diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp
index 791c35f3afca6..a7aec66f64363 100644
--- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp
+++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp
@@ -16,11 +16,10 @@
 #define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
 
 #include "behavior_path_goal_planner_module/goal_searcher_base.hpp"
-#include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
-#include "behavior_path_planner_common/utils/utils.hpp"
 
 #include <lane_departure_checker/lane_departure_checker.hpp>
 
+#include "visualization_msgs/msg/detail/marker_array__struct.hpp"
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_path.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
@@ -33,9 +32,7 @@
 #include <string>
 #include <vector>
 
-namespace behavior_path_planner
-{
-namespace goal_planner_utils
+namespace behavior_path_planner::goal_planner_utils
 {
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_perception_msgs::msg::PredictedPath;
@@ -68,7 +65,6 @@ MarkerArray createGoalCandidatesMarkerArray(
 MarkerArray createNumObjectsToAvoidTextsMarkerArray(
   const GoalCandidates & goal_candidates, std::string && ns,
   const std_msgs::msg::ColorRGBA & color);
-}  // namespace goal_planner_utils
-}  // namespace behavior_path_planner
+}  // namespace behavior_path_planner::goal_planner_utils
 
 #endif  // BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
diff --git a/planning/behavior_path_goal_planner_module/src/freespace_pull_over.cpp b/planning/behavior_path_goal_planner_module/src/freespace_pull_over.cpp
index c9af9ee369bd5..6d3eb09bf4352 100644
--- a/planning/behavior_path_goal_planner_module/src/freespace_pull_over.cpp
+++ b/planning/behavior_path_goal_planner_module/src/freespace_pull_over.cpp
@@ -15,8 +15,10 @@
 #include "behavior_path_goal_planner_module/freespace_pull_over.hpp"
 
 #include "behavior_path_goal_planner_module/util.hpp"
+#include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "behavior_path_planner_common/utils/parking_departure/utils.hpp"
 #include "behavior_path_planner_common/utils/path_utils.hpp"
+#include "behavior_path_planner_common/utils/utils.hpp"
 
 #include <memory>
 #include <vector>
diff --git a/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp b/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp
index 31c1d3ef77b0e..b7d1c240d032a 100644
--- a/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp
+++ b/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp
@@ -15,6 +15,7 @@
 #include "behavior_path_goal_planner_module/geometric_pull_over.hpp"
 
 #include "behavior_path_goal_planner_module/util.hpp"
+#include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
index 2ea6f1e100e91..3a8a17c3b0966 100644
--- a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
+++ b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -16,6 +16,7 @@
 
 #include "behavior_path_goal_planner_module/util.hpp"
 #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/parking_departure/utils.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"
diff --git a/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp
index b087827a9c539..bf359be3de18b 100644
--- a/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp
+++ b/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp
@@ -17,6 +17,7 @@
 #include "behavior_path_goal_planner_module/util.hpp"
 #include "behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
 #include "behavior_path_planner_common/utils/path_utils.hpp"
+#include "behavior_path_planner_common/utils/utils.hpp"
 #include "lanelet2_extension/regulatory_elements/no_parking_area.hpp"
 #include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
 #include "lanelet2_extension/utility/utilities.hpp"
diff --git a/planning/behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_goal_planner_module/src/util.cpp
index 23e9c53efae7b..1a1e66f85b403 100644
--- a/planning/behavior_path_goal_planner_module/src/util.cpp
+++ b/planning/behavior_path_goal_planner_module/src/util.cpp
@@ -14,9 +14,12 @@
 
 #include "behavior_path_goal_planner_module/util.hpp"
 
+#include "behavior_path_planner_common/utils/utils.hpp"
+
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <boost/geometry/algorithms/dispatch/distance.hpp>
 
@@ -30,17 +33,14 @@
 #include <string>
 #include <vector>
 
+namespace behavior_path_planner::goal_planner_utils
+{
+
 using tier4_autoware_utils::calcOffsetPose;
 using tier4_autoware_utils::createDefaultMarker;
 using tier4_autoware_utils::createMarkerColor;
 using tier4_autoware_utils::createMarkerScale;
 using tier4_autoware_utils::createPoint;
-
-namespace behavior_path_planner
-{
-namespace goal_planner_utils
-{
-
 lanelet::ConstLanelets getPullOverLanes(
   const RouteHandler & route_handler, const bool left_side, const double backward_distance,
   const double forward_distance)
@@ -214,5 +214,4 @@ bool checkOriginalGoalIsInShoulder(const std::shared_ptr<RouteHandler> & route_h
   return false;
 }
 
-}  // namespace goal_planner_utils
-}  // namespace behavior_path_planner
+}  // namespace behavior_path_planner::goal_planner_utils
diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml
index 0ca7badd0b3f4..2bc73325f96d5 100644
--- a/planning/behavior_path_planner/package.xml
+++ b/planning/behavior_path_planner/package.xml
@@ -56,7 +56,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>route_handler</depend>
   <depend>sensor_msgs</depend>
   <depend>signal_processing</depend>
   <depend>tf2</depend>
diff --git a/planning/behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner_common/CMakeLists.txt
index d1996bf72037f..dbbd7c7cedc67 100644
--- a/planning/behavior_path_planner_common/CMakeLists.txt
+++ b/planning/behavior_path_planner_common/CMakeLists.txt
@@ -4,7 +4,6 @@ project(behavior_path_planner_common)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-find_package(OpenCV REQUIRED)
 find_package(magic_enum CONFIG REQUIRED)
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
@@ -31,10 +30,6 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
   ${EIGEN3_INCLUDE_DIR}
 )
 
-target_link_libraries(${PROJECT_NAME}
-  ${OpenCV_LIBRARIES}
-)
-
 if(BUILD_TESTING)
   ament_add_ros_isolated_gmock(test_${PROJECT_NAME}_utilities
     test/test_drivable_area_expansion.cpp
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp
index d52906ef4684f..31dc117fbce35 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp
@@ -21,7 +21,8 @@
 #include "motion_utils/trajectory/trajectory.hpp"
 
 #include <lanelet2_extension/regulatory_elements/Forward.hpp>
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/rclcpp/clock.hpp>
+#include <rclcpp/rclcpp/time.hpp>
 #include <route_handler/route_handler.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
@@ -38,12 +39,11 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_planning_msgs/msg/lateral_offset.hpp>
 
-#include <lanelet2_core/primitives/Lanelet.h>
-
 #include <limits>
 #include <map>
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 namespace behavior_path_planner
@@ -100,7 +100,7 @@ struct DrivableAreaInfo
   {
     geometry_msgs::msg::Pose pose;
     tier4_autoware_utils::Polygon2d poly;
-    bool is_left;
+    bool is_left{true};
   };
   std::vector<DrivableLanes> drivable_lanes{};
   std::vector<Obstacle> obstacles{};  // obstacles to extract from the drivable area
@@ -136,7 +136,7 @@ struct BehaviorModuleOutput
 struct CandidateOutput
 {
   CandidateOutput() = default;
-  explicit CandidateOutput(const PathWithLaneId & path) : path_candidate{path} {}
+  explicit CandidateOutput(PathWithLaneId path) : path_candidate{std::move(path)} {}
   PathWithLaneId path_candidate{};
   double lateral_shift{0.0};
   double start_distance_to_path_change{std::numeric_limits<double>::lowest()};
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
index 95976bf117096..43ecd17fa1844 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
@@ -19,10 +19,13 @@
 #include "behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "tier4_autoware_utils/ros/parameter.hpp"
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/node.hpp>
+#include <rclcpp/parameter.hpp>
+#include <rclcpp/publisher.hpp>
 
 #include <unique_identifier_msgs/msg/uuid.hpp>
 
+#include <cstddef>
 #include <limits>
 #include <memory>
 #include <string>
@@ -44,7 +47,11 @@ using SceneModuleObserver = std::weak_ptr<SceneModuleInterface>;
 class SceneModuleManagerInterface
 {
 public:
-  explicit SceneModuleManagerInterface(const std::string & name) : name_{name} {}
+  SceneModuleManagerInterface(const SceneModuleManagerInterface &) = delete;
+  SceneModuleManagerInterface(SceneModuleManagerInterface &&) = delete;
+  SceneModuleManagerInterface & operator=(const SceneModuleManagerInterface &) = delete;
+  SceneModuleManagerInterface & operator=(SceneModuleManagerInterface &&) = delete;
+  explicit SceneModuleManagerInterface(std::string name) : name_{std::move(name)} {}
 
   virtual ~SceneModuleManagerInterface() = default;
 
@@ -275,7 +282,7 @@ class SceneModuleManagerInterface
     for (const auto & rtc_type : rtc_types) {
       const auto snake_case_name = utils::convertToSnakeCase(name_);
       const auto rtc_interface_name =
-        rtc_type == "" ? snake_case_name : snake_case_name + "_" + rtc_type;
+        rtc_type.empty() ? snake_case_name : snake_case_name + "_" + rtc_type;
       rtc_interface_ptr_map_.emplace(
         rtc_type, std::make_shared<RTCInterface>(node, rtc_interface_name, config_.enable_rtc));
       objects_of_interest_marker_interface_ptr_map_.emplace(
@@ -298,7 +305,7 @@ class SceneModuleManagerInterface
 
   virtual std::unique_ptr<SceneModuleInterface> createNewSceneModuleInstance() = 0;
 
-  rclcpp::Node * node_;
+  rclcpp::Node * node_ = nullptr;
 
   rclcpp::Publisher<MarkerArray>::SharedPtr pub_info_marker_;
 
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/steering_factor_interface.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/steering_factor_interface.hpp
index fd3ce0097c2eb..fb0cb97a3db95 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/steering_factor_interface.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/steering_factor_interface.hpp
@@ -37,7 +37,7 @@ class SteeringFactorInterface
   void updateSteeringFactor(
     const std::array<Pose, 2> & poses, const std::array<double, 2> distances,
     const std::string & behavior, const uint16_t direction, const uint16_t status,
-    const std::string detail);
+    const std::string & detail);
   void clearSteeringFactors();
 
 private:
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/marker_utils/colors.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/marker_utils/colors.hpp
index 95dcff8602398..1c066ff744f46 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/marker_utils/colors.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/marker_utils/colors.hpp
@@ -16,7 +16,7 @@
 
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
 
-#include "std_msgs/msg/color_rgba.hpp"
+#include "std_msgs/msg/detail/color_rgba__struct.hpp"
 
 #include <vector>
 
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/parameters.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/parameters.hpp
index 5bdd0a2f3f88d..acda01dfc603c 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/parameters.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/parameters.hpp
@@ -17,9 +17,6 @@
 
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
-#include <utility>
-#include <vector>
-
 struct ModuleConfigParameters
 {
   bool enable_module{false};
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp
index 372041c7fb586..cd639b5e81092 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp
@@ -39,7 +39,7 @@ using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using route_handler::RouteHandler;
 
-const std::map<std::string, uint8_t> signal_map = {
+const std::map<std::string, uint8_t> g_signal_map = {
   {"left", TurnIndicatorsCommand::ENABLE_LEFT},
   {"right", TurnIndicatorsCommand::ENABLE_RIGHT},
   {"straight", TurnIndicatorsCommand::DISABLE},
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp
index 297092d0cdd68..2a4343e2c3f6a 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp
@@ -22,13 +22,6 @@
 
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <geometry_msgs/msg/pose.hpp>
-#include <geometry_msgs/msg/vector3.hpp>
-
-#include <boost/geometry.hpp>
-#include <boost/geometry/algorithms/intersection.hpp>
-#include <boost/geometry/algorithms/overlaps.hpp>
-#include <boost/geometry/index/predicates.hpp>
-#include <boost/geometry/index/rtree.hpp>
 
 namespace drivable_area_expansion
 {
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp
index 4c1469d46e03a..e60b35b95515f 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp
@@ -19,7 +19,7 @@
 
 #include <interpolation/linear_interpolation.hpp>
 
-#include <boost/geometry.hpp>
+#include <boost/geometry/algorithms/distance.hpp>
 
 #include <limits>
 
@@ -141,13 +141,11 @@ inline Segment2d linestring_to_point_projection(
 
   const auto lerp_ratio = (arc_length - prev_arc_length) / (curr_arc_length - prev_arc_length);
   const auto base_point = lerp_point(*std::prev(ls_iterator), *ls_iterator, lerp_ratio);
-  if (distance == 0.0)
-    return {base_point, base_point};
-  else if (lerp_ratio >= 1.0)  // base point is beyond the 2nd segment point -> calculate normal in
-                               // the other direction
+  if (distance == 0.0) return {base_point, base_point};
+  if (lerp_ratio >= 1.0)  // base point is beyond the 2nd segment point -> calculate normal in
+                          // the other direction
     return {base_point, normal_at_distance(base_point, *std::prev(ls_iterator), -distance)};
-  else
-    return {base_point, normal_at_distance(base_point, *ls_iterator, distance)};
+  return {base_point, normal_at_distance(base_point, *ls_iterator, distance)};
 }
 
 /// @brief create a sub linestring between the given arc lengths
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp
index eae53b027655c..a7b91e5f7a8c9 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp
@@ -41,18 +41,18 @@ using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;
 using tier4_autoware_utils::Segment2d;
 
-typedef boost::geometry::index::rtree<Segment2d, boost::geometry::index::rstar<16>> SegmentRtree;
+using SegmentRtree = boost::geometry::index::rtree<Segment2d, boost::geometry::index::rstar<16>>;
 
 struct PointDistance
 {
   Point2d point;
-  double distance;
+  double distance{0.0};
 };
 struct Projection
 {
   Point2d projected_point;
-  double distance;
-  double arc_length;
+  double distance{0.0};
+  double arc_length{0.0};
 };
 enum Side { LEFT, RIGHT };
 
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp
index c24aa021cf57c..5b1e9b4b4c419 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp
@@ -21,14 +21,6 @@
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 
-#include <tf2/utils.h>
-
-#ifdef ROS_DISTRO_GALACTIC
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#else
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#endif
-
 #include <vector>
 
 namespace behavior_path_planner
@@ -74,8 +66,8 @@ struct OccupancyGridMapParam
   VehicleShape vehicle_shape;
 
   // costmap configs
-  int theta_size;          // discretized angle table size [-]
-  int obstacle_threshold;  // obstacle threshold on grid [-]
+  int theta_size{0};          // discretized angle table size [-]
+  int obstacle_threshold{0};  // obstacle threshold on grid [-]
 };
 
 struct PlannerWaypoint
@@ -93,7 +85,12 @@ struct PlannerWaypoints
 class OccupancyGridBasedCollisionDetector
 {
 public:
-  OccupancyGridBasedCollisionDetector() {}
+  OccupancyGridBasedCollisionDetector() = default;
+  OccupancyGridBasedCollisionDetector(const OccupancyGridBasedCollisionDetector &) = default;
+  OccupancyGridBasedCollisionDetector(OccupancyGridBasedCollisionDetector &&) = delete;
+  OccupancyGridBasedCollisionDetector & operator=(const OccupancyGridBasedCollisionDetector &) =
+    default;
+  OccupancyGridBasedCollisionDetector & operator=(OccupancyGridBasedCollisionDetector &&) = delete;
   void setParam(const OccupancyGridMapParam & param) { param_ = param; };
   OccupancyGridMapParam getParam() const { return param_; };
   void setMap(const nav_msgs::msg::OccupancyGrid & costmap);
@@ -106,7 +103,7 @@ class OccupancyGridBasedCollisionDetector
     const bool check_out_of_range) const;
   const PlannerWaypoints & getWaypoints() const { return waypoints_; }
   bool detectCollision(const IndexXYT & base_index, const bool check_out_of_range) const;
-  virtual ~OccupancyGridBasedCollisionDetector() {}
+  virtual ~OccupancyGridBasedCollisionDetector() = default;
 
 protected:
   void computeCollisionIndexes(int theta_index, std::vector<IndexXY> & indexes);
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp
index c270a1500431c..74f6b843803df 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp
@@ -17,8 +17,6 @@
 
 #include "behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
-#include <rclcpp/rclcpp.hpp>
-
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 
 #include <vector>
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp
index 4d1f1fdb959c0..26c0f247eb558 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp
@@ -18,15 +18,10 @@
 #include "behavior_path_planner_common/data_manager.hpp"
 #include "behavior_path_planner_common/parameters.hpp"
 
-#include <rclcpp/rclcpp.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/point.hpp>
-#include <geometry_msgs/msg/polygon.hpp>
-#include <geometry_msgs/msg/pose_array.hpp>
-#include <visualization_msgs/msg/marker_array.hpp>
+#include <geometry_msgs/msg/pose.hpp>
 
 #include <lanelet2_core/Forward.h>
 
@@ -40,7 +35,6 @@ using autoware_auto_planning_msgs::msg::PathPointWithLaneId;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
-using geometry_msgs::msg::PoseArray;
 
 struct ParallelParkingParameters
 {
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/parking_departure/utils.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/parking_departure/utils.hpp
index 1d4245bfec0e4..bdcc9dcb2cc6a 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/parking_departure/utils.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/parking_departure/utils.hpp
@@ -19,8 +19,6 @@
 #include "behavior_path_planner_common/utils/parking_departure/common_module_data.hpp"
 #include "behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
-#include <motion_utils/distance/distance.hpp>
-
 #include <memory>
 #include <utility>
 #include <vector>
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
index f66f425f1b7fa..e33c2596ab04d 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
@@ -23,8 +23,6 @@
 #include <autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp>
 
 #include <lanelet2_core/geometry/Lanelet.h>
-#include <lanelet2_routing/RoutingGraphContainer.h>
-#include <tf2/utils.h>
 
 #include <memory>
 #include <utility>
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp
index fcb4f3f4dc207..13009d5114439 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp
@@ -26,14 +26,6 @@
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/twist.hpp>
 
-#include <tf2/utils.h>
-
-#ifdef ROS_DISTRO_GALACTIC
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#else
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#endif
-
 #include <vector>
 
 namespace behavior_path_planner::utils::path_safety_checker
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp
index 099adc21d2ad7..165a11ebb54b4 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp
@@ -15,11 +15,13 @@
 #ifndef BEHAVIOR_PATH_PLANNER_COMMON__UTILS__PATH_SHIFTER__PATH_SHIFTER_HPP_
 #define BEHAVIOR_PATH_PLANNER_COMMON__UTILS__PATH_SHIFTER__PATH_SHIFTER_HPP_
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/clock.hpp>
+#include <rclcpp/logging.hpp>
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <geometry_msgs/msg/point.hpp>
 
+#include <optional>
 #include <string>
 #include <utility>
 #include <vector>
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/utils.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/utils.hpp
index e2c9fd1e332a2..01b2880f4362a 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/utils.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/utils.hpp
@@ -16,7 +16,6 @@
 #define BEHAVIOR_PATH_PLANNER_COMMON__UTILS__UTILS_HPP_
 
 #include "behavior_path_planner_common/data_manager.hpp"
-#include "behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 
 #include <route_handler/route_handler.hpp>
@@ -34,18 +33,10 @@
 #include <geometry_msgs/msg/pose_array.hpp>
 
 #include <lanelet2_core/Forward.h>
-#include <tf2/utils.h>
-
-#ifdef ROS_DISTRO_GALACTIC
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#else
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#endif
 
 #include <limits>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 namespace behavior_path_planner::utils
@@ -55,34 +46,21 @@ using autoware_auto_perception_msgs::msg::PredictedObject;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 using autoware_auto_perception_msgs::msg::PredictedPath;
 
-using autoware_auto_perception_msgs::msg::Shape;
-using autoware_auto_planning_msgs::msg::Path;
 using autoware_auto_planning_msgs::msg::PathPointWithLaneId;
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
-using geometry_msgs::msg::PoseArray;
-using geometry_msgs::msg::Twist;
 using geometry_msgs::msg::Vector3;
-using path_safety_checker::ExtendedPredictedObject;
-using path_safety_checker::ObjectTypesToCheck;
-using path_safety_checker::PoseWithVelocityAndPolygonStamped;
-using path_safety_checker::PoseWithVelocityStamped;
-using path_safety_checker::PredictedPathWithPolygon;
-using path_safety_checker::SafetyCheckParams;
-using path_safety_checker::TargetObjectsOnLane;
 using route_handler::RouteHandler;
 using tier4_autoware_utils::LinearRing2d;
-using tier4_autoware_utils::LineString2d;
 using tier4_autoware_utils::Polygon2d;
-using vehicle_info_util::VehicleInfo;
 
 struct PolygonPoint
 {
   geometry_msgs::msg::Point point;
-  size_t bound_seg_idx;
-  double lon_dist_to_segment;
-  double lat_dist_to_bound;
+  size_t bound_seg_idx{0};
+  double lon_dist_to_segment{0.0};
+  double lat_dist_to_bound{0.0};
 
   bool is_after(const PolygonPoint & other_point) const
   {
diff --git a/planning/behavior_path_planner_common/package.xml b/planning/behavior_path_planner_common/package.xml
index 4bb6901625a19..83e9c39e24dd6 100644
--- a/planning/behavior_path_planner_common/package.xml
+++ b/planning/behavior_path_planner_common/package.xml
@@ -50,8 +50,6 @@
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
   <depend>lanelet2_extension</depend>
-  <depend>libboost-dev</depend>
-  <depend>libopencv-dev</depend>
   <depend>magic_enum</depend>
   <depend>motion_utils</depend>
   <depend>object_recognition_utils</depend>
@@ -59,11 +57,7 @@
   <depend>rclcpp</depend>
   <depend>route_handler</depend>
   <depend>rtc_interface</depend>
-  <depend>sensor_msgs</depend>
   <depend>tf2</depend>
-  <depend>tf2_eigen</depend>
-  <depend>tf2_geometry_msgs</depend>
-  <depend>tf2_ros</depend>
   <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>vehicle_info_util</depend>
diff --git a/planning/behavior_path_planner_common/src/interface/steering_factor_interface.cpp b/planning/behavior_path_planner_common/src/interface/steering_factor_interface.cpp
index 93ae7e8289902..cbced86865a99 100644
--- a/planning/behavior_path_planner_common/src/interface/steering_factor_interface.cpp
+++ b/planning/behavior_path_planner_common/src/interface/steering_factor_interface.cpp
@@ -34,12 +34,12 @@ void SteeringFactorInterface::publishSteeringFactor(const rclcpp::Time & stamp)
 void SteeringFactorInterface::updateSteeringFactor(
   const std::array<Pose, 2> & pose, const std::array<double, 2> distance,
   const std::string & behavior, const uint16_t direction, const uint16_t status,
-  const std::string detail)
+  const std::string & detail)
 {
   std::lock_guard<std::mutex> lock(mutex_);
   SteeringFactor factor;
   factor.pose = pose;
-  std::array<float, 2> converted_distance;
+  std::array<float, 2> converted_distance{0.0, 0.0};
   for (int i = 0; i < 2; ++i) converted_distance[i] = static_cast<float>(distance[i]);
   factor.distance = converted_distance;
   factor.behavior = behavior;
diff --git a/planning/behavior_path_planner_common/src/marker_utils/utils.cpp b/planning/behavior_path_planner_common/src/marker_utils/utils.cpp
index 4dc422a81d22c..ec182ae5b909a 100644
--- a/planning/behavior_path_planner_common/src/marker_utils/utils.cpp
+++ b/planning/behavior_path_planner_common/src/marker_utils/utils.cpp
@@ -30,9 +30,7 @@
 
 namespace marker_utils
 {
-using behavior_path_planner::ShiftLine;
 using behavior_path_planner::utils::calcPathArcLengthArray;
-using behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug;
 using std_msgs::msg::ColorRGBA;
 using tier4_autoware_utils::calcOffsetPose;
 using tier4_autoware_utils::createDefaultMarker;
@@ -101,7 +99,7 @@ MarkerArray createShiftLineMarkerArray(
 {
   ShiftLineArray shift_lines_local = shift_lines;
   if (shift_lines.empty()) {
-    shift_lines_local.push_back(ShiftLine());
+    shift_lines_local.emplace_back();
   }
 
   MarkerArray msg;
@@ -289,8 +287,8 @@ MarkerArray createFurthestLineStringMarkerArray(const lanelet::ConstLineStrings3
     const bool isFrontNear = tier4_autoware_utils::calcDistance2d(marker_back, front) <
                              tier4_autoware_utils::calcDistance2d(marker_back, front_inverted);
     const auto & left_ls = (isFrontNear) ? idx->basicLineString() : idx->invert().basicLineString();
-    for (auto ls = left_ls.cbegin(); ls != left_ls.cend(); ++ls) {
-      marker.points.push_back(createPoint(ls->x(), ls->y(), ls->z()));
+    for (const auto & left_l : left_ls) {
+      marker.points.push_back(createPoint(left_l.x(), left_l.y(), left_l.z()));
     }
   }
 
diff --git a/planning/behavior_path_planner_common/src/turn_signal_decider.cpp b/planning/behavior_path_planner_common/src/turn_signal_decider.cpp
index 933330dafae7e..44358dfa84e4e 100644
--- a/planning/behavior_path_planner_common/src/turn_signal_decider.cpp
+++ b/planning/behavior_path_planner_common/src/turn_signal_decider.cpp
@@ -266,7 +266,7 @@ std::optional<TurnSignalInfo> TurnSignalDecider::getIntersectionTurnSignalInfo(
         turn_signal_info.required_start_point = lane_front_pose;
         turn_signal_info.required_end_point = get_required_end_point(combined_lane.centerline3d());
         turn_signal_info.desired_end_point = lane_back_pose;
-        turn_signal_info.turn_signal.command = signal_map.at(lane_attribute);
+        turn_signal_info.turn_signal.command = g_signal_map.at(lane_attribute);
         signal_queue.push(turn_signal_info);
       }
     }
diff --git a/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp b/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
index 4fe9a3cd6e10f..866d114815a86 100644
--- a/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
+++ b/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
@@ -20,14 +20,13 @@
 #include "behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp"
 #include "behavior_path_planner_common/utils/drivable_area_expansion/types.hpp"
 
-#include <Eigen/Geometry>
 #include <interpolation/linear_interpolation.hpp>
 #include <motion_utils/resample/resample.hpp>
 #include <motion_utils/trajectory/interpolation.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <tier4_autoware_utils/system/stop_watch.hpp>
 
-#include <boost/geometry.hpp>
+#include <boost/geometry/strategies/strategies.hpp>
 
 #include <limits>
 
diff --git a/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp b/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp
index 6b323be6c6328..787af681bf69b 100644
--- a/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp
+++ b/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp
@@ -19,10 +19,7 @@
 #include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-
-#include <boost/assign.hpp>
-#include <boost/geometry.hpp>
+#include <boost/geometry/strategies/transform/matrix_transformers.hpp>
 
 #include <tf2/utils.h>
 
diff --git a/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp b/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp
index 2eb55599b83f9..8420ee96b0ba6 100644
--- a/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp
+++ b/planning/behavior_path_planner_common/src/utils/drivable_area_expansion/map_utils.cpp
@@ -14,7 +14,7 @@
 
 #include "behavior_path_planner_common/utils/drivable_area_expansion/map_utils.hpp"
 
-#include <boost/geometry.hpp>
+#include <boost/geometry/strategies/strategies.hpp>
 
 #include <lanelet2_core/Attribute.h>
 #include <lanelet2_core/primitives/LineString.h>
diff --git a/planning/behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp b/planning/behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
index 7ba4f114328a7..a1a079e679e72 100644
--- a/planning/behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
+++ b/planning/behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
@@ -23,38 +23,22 @@
 #include <interpolation/spline_interpolation.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 
-#include <optional>
-
-#ifdef ROS_DISTRO_GALACTIC
-#include <tf2_eigen/tf2_eigen.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#else
-#include <tf2_eigen/tf2_eigen.hpp>
-
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#include <boost/geometry/algorithms/within.hpp>
 
 #include <lanelet2_core/geometry/Polygon.h>
-#endif
-
-#include <boost/geometry/algorithms/within.hpp>
 
+#include <optional>
 #include <utility>
 #include <vector>
 
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
-using geometry_msgs::msg::PoseArray;
-using geometry_msgs::msg::Transform;
-using geometry_msgs::msg::TransformStamped;
 using lanelet::utils::getArcCoordinates;
 using tier4_autoware_utils::calcDistance2d;
 using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::deg2rad;
 using tier4_autoware_utils::inverseTransformPoint;
-using tier4_autoware_utils::inverseTransformPose;
 using tier4_autoware_utils::normalizeRadian;
-using tier4_autoware_utils::toMsg;
 using tier4_autoware_utils::transformPose;
 
 namespace behavior_path_planner
@@ -518,15 +502,11 @@ std::vector<PathWithLaneId> GeometricParallelParking::planOneTrial(
 
   // set terminal velocity and acceleration(temporary implementation)
   if (is_forward) {
-    pairs_terminal_velocity_and_accel_.push_back(
-      std::make_pair(parameters_.forward_parking_velocity, 0.0));
-    pairs_terminal_velocity_and_accel_.push_back(
-      std::make_pair(parameters_.forward_parking_velocity, 0.0));
+    pairs_terminal_velocity_and_accel_.emplace_back(parameters_.forward_parking_velocity, 0.0);
+    pairs_terminal_velocity_and_accel_.emplace_back(parameters_.forward_parking_velocity, 0.0);
   } else {
-    pairs_terminal_velocity_and_accel_.push_back(
-      std::make_pair(parameters_.backward_parking_velocity, 0.0));
-    pairs_terminal_velocity_and_accel_.push_back(
-      std::make_pair(parameters_.backward_parking_velocity, 0.0));
+    pairs_terminal_velocity_and_accel_.emplace_back(parameters_.backward_parking_velocity, 0.0);
+    pairs_terminal_velocity_and_accel_.emplace_back(parameters_.backward_parking_velocity, 0.0);
   }
 
   // set pull_over start and end pose
diff --git a/planning/behavior_path_planner_common/src/utils/parking_departure/utils.cpp b/planning/behavior_path_planner_common/src/utils/parking_departure/utils.cpp
index 58fd392988ad9..a7b1df45c8150 100644
--- a/planning/behavior_path_planner_common/src/utils/parking_departure/utils.cpp
+++ b/planning/behavior_path_planner_common/src/utils/parking_departure/utils.cpp
@@ -17,6 +17,7 @@
 #include "behavior_path_planner_common/utils/utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
+#include <motion_utils/distance/distance.hpp>
 
 namespace behavior_path_planner::utils::parking_departure
 {
diff --git a/planning/behavior_path_planner_common/src/utils/path_utils.cpp b/planning/behavior_path_planner_common/src/utils/path_utils.cpp
index 57a5743a5963b..2eceb0ffb81c8 100644
--- a/planning/behavior_path_planner_common/src/utils/path_utils.cpp
+++ b/planning/behavior_path_planner_common/src/utils/path_utils.cpp
@@ -186,16 +186,15 @@ size_t getIdxByArclength(
       }
     }
     return path.points.size() - 1;
-  } else {
-    for (size_t i = target_idx; i > 0; --i) {
-      const auto next_i = i - 1;
-      sum_length -= calcDistance2d(path.points.at(i), path.points.at(next_i));
-      if (sum_length < signed_arc) {
-        return next_i;
-      }
+  }
+  for (size_t i = target_idx; i > 0; --i) {
+    const auto next_i = i - 1;
+    sum_length -= calcDistance2d(path.points.at(i), path.points.at(next_i));
+    if (sum_length < signed_arc) {
+      return next_i;
     }
-    return 0;
   }
+  return 0;
 }
 
 // TODO(murooka) This function should be replaced with motion_utils::cropPoints
diff --git a/planning/behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner_common/src/utils/utils.cpp
index 7c3a5883989fb..e6f9ce21cebf7 100644
--- a/planning/behavior_path_planner_common/src/utils/utils.cpp
+++ b/planning/behavior_path_planner_common/src/utils/utils.cpp
@@ -14,7 +14,6 @@
 
 #include "behavior_path_planner_common/utils/utils.hpp"
 
-#include "behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 #include "motion_utils/trajectory/path_with_lane_id.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
 
@@ -22,6 +21,7 @@
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <motion_utils/resample/resample.hpp>
+#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 #include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 #include <tier4_autoware_utils/math/unit_conversion.hpp>
 
@@ -74,7 +74,7 @@ namespace behavior_path_planner::utils
 using autoware_auto_perception_msgs::msg::ObjectClassification;
 using autoware_auto_perception_msgs::msg::Shape;
 using geometry_msgs::msg::PoseWithCovarianceStamped;
-using tf2::fromMsg;
+using tier4_autoware_utils::LineString2d;
 using tier4_autoware_utils::Point2d;
 
 std::optional<lanelet::Polygon3d> getPolygonByPoint(