diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp
index 6c522c79a8774..077e0ecec0f29 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp
@@ -273,29 +273,9 @@ class DynamicAvoidanceModule : public SceneModuleInterface
     parameters_ = std::any_cast<std::shared_ptr<DynamicAvoidanceParameters>>(parameters);
   }
 
-  // TODO(someone): remove this, and use base class function
-  [[deprecated]] BehaviorModuleOutput run() override
-  {
-    updateData();
-
-    if (!isWaitingApproval()) {
-      return plan();
-    }
-
-    // module is waiting approval. Check it.
-    if (isActivated()) {
-      RCLCPP_DEBUG(getLogger(), "Was waiting approval, and now approved. Do plan().");
-      return plan();
-    } else {
-      RCLCPP_DEBUG(getLogger(), "keep waiting approval... Do planCandidate().");
-      return planWaitingApproval();
-    }
-  }
-
   bool isExecutionRequested() const override;
   bool isExecutionReady() const override;
   // TODO(someone): remove this, and use base class function
-  [[deprecated]] ModuleStatus updateState() override;
   BehaviorModuleOutput plan() override;
   BehaviorModuleOutput planWaitingApproval() override;
   CandidateOutput planCandidate() const override;
@@ -315,7 +295,7 @@ class DynamicAvoidanceModule : public SceneModuleInterface
     const double min_lon_offset;
   };
 
-  bool canTransitSuccessState() override { return false; }
+  bool canTransitSuccessState() override;
 
   bool canTransitFailureState() override { return false; }
 
diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
index 2c5e78a267d5a..7aba1d1b2d97f 100644
--- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
@@ -251,7 +251,7 @@ bool DynamicAvoidanceModule::isExecutionRequested() const
   }
 
   // check if the planner is already running
-  if (current_state_ == ModuleStatus::RUNNING) {
+  if (getCurrentStatus() == ModuleStatus::RUNNING) {
     return true;
   }
 
@@ -279,15 +279,9 @@ void DynamicAvoidanceModule::updateData()
   }
 }
 
-ModuleStatus DynamicAvoidanceModule::updateState()
+bool DynamicAvoidanceModule::canTransitSuccessState()
 {
-  const bool has_avoidance_target = !target_objects_.empty();
-
-  if (!has_avoidance_target) {
-    return ModuleStatus::SUCCESS;
-  }
-
-  return ModuleStatus::RUNNING;
+  return target_objects_.empty();
 }
 
 BehaviorModuleOutput DynamicAvoidanceModule::plan()