** This option only affects the route change APIs. Autoware accepts new route even while the vehicle is using the current route. The APIs fail if it cannot safely transition to new route. When set false, the APIs always fail when the vehicle is using the route.
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md
index 7648b5b5a0..43cc9c466f 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/clear_route.md
@@ -11,5 +11,5 @@ type:
 
 {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
-Clear the route.
+Clear the route. This API fails when the vehicle is using the route.
 {% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/command.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/command.md
index 6d783c0f7d..555d4c8e50 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/command.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/doors/command.md
@@ -17,4 +17,5 @@ type:
 {% extends 'design/autoware-interfaces/templates/autoware-interface.jinja2' %}
 {% block description %}
 Set the door command. This API is only available if the vehicle supports software door control.
+This API fails if the doors cannot be opened or closed safely.
 {% endblock %}
diff --git a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md
index 62766cafcf..659b1f5f7e 100644
--- a/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md
+++ b/docs/design/autoware-interfaces/ad-api/list/api/vehicle/status.md
@@ -1,7 +1,7 @@
 ---
 title: /api/vehicle/status
 status: v1.4.0
-method: notification
+method: realtime stream
 type:
   name: autoware_adapi_v1_msgs/msg/VehicleStatus
   msg:
diff --git a/docs/design/autoware-interfaces/ad-api/release.md b/docs/design/autoware-interfaces/ad-api/release.md
index 0b9e72f8d1..98fcc4585f 100644
--- a/docs/design/autoware-interfaces/ad-api/release.md
+++ b/docs/design/autoware-interfaces/ad-api/release.md
@@ -1,5 +1,12 @@
 # Release notes
 
+## v1.6.0 (Not released)
+
+- [Change] Fix communication method of {{ link_ad_api('/api/vehicle/status') }}
+- [Change] Add options to [the routing API](./features/routing.md)
+- [Change] Add restrictions to {{ link_ad_api('/api/routing/clear_route') }}
+- [Change] Add restrictions to {{ link_ad_api('/api/vehicle/doors/command') }}
+
 ## v1.5.0
 
 - [New] Add {{ link_ad_api('/api/routing/change_route_points') }}
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md
index 25deed8faf..0f10f1b06f 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md
@@ -10,7 +10,11 @@ used:
 {% block definition %}
 
 ```txt
+# Please refer to the following pages for details on each option.
+# https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/routing/
+
 bool allow_goal_modification
+bool allow_while_using_route
 ```
 
 {% endblock %}
diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml
index b4aec03a15..7efed1d617 100644
--- a/yaml/autoware-interfaces.yaml
+++ b/yaml/autoware-interfaces.yaml
@@ -129,6 +129,7 @@ types:
   autoware_adapi_v1_msgs/msg/RouteOption:
     msg:
       allow_goal_modification: bool
+      allow_while_using_route: bool
   autoware_adapi_v1_msgs/msg/RoutePrimitive:
     msg:
       id: int64