diff --git a/common/.pages b/common/.pages
index f1ecfc71f96b6..602ca5507c5c4 100644
--- a/common/.pages
+++ b/common/.pages
@@ -3,6 +3,7 @@ nav:
   - 'Testing Libraries':
     - 'autoware_testing': common/autoware_testing/design/autoware_testing-design
     - 'fake_test_node': common/fake_test_node/design/fake_test_node-design
+    - 'Test Utils': common/test_utils
   - 'Common Libraries':
     - 'autoware_auto_common':
       - 'comparisons': common/autoware_auto_common/design/comparisons
diff --git a/planning/planning_test_utils/CMakeLists.txt b/common/test_utils/CMakeLists.txt
similarity index 81%
rename from planning/planning_test_utils/CMakeLists.txt
rename to common/test_utils/CMakeLists.txt
index ce746352bb89c..b6d67ac7c324d 100644
--- a/planning/planning_test_utils/CMakeLists.txt
+++ b/common/test_utils/CMakeLists.txt
@@ -1,11 +1,11 @@
 cmake_minimum_required(VERSION 3.14)
-project(planning_test_utils)
+project(test_utils)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_library(planning_test_utils SHARED
-  src/planning_test_utils.cpp)
+ament_auto_add_library(test_utils SHARED
+  src/test_utils.cpp)
 
 ament_auto_add_library(mock_data_parser SHARED
   src/mock_data_parser.cpp)
diff --git a/planning/planning_test_utils/README.md b/common/test_utils/README.md
similarity index 94%
rename from planning/planning_test_utils/README.md
rename to common/test_utils/README.md
index c064e5791a487..4671af1995386 100644
--- a/planning/planning_test_utils/README.md
+++ b/common/test_utils/README.md
@@ -15,7 +15,7 @@ The objective of the `test_utils` is to develop a unit testing library for the A
 
 ## Available Maps
 
-The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/planning_test_utils/test_map)
+The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/test_utils/test_map)
 
 ### Common
 
diff --git a/planning/planning_test_utils/config/path_with_lane_id_data.yaml b/common/test_utils/config/path_with_lane_id_data.yaml
similarity index 100%
rename from planning/planning_test_utils/config/path_with_lane_id_data.yaml
rename to common/test_utils/config/path_with_lane_id_data.yaml
diff --git a/planning/planning_test_utils/config/test_common.param.yaml b/common/test_utils/config/test_common.param.yaml
similarity index 100%
rename from planning/planning_test_utils/config/test_common.param.yaml
rename to common/test_utils/config/test_common.param.yaml
diff --git a/planning/planning_test_utils/config/test_nearest_search.param.yaml b/common/test_utils/config/test_nearest_search.param.yaml
similarity index 100%
rename from planning/planning_test_utils/config/test_nearest_search.param.yaml
rename to common/test_utils/config/test_nearest_search.param.yaml
diff --git a/planning/planning_test_utils/config/test_vehicle_info.param.yaml b/common/test_utils/config/test_vehicle_info.param.yaml
similarity index 100%
rename from planning/planning_test_utils/config/test_vehicle_info.param.yaml
rename to common/test_utils/config/test_vehicle_info.param.yaml
diff --git a/planning/planning_test_utils/images/2km-test.png b/common/test_utils/images/2km-test.png
similarity index 100%
rename from planning/planning_test_utils/images/2km-test.png
rename to common/test_utils/images/2km-test.png
diff --git a/planning/planning_test_utils/images/2km-test.svg b/common/test_utils/images/2km-test.svg
similarity index 100%
rename from planning/planning_test_utils/images/2km-test.svg
rename to common/test_utils/images/2km-test.svg
diff --git a/planning/planning_test_utils/images/common.png b/common/test_utils/images/common.png
similarity index 100%
rename from planning/planning_test_utils/images/common.png
rename to common/test_utils/images/common.png
diff --git a/planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp b/common/test_utils/include/test_utils/mock_data_parser.hpp
similarity index 90%
rename from planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp
rename to common/test_utils/include/test_utils/mock_data_parser.hpp
index 09d4474dda15d..18a973b67c5f9 100644
--- a/planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp
+++ b/common/test_utils/include/test_utils/mock_data_parser.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_
-#define PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_
+#ifndef TEST_UTILS__MOCK_DATA_PARSER_HPP_
+#define TEST_UTILS__MOCK_DATA_PARSER_HPP_
 
 #include <autoware_planning_msgs/msg/lanelet_primitive.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
@@ -43,4 +43,4 @@ std::vector<LaneletSegment> parse_segments(const YAML::Node & node);
 LaneletRoute parse_lanelet_route_file(const std::string & filename);
 }  // namespace test_utils
 
-#endif  // PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_
+#endif  // TEST_UTILS__MOCK_DATA_PARSER_HPP_
diff --git a/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp b/common/test_utils/include/test_utils/test_utils.hpp
similarity index 98%
rename from planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp
rename to common/test_utils/include/test_utils/test_utils.hpp
index 43c3e029d4437..eb7fa5e951f68 100644
--- a/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp
+++ b/common/test_utils/include/test_utils/test_utils.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_
-#define PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_
+#ifndef TEST_UTILS__TEST_UTILS_HPP_
+#define TEST_UTILS__TEST_UTILS_HPP_
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -191,7 +191,7 @@ HADMapBin make_map_bin_msg(
  * @brief Creates a HADMapBin message using a predefined Lanelet2 map file.
  *
  * This function loads a lanelet2_map.osm from the test_map folder in the
- * planning_test_utils package, overwrites the centerline with a resolution of 5.0,
+ * test_utils package, overwrites the centerline with a resolution of 5.0,
  * and converts the map to a HADMapBin message.
  *
  * @return A HADMapBin message containing the map data.
@@ -299,7 +299,7 @@ void updateNodeOptions(
  * @brief Loads a PathWithLaneId message from a YAML file.
  *
  * This function loads a PathWithLaneId message from a YAML file located in the
- * planning_test_utils package.
+ * test_utils package.
  *
  * @return A PathWithLaneId message containing the loaded data.
  */
@@ -479,4 +479,4 @@ void publishToTargetNode(
 
 }  // namespace test_utils
 
-#endif  // PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_
+#endif  // TEST_UTILS__TEST_UTILS_HPP_
diff --git a/planning/planning_test_utils/package.xml b/common/test_utils/package.xml
similarity index 98%
rename from planning/planning_test_utils/package.xml
rename to common/test_utils/package.xml
index b236a64f48da0..16e64a29d52bb 100644
--- a/planning/planning_test_utils/package.xml
+++ b/common/test_utils/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>planning_test_utils</name>
+  <name>test_utils</name>
   <version>0.1.0</version>
   <description>ROS 2 node for testing interface of the nodes in planning module</description>
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
diff --git a/planning/planning_test_utils/src/mock_data_parser.cpp b/common/test_utils/src/mock_data_parser.cpp
similarity index 95%
rename from planning/planning_test_utils/src/mock_data_parser.cpp
rename to common/test_utils/src/mock_data_parser.cpp
index f9f9a7b0b1594..e9170d1ca0621 100644
--- a/planning/planning_test_utils/src/mock_data_parser.cpp
+++ b/common/test_utils/src/mock_data_parser.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "planning_test_utils/mock_data_parser.hpp"
+#include "test_utils/mock_data_parser.hpp"
 
 #include <rclcpp/logging.hpp>
 
@@ -85,7 +85,7 @@ LaneletRoute parse_lanelet_route_file(const std::string & filename)
     lanelet_route.goal_pose = (config["goal_pose"]) ? parse_pose(config["goal_pose"]) : Pose();
     lanelet_route.segments = parse_segments(config["segments"]);
   } catch (const std::exception & e) {
-    RCLCPP_DEBUG(rclcpp::get_logger("planning_test_utils"), "Exception caught: %s", e.what());
+    RCLCPP_DEBUG(rclcpp::get_logger("test_utils"), "Exception caught: %s", e.what());
   }
   return lanelet_route;
 }
diff --git a/planning/planning_test_utils/src/planning_test_utils.cpp b/common/test_utils/src/test_utils.cpp
similarity index 95%
rename from planning/planning_test_utils/src/planning_test_utils.cpp
rename to common/test_utils/src/test_utils.cpp
index efed22855cf0f..19967e1ddd7fd 100644
--- a/planning/planning_test_utils/src/planning_test_utils.cpp
+++ b/common/test_utils/src/test_utils.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "planning_test_utils/planning_test_utils.hpp"
+#include "test_utils/test_utils.hpp"
 namespace test_utils
 {
 
@@ -121,9 +121,8 @@ HADMapBin make_map_bin_msg(const std::string & absolute_path, const double cente
 
 HADMapBin makeMapBinMsg()
 {
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
-  const auto lanelet2_path = planning_test_utils_dir + "/test_map/lanelet2_map.osm";
+  const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
+  const auto lanelet2_path = test_utils_dir + "/test_map/lanelet2_map.osm";
   double center_line_resolution = 5.0;
 
   return make_map_bin_msg(lanelet2_path, center_line_resolution);
@@ -250,9 +249,8 @@ void updateNodeOptions(
 
 PathWithLaneId loadPathWithLaneIdInYaml()
 {
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
-  const auto yaml_path = planning_test_utils_dir + "/config/path_with_lane_id_data.yaml";
+  const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
+  const auto yaml_path = test_utils_dir + "/config/path_with_lane_id_data.yaml";
   YAML::Node yaml_node = YAML::LoadFile(yaml_path);
   PathWithLaneId path_msg;
 
diff --git a/planning/planning_test_utils/test/test_mock_data_parser.cpp b/common/test_utils/test/test_mock_data_parser.cpp
similarity index 94%
rename from planning/planning_test_utils/test/test_mock_data_parser.cpp
rename to common/test_utils/test/test_mock_data_parser.cpp
index cda09522d8e6e..d2d18af0507cb 100644
--- a/planning/planning_test_utils/test/test_mock_data_parser.cpp
+++ b/common/test_utils/test/test_mock_data_parser.cpp
@@ -16,7 +16,7 @@
 
 // Assuming the parseRouteFile function is in 'RouteHandler.h'
 #include "ament_index_cpp/get_package_share_directory.hpp"
-#include "planning_test_utils/mock_data_parser.hpp"
+#include "test_utils/mock_data_parser.hpp"
 
 namespace test_utils
 {
@@ -94,10 +94,8 @@ TEST(ParseFunctions, CompleteYAMLTest)
 
 TEST(ParseFunction, CompleteFromFilename)
 {
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
-  const auto parser_test_route =
-    planning_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml";
+  const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
+  const auto parser_test_route = test_utils_dir + "/test_data/lanelet_route_parser_test.yaml";
 
   const auto lanelet_route = parse_lanelet_route_file(parser_test_route);
   EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0);
diff --git a/planning/planning_test_utils/test_data/lanelet_route_parser_test.yaml b/common/test_utils/test_data/lanelet_route_parser_test.yaml
similarity index 100%
rename from planning/planning_test_utils/test_data/lanelet_route_parser_test.yaml
rename to common/test_utils/test_data/lanelet_route_parser_test.yaml
diff --git a/planning/planning_test_utils/test_map/2km_test.osm b/common/test_utils/test_map/2km_test.osm
similarity index 100%
rename from planning/planning_test_utils/test_map/2km_test.osm
rename to common/test_utils/test_map/2km_test.osm
diff --git a/planning/planning_test_utils/test_map/lanelet2_map.osm b/common/test_utils/test_map/lanelet2_map.osm
similarity index 100%
rename from planning/planning_test_utils/test_map/lanelet2_map.osm
rename to common/test_utils/test_map/lanelet2_map.osm
diff --git a/planning/planning_test_utils/test_map/pointcloud_map.pcd b/common/test_utils/test_map/pointcloud_map.pcd
similarity index 100%
rename from planning/planning_test_utils/test_map/pointcloud_map.pcd
rename to common/test_utils/test_map/pointcloud_map.pcd
diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 201d01e9b7fa0..212e32fb8ea84 100644
--- a/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -15,15 +15,15 @@
 #include "ament_index_cpp/get_package_share_directory.hpp"
 #include "autoware_planning_test_manager/autoware_planning_test_manager.hpp"
 #include "behavior_path_planner/behavior_path_planner_node.hpp"
-#include "planning_test_utils/planning_test_utils.hpp"
+#include "test_utils/test_utils.hpp"
 
 #include <gtest/gtest.h>
 
 #include <cmath>
 #include <vector>
 
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 using ::behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
diff --git a/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
index 06c1bc48cf529..6ec1f674d6b9b 100644
--- a/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
+++ b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -16,7 +16,7 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <gtest/gtest.h>
 
@@ -24,7 +24,7 @@
 #include <vector>
 
 using autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
diff --git a/planning/autoware_planning_test_manager/README.md b/planning/autoware_planning_test_manager/README.md
index b72625be999dd..c4c076bd57203 100644
--- a/planning/autoware_planning_test_manager/README.md
+++ b/planning/autoware_planning_test_manager/README.md
@@ -29,18 +29,18 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
   rclcpp::init(0, nullptr);
 
   // instantiate test_manager with PlanningInterfaceTestManager type
-  auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
+  auto test_manager = std::make_shared<autoware_planning_test_manager::PlanningInterfaceTestManager>();
 
   // get package directories for necessary configuration files
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto test_utils_dir =
+    ament_index_cpp::get_package_share_directory("test_utils");
   const auto target_node_dir =
     ament_index_cpp::get_package_share_directory("target_node");
 
   // set arguments to get the config file
   node_options.arguments(
     {"--ros-args", "--params-file",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
+     test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
      planning_validator_dir + "/config/planning_validator.param.yaml"});
 
   // instantiate the TargetNode with node_options
diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
index 82636af20579d..50d5ea5cf06ef 100644
--- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
+++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
@@ -69,7 +69,7 @@
 #include <memory>
 #include <string>
 
-namespace planning_test_utils
+namespace autoware_planning_test_manager
 {
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_auto_mapping_msgs::msg::HADMapBin;
@@ -264,6 +264,6 @@ class PlanningInterfaceTestManager
   void publishAbnormalPath(rclcpp::Node::SharedPtr target_node, std::string topic_name);
 };  // class PlanningInterfaceTestManager
 
-}  // namespace planning_test_utils
+}  // namespace autoware_planning_test_manager
 
 #endif  // AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_HPP_
diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp
index 63474c5e458cd..302e6b96649f6 100644
--- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp
+++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp
@@ -14,8 +14,8 @@
 
 #ifndef AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_
 #define AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_
-#include <planning_test_utils/planning_test_utils.hpp>
 #include <route_handler/route_handler.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose.hpp>
diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml
index e2c00756c2ba4..dc87eb083be16 100644
--- a/planning/autoware_planning_test_manager/package.xml
+++ b/planning/autoware_planning_test_manager/package.xml
@@ -25,9 +25,9 @@
   <depend>lanelet2_io</depend>
   <depend>motion_utils</depend>
   <depend>nav_msgs</depend>
-  <depend>planning_test_utils</depend>
   <depend>rclcpp</depend>
   <depend>route_handler</depend>
+  <depend>test_utils</depend>
   <depend>tf2_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_api_msgs</depend>
diff --git a/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
index 9ee162ec02d1f..890613b323076 100644
--- a/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
+++ b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
@@ -16,10 +16,10 @@
 
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 
-namespace planning_test_utils
+namespace autoware_planning_test_manager
 {
 
 PlanningInterfaceTestManager::PlanningInterfaceTestManager()
@@ -455,4 +455,4 @@ int PlanningInterfaceTestManager::getReceivedTopicNum()
   return count_;
 }
 
-}  // namespace planning_test_utils
+}  // namespace autoware_planning_test_manager
diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml
index 4f0324b23f299..751df8d8dae16 100644
--- a/planning/autoware_remaining_distance_time_calculator/package.xml
+++ b/planning/autoware_remaining_distance_time_calculator/package.xml
@@ -17,11 +17,11 @@
   <depend>lanelet2_extension</depend>
   <depend>motion_utils</depend>
   <depend>nav_msgs</depend>
-  <depend>planning_test_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>route_handler</depend>
   <depend>std_msgs</depend>
+  <depend>test_utils</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
 
diff --git a/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index f66e944cb7cbc..c1572331a2d02 100644
--- a/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -16,15 +16,15 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <cmath>
 #include <vector>
 
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 using behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -44,8 +44,7 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<BehaviorPathPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
   const auto behavior_path_planner_dir =
     ament_index_cpp::get_package_share_directory("behavior_path_planner");
   const auto behavior_path_lane_change_module_dir =
@@ -60,9 +59,9 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
 
   test_utils::updateNodeOptions(
     node_options,
-    {planning_test_utils_dir + "/config/test_common.param.yaml",
-     planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+    {test_utils_dir + "/config/test_common.param.yaml",
+     test_utils_dir + "/config/test_nearest_search.param.yaml",
+     test_utils_dir + "/config/test_vehicle_info.param.yaml",
      behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
      behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
      behavior_path_planner_dir + "/config/scene_module_manager.param.yaml",
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 4ae77249b5d0f..3a9d452c2a208 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
@@ -16,12 +16,12 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <vector>
 
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 using behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -41,8 +41,7 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<BehaviorPathPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
   const auto behavior_path_planner_dir =
     ament_index_cpp::get_package_share_directory("behavior_path_planner");
 
@@ -54,9 +53,9 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
   node_options.parameter_overrides(params);
 
   test_utils::updateNodeOptions(
-    node_options, {planning_test_utils_dir + "/config/test_common.param.yaml",
-                   planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-                   planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+    node_options, {test_utils_dir + "/config/test_common.param.yaml",
+                   test_utils_dir + "/config/test_nearest_search.param.yaml",
+                   test_utils_dir + "/config/test_vehicle_info.param.yaml",
                    behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
                    behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
                    behavior_path_planner_dir + "/config/scene_module_manager.param.yaml",
diff --git a/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
index cf38a0b4993fe..25d3336b89707 100644
--- a/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
@@ -16,12 +16,12 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <vector>
 
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 using behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -41,8 +41,7 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<BehaviorPathPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
   const auto behavior_path_planner_dir =
     ament_index_cpp::get_package_share_directory("behavior_path_planner");
 
@@ -55,9 +54,9 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
 
   test_utils::updateNodeOptions(
     node_options,
-    {planning_test_utils_dir + "/config/test_common.param.yaml",
-     planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+    {test_utils_dir + "/config/test_common.param.yaml",
+     test_utils_dir + "/config/test_nearest_search.param.yaml",
+     test_utils_dir + "/config/test_vehicle_info.param.yaml",
      behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
      behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
      behavior_path_planner_dir + "/config/scene_module_manager.param.yaml",
diff --git a/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index 7b36bf475646b..d2f8bf33d72e3 100644
--- a/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -15,15 +15,15 @@
 #include "ament_index_cpp/get_package_share_directory.hpp"
 #include "autoware_planning_test_manager/autoware_planning_test_manager.hpp"
 #include "behavior_path_planner/behavior_path_planner_node.hpp"
-#include "planning_test_utils/planning_test_utils.hpp"
+#include "test_utils/test_utils.hpp"
 
 #include <gtest/gtest.h>
 
 #include <cmath>
 #include <vector>
 
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 using behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
diff --git a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
index f8630a0c61973..6fd8980670799 100644
--- a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
@@ -16,15 +16,15 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <cmath>
 #include <vector>
 
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 using behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -44,8 +44,7 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<BehaviorPathPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
   const auto behavior_path_planner_dir =
     ament_index_cpp::get_package_share_directory("behavior_path_planner");
 
@@ -56,9 +55,9 @@ std::shared_ptr<BehaviorPathPlannerNode> generateNode()
   node_options.parameter_overrides(params);
 
   test_utils::updateNodeOptions(
-    node_options, {planning_test_utils_dir + "/config/test_common.param.yaml",
-                   planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-                   planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
+    node_options, {test_utils_dir + "/config/test_common.param.yaml",
+                   test_utils_dir + "/config/test_nearest_search.param.yaml",
+                   test_utils_dir + "/config/test_vehicle_info.param.yaml",
                    behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml",
                    behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml",
                    behavior_path_planner_dir + "/config/scene_module_manager.param.yaml"});
diff --git a/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
index db1f5ee3560b1..752103557b595 100644
--- a/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
@@ -16,15 +16,15 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <cmath>
 #include <vector>
 
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 using behavior_path_planner::BehaviorPathPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
diff --git a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
index 881ce269a7895..8a0bb1b7b732b 100644
--- a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
+++ b/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
@@ -16,14 +16,14 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <vector>
 
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 using freespace_planner::FreespacePlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -38,14 +38,12 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<FreespacePlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
   const auto freespace_planner_dir =
     ament_index_cpp::get_package_share_directory("freespace_planner");
   node_options.arguments(
-    {"--ros-args", "--params-file",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
-     freespace_planner_dir + "/config/freespace_planner.param.yaml"});
+    {"--ros-args", "--params-file", test_utils_dir + "/config/test_vehicle_info.param.yaml",
+     "--params-file", freespace_planner_dir + "/config/freespace_planner.param.yaml"});
   return std::make_shared<FreespacePlannerNode>(node_options);
 }
 
diff --git a/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp b/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp
index 56813a37941a6..61c2b5a15da43 100644
--- a/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp
+++ b/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp
@@ -16,14 +16,14 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <vector>
 
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 using motion_velocity_smoother::MotionVelocitySmootherNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
diff --git a/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp b/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp
index d5af4c7e1180f..4cb0bc57c2a3f 100644
--- a/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp
+++ b/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp
@@ -16,7 +16,7 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <gtest/gtest.h>
 
@@ -26,20 +26,19 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
 {
   rclcpp::init(0, nullptr);
 
-  auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
+  auto test_manager =
+    std::make_shared<autoware_planning_test_manager::PlanningInterfaceTestManager>();
 
   auto node_options = rclcpp::NodeOptions{};
 
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
   const auto obstacle_avoidance_planner_dir =
     ament_index_cpp::get_package_share_directory("obstacle_avoidance_planner");
 
   node_options.arguments(
-    {"--ros-args", "--params-file",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
-     planning_test_utils_dir + "/config/test_common.param.yaml", "--params-file",
-     planning_test_utils_dir + "/config/test_nearest_search.param.yaml", "--params-file",
+    {"--ros-args", "--params-file", test_utils_dir + "/config/test_vehicle_info.param.yaml",
+     "--params-file", test_utils_dir + "/config/test_common.param.yaml", "--params-file",
+     test_utils_dir + "/config/test_nearest_search.param.yaml", "--params-file",
      obstacle_avoidance_planner_dir + "/config/obstacle_avoidance_planner.param.yaml"});
 
   auto test_target_node =
diff --git a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp b/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
index bd11effb774da..8f1e13639f5b6 100644
--- a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
+++ b/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
@@ -16,14 +16,14 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <vector>
 
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 using motion_planning::ObstacleCruisePlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
diff --git a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
index 4e846d9ff1417..c9cadf66aecc1 100644
--- a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
+++ b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
@@ -16,14 +16,14 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <vector>
 
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 using motion_planning::ObstacleStopPlannerNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -38,18 +38,17 @@ std::shared_ptr<ObstacleStopPlannerNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
 
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
   const auto obstacle_stop_planner_dir =
     ament_index_cpp::get_package_share_directory("obstacle_stop_planner");
 
   node_options.append_parameter_override("enable_slow_down", false);
 
   node_options.arguments(
-    {"--ros-args", "--params-file", planning_test_utils_dir + "/config/test_common.param.yaml",
-     "--params-file", planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-     "--params-file", planning_test_utils_dir + "/config/test_vehicle_info.param.yaml",
-     "--params-file", obstacle_stop_planner_dir + "/config/common.param.yaml", "--params-file",
+    {"--ros-args", "--params-file", test_utils_dir + "/config/test_common.param.yaml",
+     "--params-file", test_utils_dir + "/config/test_nearest_search.param.yaml", "--params-file",
+     test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
+     obstacle_stop_planner_dir + "/config/common.param.yaml", "--params-file",
      obstacle_stop_planner_dir + "/config/adaptive_cruise_control.param.yaml", "--params-file",
      obstacle_stop_planner_dir + "/config/obstacle_stop_planner.param.yaml"});
 
diff --git a/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp b/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp
index fb7f9bb85e2c5..a6664c7d41615 100644
--- a/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp
+++ b/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp
@@ -16,14 +16,14 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <vector>
 
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 using obstacle_velocity_limiter::ObstacleVelocityLimiterNode;
-using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
@@ -38,15 +38,14 @@ std::shared_ptr<ObstacleVelocityLimiterNode> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
 
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
 
   const auto obstacle_velocity_limiter_dir =
     ament_index_cpp::get_package_share_directory("obstacle_velocity_limiter");
 
   node_options.arguments(
-    {"--ros-args", "--params-file",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
+    {"--ros-args", "--params-file", test_utils_dir + "/config/test_vehicle_info.param.yaml",
+     "--params-file",
      obstacle_velocity_limiter_dir + "/config/default_obstacle_velocity_limiter.param.yaml"});
 
   return std::make_shared<obstacle_velocity_limiter::ObstacleVelocityLimiterNode>(node_options);
diff --git a/planning/path_smoother/test/test_path_smoother_node_interface.cpp b/planning/path_smoother/test/test_path_smoother_node_interface.cpp
index 30e9fba1433cb..08592165f674f 100644
--- a/planning/path_smoother/test/test_path_smoother_node_interface.cpp
+++ b/planning/path_smoother/test/test_path_smoother_node_interface.cpp
@@ -16,7 +16,7 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <gtest/gtest.h>
 
@@ -26,18 +26,18 @@ TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
 {
   rclcpp::init(0, nullptr);
 
-  auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
+  auto test_manager =
+    std::make_shared<autoware_planning_test_manager::PlanningInterfaceTestManager>();
 
   auto node_options = rclcpp::NodeOptions{};
 
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
   const auto path_smoothing_dir = ament_index_cpp::get_package_share_directory("path_smoother");
 
   node_options.arguments(
-    {"--ros-args", "--params-file", planning_test_utils_dir + "/config/test_common.param.yaml",
-     "--params-file", planning_test_utils_dir + "/config/test_nearest_search.param.yaml",
-     "--params-file", path_smoothing_dir + "/config/elastic_band_smoother.param.yaml"});
+    {"--ros-args", "--params-file", test_utils_dir + "/config/test_common.param.yaml",
+     "--params-file", test_utils_dir + "/config/test_nearest_search.param.yaml", "--params-file",
+     path_smoothing_dir + "/config/elastic_band_smoother.param.yaml"});
 
   auto test_target_node = std::make_shared<path_smoother::ElasticBandSmoother>(node_options);
 
diff --git a/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp b/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp
index 2b2a32bf54618..3f8ee6f3de26d 100644
--- a/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp
+++ b/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp
@@ -16,18 +16,19 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <vector>
 
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 using planning_validator::PlanningValidator;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
-  auto test_manager = std::make_shared<planning_test_utils::PlanningInterfaceTestManager>();
+  auto test_manager =
+    std::make_shared<autoware_planning_test_manager::PlanningInterfaceTestManager>();
 
   // set subscriber with topic name: planning_validator → test_node_
   test_manager->setTrajectorySubscriber("planning_validator/output/trajectory");
@@ -43,14 +44,12 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 std::shared_ptr<PlanningValidator> generateNode()
 {
   auto node_options = rclcpp::NodeOptions{};
-  const auto planning_test_utils_dir =
-    ament_index_cpp::get_package_share_directory("planning_test_utils");
+  const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
   const auto planning_validator_dir =
     ament_index_cpp::get_package_share_directory("planning_validator");
   node_options.arguments(
-    {"--ros-args", "--params-file",
-     planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file",
-     planning_validator_dir + "/config/planning_validator.param.yaml"});
+    {"--ros-args", "--params-file", test_utils_dir + "/config/test_vehicle_info.param.yaml",
+     "--params-file", planning_validator_dir + "/config/planning_validator.param.yaml"});
   return std::make_shared<PlanningValidator>(node_options);
 }
 
diff --git a/planning/route_handler/README.md b/planning/route_handler/README.md
index e8df4fd087930..0d38be94f02d0 100644
--- a/planning/route_handler/README.md
+++ b/planning/route_handler/README.md
@@ -4,8 +4,8 @@
 
 ## Unit Testing
 
-The unit testing depends on `planning_test_utils` package.
-`planning_test_utils` is a library that provides several common functions to simplify unit test creating.
+The unit testing depends on `test_utils` package.
+`test_utils` is a library that provides several common functions to simplify unit test creating.
 
 ![route_handler_test](./images/route_handler_test.svg)
 
@@ -15,4 +15,4 @@ By default, route file is necessary to create tests. The following illustrates t
 
 ![lane_change_test_route](./images/lane_change_test_route.svg)
 
-- The route is based on map that can be obtained from `planning_test_utils\test_map`
+- The route is based on map that can be obtained from `test_utils\test_map`
diff --git a/planning/route_handler/package.xml b/planning/route_handler/package.xml
index 097bc62f8bf39..ef77d4c5b0fc8 100644
--- a/planning/route_handler/package.xml
+++ b/planning/route_handler/package.xml
@@ -27,9 +27,9 @@
   <depend>autoware_planning_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
-  <depend>planning_test_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
+  <depend>test_utils</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>yaml-cpp</depend>
diff --git a/planning/route_handler/test/test_route_handler.hpp b/planning/route_handler/test/test_route_handler.hpp
index 3c6893da3f9d1..b19418f181846 100644
--- a/planning/route_handler/test/test_route_handler.hpp
+++ b/planning/route_handler/test/test_route_handler.hpp
@@ -17,8 +17,8 @@
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
 #include "gtest/gtest.h"
-#include "planning_test_utils/mock_data_parser.hpp"
-#include "planning_test_utils/planning_test_utils.hpp"
+#include "test_utils/mock_data_parser.hpp"
+#include "test_utils/test_utils.hpp"
 
 #include <lanelet2_extension/io/autoware_osm_parser.hpp>
 #include <lanelet2_extension/projection/mgrs_projector.hpp>
@@ -44,9 +44,8 @@ class TestRouteHandler : public ::testing::Test
 public:
   TestRouteHandler()
   {
-    const auto planning_test_utils_dir =
-      ament_index_cpp::get_package_share_directory("planning_test_utils");
-    const auto lanelet2_path = planning_test_utils_dir + "/test_map/2km_test.osm";
+    const auto test_utils_dir = ament_index_cpp::get_package_share_directory("test_utils");
+    const auto lanelet2_path = test_utils_dir + "/test_map/2km_test.osm";
     constexpr double center_line_resolution = 5.0;
     const auto map_bin_msg = test_utils::make_map_bin_msg(lanelet2_path, center_line_resolution);
     route_handler_ = std::make_shared<RouteHandler>(map_bin_msg);
diff --git a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp b/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
index 90995e4e2ae72..c0a9c24270e54 100644
--- a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
+++ b/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
@@ -16,14 +16,14 @@
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
-#include <planning_test_utils/planning_test_utils.hpp>
+#include <test_utils/test_utils.hpp>
 
 #include <gtest/gtest.h>
 
 #include <cmath>
 #include <vector>
 
-using planning_test_utils::PlanningInterfaceTestManager;
+using autoware_planning_test_manager::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {