diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 6fdd04df3eb79..77adc8e6479bb 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -30,7 +30,7 @@ common/signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi
 common/tensorrt_common/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp
 common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp
 common/tier4_api_utils/** isamu.takagi@tier4.jp
-common/tier4_autoware_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
+common/autoware_universe_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp
 common/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp
 common/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp takamasa.horibe@tier4.jp
diff --git a/common/.pages b/common/.pages
index 1084ec0356336..60300879035d8 100644
--- a/common/.pages
+++ b/common/.pages
@@ -25,7 +25,7 @@ nav:
       - 'Introduction': common/signal_processing
       - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter
     - 'TensorRT Common': common/tensorrt_common
-    - 'tier4_autoware_utils': common/tier4_autoware_utils
+    - 'autoware_universe_utils': common/autoware_universe_utils
     - 'traffic_light_utils': common/traffic_light_utils
     - 'TVM Utility':
       - 'Introduction': common/tvm_utility
diff --git a/common/README.md b/common/README.md
index 95b8973a66b2b..6401aeab7b685 100644
--- a/common/README.md
+++ b/common/README.md
@@ -12,5 +12,5 @@ The Autoware.Universe Common folder consists of common and testing libraries tha
 
 Some of the commonly used libraries are:
 
-1. `tier4_autoware_utils`
+1. `autoware_universe_utils`
 2. `motion_utils`
diff --git a/common/autoware_grid_map_utils/package.xml b/common/autoware_grid_map_utils/package.xml
index c15470168f318..d8344b08f2341 100644
--- a/common/autoware_grid_map_utils/package.xml
+++ b/common/autoware_grid_map_utils/package.xml
@@ -10,10 +10,10 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>grid_map_core</depend>
   <depend>grid_map_cv</depend>
   <depend>libopencv-dev</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/common/autoware_grid_map_utils/test/benchmark.cpp b/common/autoware_grid_map_utils/test/benchmark.cpp
index 77da9ae589b73..90545135b3e18 100644
--- a/common/autoware_grid_map_utils/test/benchmark.cpp
+++ b/common/autoware_grid_map_utils/test/benchmark.cpp
@@ -17,13 +17,13 @@
 #include "grid_map_cv/GridMapCvConverter.hpp"
 #include "grid_map_cv/GridMapCvProcessing.hpp"
 
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <grid_map_core/iterators/PolygonIterator.hpp>
 #include <grid_map_cv/grid_map_cv.hpp>
 #include <opencv2/core.hpp>
 #include <opencv2/highgui.hpp>
 #include <opencv2/imgproc.hpp>
 #include <opencv2/opencv.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <algorithm>
 #include <fstream>
@@ -46,7 +46,7 @@ int main(int argc, char * argv[])
   result_file
     << "#Size PolygonVertices PolygonIndexes grid_map_utils_constructor grid_map_utils_iteration "
        "grid_map_constructor grid_map_iteration\n";
-  tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stopwatch;
+  autoware_universe_utils::StopWatch<std::chrono::milliseconds> stopwatch;
 
   constexpr auto nb_iterations = 10;
   constexpr auto polygon_side_vertices =
diff --git a/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp b/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp
index 8d9cff560b5b7..1646586853800 100644
--- a/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp
+++ b/common/autoware_grid_map_utils/test/test_polygon_iterator.cpp
@@ -14,8 +14,8 @@
 
 #include "autoware_grid_map_utils/polygon_iterator.hpp"
 
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <grid_map_core/iterators/PolygonIterator.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 // gtest
 #include <gtest/gtest.h>
diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
index 093449176b047..b4b5834f71fa1 100644
--- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
+++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
@@ -15,12 +15,12 @@
 #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <component_interface_specs/planning.hpp>
 #include <lanelet2_extension/io/autoware_osm_parser.hpp>
 #include <lanelet2_extension/projection/mgrs_projector.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
@@ -62,6 +62,8 @@ using autoware_planning_msgs::msg::Trajectory;
 using tier4_planning_msgs::msg::PathPointWithLaneId;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using RouteSections = std::vector<autoware_planning_msgs::msg::LaneletSegment>;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::createQuaternionFromRPY;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseStamped;
@@ -70,8 +72,6 @@ using nav_msgs::msg::OccupancyGrid;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::PointCloud2;
 using tf2_msgs::msg::TFMessage;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::createQuaternionFromRPY;
 using tier4_planning_msgs::msg::Scenario;
 using unique_identifier_msgs::msg::UUID;
 
diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml
index 555345c1d9105..778b9a42ca207 100644
--- a/common/autoware_test_utils/package.xml
+++ b/common/autoware_test_utils/package.xml
@@ -19,6 +19,7 @@
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
@@ -29,7 +30,6 @@
   <depend>tf2_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_api_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_v2x_msgs</depend>
   <depend>unique_identifier_msgs</depend>
diff --git a/common/tier4_autoware_utils/CMakeLists.txt b/common/autoware_universe_utils/CMakeLists.txt
similarity index 69%
rename from common/tier4_autoware_utils/CMakeLists.txt
rename to common/autoware_universe_utils/CMakeLists.txt
index 9cb54e52362a5..9e86ddeb60692 100644
--- a/common/tier4_autoware_utils/CMakeLists.txt
+++ b/common/autoware_universe_utils/CMakeLists.txt
@@ -1,12 +1,12 @@
 cmake_minimum_required(VERSION 3.14)
-project(tier4_autoware_utils)
+project(autoware_universe_utils)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
 find_package(Boost REQUIRED)
 
-ament_auto_add_library(tier4_autoware_utils SHARED
+ament_auto_add_library(autoware_universe_utils SHARED
   src/geometry/geometry.cpp
   src/geometry/pose_deviation.cpp
   src/geometry/boost_polygon_utils.cpp
@@ -23,10 +23,10 @@ if(BUILD_TESTING)
 
   file(GLOB_RECURSE test_files test/**/*.cpp)
 
-  ament_add_ros_isolated_gtest(test_tier4_autoware_utils ${test_files})
+  ament_add_ros_isolated_gtest(test_autoware_universe_utils ${test_files})
 
-  target_link_libraries(test_tier4_autoware_utils
-    tier4_autoware_utils
+  target_link_libraries(test_autoware_universe_utils
+    autoware_universe_utils
   )
 endif()
 
diff --git a/common/autoware_universe_utils/README.md b/common/autoware_universe_utils/README.md
new file mode 100644
index 0000000000000..22b9355b09635
--- /dev/null
+++ b/common/autoware_universe_utils/README.md
@@ -0,0 +1,9 @@
+# autoware_universe_utils
+
+## Purpose
+
+This package contains many common functions used by other packages, so please refer to them as needed.
+
+## For developers
+
+`autoware_universe_utils.hpp` header file was removed because the source files that directly/indirectly include this file took a long time for preprocessing.
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_geometry.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/boost_geometry.hpp
similarity index 84%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_geometry.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/geometry/boost_geometry.hpp
index d986d0f23fc85..c90cc714367f1 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_geometry.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/boost_geometry.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
-#define TIER4_AUTOWARE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
 
 #include <boost/geometry/core/cs.hpp>
 #include <boost/geometry/geometries/geometries.hpp>
@@ -25,7 +25,7 @@
 
 #include <geometry_msgs/msg/point.hpp>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 // 2D
 struct Point2d;
@@ -93,12 +93,12 @@ inline Point3d fromMsg(const geometry_msgs::msg::Point & msg)
   point.z() = msg.z;
   return point;
 }
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-BOOST_GEOMETRY_REGISTER_POINT_2D(                                       // NOLINT
-  tier4_autoware_utils::Point2d, double, cs::cartesian, x(), y())       // NOLINT
-BOOST_GEOMETRY_REGISTER_POINT_3D(                                       // NOLINT
-  tier4_autoware_utils::Point3d, double, cs::cartesian, x(), y(), z())  // NOLINT
-BOOST_GEOMETRY_REGISTER_RING(tier4_autoware_utils::LinearRing2d)        // NOLINT
+BOOST_GEOMETRY_REGISTER_POINT_2D(                                          // NOLINT
+  autoware_universe_utils::Point2d, double, cs::cartesian, x(), y())       // NOLINT
+BOOST_GEOMETRY_REGISTER_POINT_3D(                                          // NOLINT
+  autoware_universe_utils::Point3d, double, cs::cartesian, x(), y(), z())  // NOLINT
+BOOST_GEOMETRY_REGISTER_RING(autoware_universe_utils::LinearRing2d)        // NOLINT
 
-#endif  // TIER4_AUTOWARE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_GEOMETRY_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/boost_polygon_utils.hpp
similarity index 85%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/geometry/boost_polygon_utils.hpp
index 665e959ed2460..477a1b4c27a6c 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/boost_polygon_utils.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__GEOMETRY__BOOST_POLYGON_UTILS_HPP_
-#define TIER4_AUTOWARE_UTILS__GEOMETRY__BOOST_POLYGON_UTILS_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_POLYGON_UTILS_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_POLYGON_UTILS_HPP_
 
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
 
 #include <autoware_perception_msgs/msg/detected_object.hpp>
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
@@ -24,7 +24,7 @@
 
 #include <vector>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 bool isClockwise(const Polygon2d & polygon);
 Polygon2d inverseClockwise(const Polygon2d & polygon);
@@ -47,6 +47,6 @@ Polygon2d toFootprint(
   const double base_to_rear, const double width);
 double getArea(const autoware_perception_msgs::msg::Shape & shape);
 Polygon2d expandPolygon(const Polygon2d & input_polygon, const double offset);
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__GEOMETRY__BOOST_POLYGON_UTILS_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__BOOST_POLYGON_UTILS_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/geometry.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp
similarity index 97%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/geometry.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp
index 334df8f32af91..0af9d30ad09c1 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/geometry.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__GEOMETRY__GEOMETRY_HPP_
-#define TIER4_AUTOWARE_UTILS__GEOMETRY__GEOMETRY_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__GEOMETRY__GEOMETRY_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__GEOMETRY_HPP_
 
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
-#include "tier4_autoware_utils/math/constants.hpp"
-#include "tier4_autoware_utils/math/normalization.hpp"
-#include "tier4_autoware_utils/ros/msg_covariance.hpp"
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/math/constants.hpp"
+#include "autoware/universe_utils/math/normalization.hpp"
+#include "autoware/universe_utils/ros/msg_covariance.hpp"
 
 #include <exception>
 #include <string>
@@ -96,7 +96,7 @@ inline void doTransform(
 #endif
 }  // namespace tf2
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 template <class T>
 geometry_msgs::msg::Point getPoint(const T & p)
@@ -577,6 +577,6 @@ std::optional<geometry_msgs::msg::Point> intersect(
   const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2,
   const geometry_msgs::msg::Point & p3, const geometry_msgs::msg::Point & p4);
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__GEOMETRY__GEOMETRY_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__GEOMETRY_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/pose_deviation.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/pose_deviation.hpp
similarity index 82%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/pose_deviation.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/geometry/pose_deviation.hpp
index dfa678eaa07d9..2f2b4a5d3dfb0 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/pose_deviation.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/pose_deviation.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__GEOMETRY__POSE_DEVIATION_HPP_
-#define TIER4_AUTOWARE_UTILS__GEOMETRY__POSE_DEVIATION_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__GEOMETRY__POSE_DEVIATION_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__POSE_DEVIATION_HPP_
 
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 struct PoseDeviation
 {
@@ -39,6 +39,6 @@ double calcYawDeviation(
 PoseDeviation calcPoseDeviation(
   const geometry_msgs::msg::Pose & base_pose, const geometry_msgs::msg::Pose & target_pose);
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__GEOMETRY__POSE_DEVIATION_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__POSE_DEVIATION_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/constants.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/math/constants.hpp
similarity index 74%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/math/constants.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/math/constants.hpp
index 984fa04016b57..2c1f9fe646723 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/constants.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/math/constants.hpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__MATH__CONSTANTS_HPP_
-#define TIER4_AUTOWARE_UTILS__MATH__CONSTANTS_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__MATH__CONSTANTS_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__MATH__CONSTANTS_HPP_
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 constexpr double pi = 3.14159265358979323846;  // To be replaced by std::numbers::pi in C++20
 constexpr double gravity = 9.80665;
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__MATH__CONSTANTS_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__MATH__CONSTANTS_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/normalization.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/math/normalization.hpp
similarity index 79%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/math/normalization.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/math/normalization.hpp
index 1eb32f33886cf..502ed4b4f7b34 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/normalization.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/math/normalization.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__MATH__NORMALIZATION_HPP_
-#define TIER4_AUTOWARE_UTILS__MATH__NORMALIZATION_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__MATH__NORMALIZATION_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__MATH__NORMALIZATION_HPP_
 
-#include "tier4_autoware_utils/math/constants.hpp"
+#include "autoware/universe_utils/math/constants.hpp"
 
 #include <cmath>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 inline double normalizeDegree(const double deg, const double min_deg = -180)
 {
@@ -45,6 +45,6 @@ inline double normalizeRadian(const double rad, const double min_rad = -pi)
   return value - std::copysign(2 * pi, value);
 }
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__MATH__NORMALIZATION_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__MATH__NORMALIZATION_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/range.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/math/range.hpp
similarity index 89%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/math/range.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/math/range.hpp
index 957a6f4e729e5..fabf67a683680 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/range.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/math/range.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__MATH__RANGE_HPP_
-#define TIER4_AUTOWARE_UTILS__MATH__RANGE_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__MATH__RANGE_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__MATH__RANGE_HPP_
 
 #include <cmath>
 #include <limits>
 #include <stdexcept>
 #include <vector>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 template <class T>
 std::vector<T> arange(const T start, const T stop, const T step = 1)
@@ -73,6 +73,6 @@ std::vector<double> linspace(const T start, const T stop, const size_t num)
   return out;
 }
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__MATH__RANGE_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__MATH__RANGE_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/sin_table.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/math/sin_table.hpp
similarity index 76%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/math/sin_table.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/math/sin_table.hpp
index bea3b1e0ecb46..bf67a1b521b6d 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/sin_table.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/math/sin_table.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__MATH__SIN_TABLE_HPP_
-#define TIER4_AUTOWARE_UTILS__MATH__SIN_TABLE_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__MATH__SIN_TABLE_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__MATH__SIN_TABLE_HPP_
 
 #include <cstddef>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 
 constexpr size_t sin_table_size = 32769;
@@ -25,6 +25,6 @@ constexpr size_t discrete_arcs_num_90 = 32768;
 constexpr size_t discrete_arcs_num_360 = 131072;
 extern const float g_sin_table[sin_table_size];
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__MATH__SIN_TABLE_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__MATH__SIN_TABLE_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/trigonometry.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/math/trigonometry.hpp
similarity index 74%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/math/trigonometry.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/math/trigonometry.hpp
index 4901e28472acb..7f58735d35963 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/trigonometry.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/math/trigonometry.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__MATH__TRIGONOMETRY_HPP_
-#define TIER4_AUTOWARE_UTILS__MATH__TRIGONOMETRY_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__MATH__TRIGONOMETRY_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__MATH__TRIGONOMETRY_HPP_
 
 #include <utility>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 
 float sin(float radian);
@@ -26,6 +26,6 @@ float cos(float radian);
 
 std::pair<float, float> sin_and_cos(float radian);
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__MATH__TRIGONOMETRY_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__MATH__TRIGONOMETRY_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/unit_conversion.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/math/unit_conversion.hpp
similarity index 74%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/math/unit_conversion.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/math/unit_conversion.hpp
index 38a0a7696775a..66be4d99d5803 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/unit_conversion.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/math/unit_conversion.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__MATH__UNIT_CONVERSION_HPP_
-#define TIER4_AUTOWARE_UTILS__MATH__UNIT_CONVERSION_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__MATH__UNIT_CONVERSION_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__MATH__UNIT_CONVERSION_HPP_
 
-#include "tier4_autoware_utils/math/constants.hpp"
+#include "autoware/universe_utils/math/constants.hpp"
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 constexpr double deg2rad(const double deg)
 {
@@ -36,6 +36,6 @@ constexpr double mps2kmph(const double mps)
 {
   return mps * 3600.0 / 1000.0;
 }
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__MATH__UNIT_CONVERSION_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__MATH__UNIT_CONVERSION_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/debug_publisher.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_publisher.hpp
similarity index 83%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/debug_publisher.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_publisher.hpp
index 0750b6894debe..0965f8ffbaefa 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/debug_publisher.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_publisher.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__DEBUG_PUBLISHER_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__DEBUG_PUBLISHER_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_PUBLISHER_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_PUBLISHER_HPP_
 
-#include "tier4_autoware_utils/ros/debug_traits.hpp"
+#include "autoware/universe_utils/ros/debug_traits.hpp"
 
 #include <rclcpp/publisher_base.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -25,14 +25,15 @@
 #include <string>
 #include <unordered_map>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 namespace debug_publisher
 {
 template <
   class T_msg, class T,
   std::enable_if_t<
-    tier4_autoware_utils::debug_traits::is_debug_message<T_msg>::value, std::nullptr_t> = nullptr>
+    autoware_universe_utils::debug_traits::is_debug_message<T_msg>::value, std::nullptr_t> =
+    nullptr>
 T_msg toDebugMsg(const T & data, const rclcpp::Time & stamp)
 {
   T_msg msg;
@@ -72,6 +73,6 @@ class DebugPublisher
   const char * ns_;
   std::unordered_map<std::string, std::shared_ptr<rclcpp::PublisherBase>> pub_map_;
 };
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__DEBUG_PUBLISHER_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_PUBLISHER_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/debug_traits.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp
similarity index 89%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/debug_traits.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp
index 345e49079eede..330b01b68a0b2 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/debug_traits.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__DEBUG_TRAITS_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__DEBUG_TRAITS_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_TRAITS_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_TRAITS_HPP_
 
 #include <tier4_debug_msgs/msg/bool_stamped.hpp>
 #include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
@@ -28,7 +28,7 @@
 
 #include <type_traits>
 
-namespace tier4_autoware_utils::debug_traits
+namespace autoware_universe_utils::debug_traits
 {
 template <typename T>
 struct is_debug_message : std::false_type
@@ -84,6 +84,6 @@ template <>
 struct is_debug_message<tier4_debug_msgs::msg::StringStamped> : std::true_type
 {
 };
-}  // namespace tier4_autoware_utils::debug_traits
+}  // namespace autoware_universe_utils::debug_traits
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__DEBUG_TRAITS_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_TRAITS_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/logger_level_configure.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/logger_level_configure.hpp
similarity index 80%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/logger_level_configure.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/logger_level_configure.hpp
index 5aee3a251dad2..41163ea38b018 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/logger_level_configure.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/logger_level_configure.hpp
@@ -22,12 +22,12 @@
 
 // =============== How to use ===============
 // ___In your_node.hpp___
-// #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
+// #include "autoware/universe_utils/ros/logger_level_configure.hpp"
 // class YourNode : public rclcpp::Node {
 //   ...
 //
 //   // Define logger_configure as a node class member variable
-//   std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+//   std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 // }
 //
 // ___In your_node.cpp___
@@ -38,14 +38,14 @@
 //   logger_configure_ = std::make_unique<LoggerLevelConfigure>(this);
 // }
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_
 
 #include "logging_demo/srv/config_logger.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 class LoggerLevelConfigure
 {
@@ -64,5 +64,5 @@ class LoggerLevelConfigure
     const ConfigLogger::Response::SharedPtr response);
 };
 
-}  // namespace tier4_autoware_utils
-#endif  // TIER4_AUTOWARE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_
+}  // namespace autoware_universe_utils
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__LOGGER_LEVEL_CONFIGURE_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/marker_helper.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/marker_helper.hpp
similarity index 89%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/marker_helper.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/marker_helper.hpp
index c00c3c1c364df..ad2d2f84f82e0 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/marker_helper.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/marker_helper.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__MARKER_HELPER_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__MARKER_HELPER_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__MARKER_HELPER_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__MARKER_HELPER_HPP_
 
 #include <rclcpp/time.hpp>
 
@@ -22,7 +22,7 @@
 #include <optional>
 #include <string>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 inline geometry_msgs::msg::Point createMarkerPosition(double x, double y, double z)
 {
@@ -76,6 +76,6 @@ void appendMarkerArray(
   visualization_msgs::msg::MarkerArray * marker_array,
   const std::optional<rclcpp::Time> & current_time = {});
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__MARKER_HELPER_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__MARKER_HELPER_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/msg_covariance.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/msg_covariance.hpp
similarity index 90%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/msg_covariance.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/msg_covariance.hpp
index 4ebf81d4bfda5..55caf1955b6ec 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/msg_covariance.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/msg_covariance.hpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__MSG_COVARIANCE_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__MSG_COVARIANCE_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__MSG_COVARIANCE_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__MSG_COVARIANCE_HPP_
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 namespace xyz_covariance_index
 {
@@ -115,6 +115,6 @@ enum XYZ_UPPER_COV_IDX {
   Z_Z = 5,
 };
 }  // namespace xyz_upper_covariance_index
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__MSG_COVARIANCE_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__MSG_COVARIANCE_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/msg_operation.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/msg_operation.hpp
similarity index 79%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/msg_operation.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/msg_operation.hpp
index 4ac5dc05204f9..5ac3441dd2fc4 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/msg_operation.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/msg_operation.hpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__MSG_OPERATION_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__MSG_OPERATION_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__MSG_OPERATION_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__MSG_OPERATION_HPP_
 
 #include "geometry_msgs/msg/quaternion.hpp"
 
-// NOTE: Do not use tier4_autoware_utils namespace
+// NOTE: Do not use autoware_universe_utils namespace
 namespace geometry_msgs
 {
 namespace msg
@@ -28,4 +28,4 @@ Quaternion operator-(Quaternion a, Quaternion b) noexcept;
 }  // namespace msg
 }  // namespace geometry_msgs
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__MSG_OPERATION_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__MSG_OPERATION_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/parameter.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/parameter.hpp
similarity index 78%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/parameter.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/parameter.hpp
index ac9b124a02cdb..5ef1837e0cece 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/parameter.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/parameter.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__PARAMETER_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__PARAMETER_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__PARAMETER_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__PARAMETER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
 #include <string>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 template <class T>
 T getOrDeclareParameter(rclcpp::Node & node, const std::string & name)
@@ -30,6 +30,6 @@ T getOrDeclareParameter(rclcpp::Node & node, const std::string & name)
 
   return node.declare_parameter<T>(name);
 }
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__PARAMETER_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__PARAMETER_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/pcl_conversion.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/pcl_conversion.hpp
similarity index 90%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/pcl_conversion.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/pcl_conversion.hpp
index c66a63eb1ac51..cce8a75b37aa9 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/pcl_conversion.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/pcl_conversion.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__PCL_CONVERSION_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__PCL_CONVERSION_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__PCL_CONVERSION_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__PCL_CONVERSION_HPP_
 
 #include <pcl/common/transforms.h>
 #include <pcl_conversions/pcl_conversions.h>
 
 #include <vector>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 /**
  * @brief a faster implementation of converting sensor_msgs::msg::PointCloud2 to
@@ -67,6 +67,6 @@ void transformPointCloudFromROSMsg(
   }
 }
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__PCL_CONVERSION_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__PCL_CONVERSION_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/polling_subscriber.hpp
similarity index 95%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/polling_subscriber.hpp
index be5104b489db6..a41e13229a826 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/polling_subscriber.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -23,7 +23,7 @@
 #include <type_traits>
 #include <vector>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 
 inline rclcpp::SensorDataQoS SingleDepthSensorQoS()
@@ -159,6 +159,6 @@ class InterProcessPollingSubscriber<T, N, typename std::enable_if<(N >= 2)>::typ
   };
 };
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/processing_time_publisher.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/processing_time_publisher.hpp
similarity index 86%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/processing_time_publisher.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/processing_time_publisher.hpp
index 80d394a1c200e..bb92d615b0a8d 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/processing_time_publisher.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/processing_time_publisher.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__PROCESSING_TIME_PUBLISHER_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__PROCESSING_TIME_PUBLISHER_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__PROCESSING_TIME_PUBLISHER_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__PROCESSING_TIME_PUBLISHER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -23,7 +23,7 @@
 #include <sstream>
 #include <string>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 class ProcessingTimePublisher
 {
@@ -62,6 +62,6 @@ class ProcessingTimePublisher
     return oss.str();
   }
 };
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__PROCESSING_TIME_PUBLISHER_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__PROCESSING_TIME_PUBLISHER_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/published_time_publisher.hpp
similarity index 92%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/published_time_publisher.hpp
index 21705cab9a962..960295944a14b 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/published_time_publisher.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -26,7 +26,7 @@
 #include <string>
 #include <utility>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 
 class PublishedTimePublisher
@@ -109,6 +109,6 @@ class PublishedTimePublisher
   // store them for each different publisher of the node
   std::map<rmw_gid_t, rclcpp::Publisher<PublishedTime>::SharedPtr, GidCompare> publishers_;
 };
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/self_pose_listener.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/self_pose_listener.hpp
similarity index 77%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/self_pose_listener.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/self_pose_listener.hpp
index 8148392ecda3b..0bd9a4db5b674 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/self_pose_listener.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/self_pose_listener.hpp
@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__SELF_POSE_LISTENER_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__SELF_POSE_LISTENER_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__SELF_POSE_LISTENER_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__SELF_POSE_LISTENER_HPP_
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/ros/transform_listener.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/ros/transform_listener.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
 #include <memory>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 class SelfPoseListener
 {
@@ -53,6 +53,6 @@ class SelfPoseListener
 private:
   TransformListener transform_listener_;
 };
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__SELF_POSE_LISTENER_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__SELF_POSE_LISTENER_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/transform_listener.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/transform_listener.hpp
similarity index 91%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/transform_listener.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/transform_listener.hpp
index 96b1cc6ea6ccc..176a11dcde529 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/transform_listener.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/transform_listener.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__TRANSFORM_LISTENER_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__TRANSFORM_LISTENER_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__TRANSFORM_LISTENER_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__TRANSFORM_LISTENER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -26,7 +26,7 @@
 #include <memory>
 #include <string>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 class TransformListener
 {
@@ -82,6 +82,6 @@ class TransformListener
   std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
   std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
 };
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__TRANSFORM_LISTENER_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__TRANSFORM_LISTENER_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/update_param.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/update_param.hpp
similarity index 80%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/update_param.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/update_param.hpp
index 36abcc11175e1..8bb505d765aef 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/update_param.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/update_param.hpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__UPDATE_PARAM_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__UPDATE_PARAM_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__UPDATE_PARAM_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__UPDATE_PARAM_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
 #include <string>
 #include <vector>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 template <class T>
 bool updateParam(const std::vector<rclcpp::Parameter> & params, const std::string & name, T & value)
@@ -37,6 +37,6 @@ bool updateParam(const std::vector<rclcpp::Parameter> & params, const std::strin
   value = itr->template get_value<T>();
   return true;
 }
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__UPDATE_PARAM_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__UPDATE_PARAM_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/uuid_helper.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/uuid_helper.hpp
similarity index 87%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/uuid_helper.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/uuid_helper.hpp
index efb5564bdaa71..7d4892f724848 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/uuid_helper.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/uuid_helper.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__UUID_HELPER_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__UUID_HELPER_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__UUID_HELPER_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__UUID_HELPER_HPP_
 
 #include <unique_identifier_msgs/msg/uuid.hpp>
 
@@ -23,7 +23,7 @@
 #include <random>
 #include <string>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 inline unique_identifier_msgs::msg::UUID generateUUID()
 {
@@ -58,6 +58,6 @@ inline unique_identifier_msgs::msg::UUID toUUIDMsg(const boost::uuids::uuid & id
   return ros_uuid;
 }
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__UUID_HELPER_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__UUID_HELPER_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/wait_for_param.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/wait_for_param.hpp
similarity index 84%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/ros/wait_for_param.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/wait_for_param.hpp
index 67a1249c5b042..0aaef92835653 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/wait_for_param.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/wait_for_param.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__ROS__WAIT_FOR_PARAM_HPP_
-#define TIER4_AUTOWARE_UTILS__ROS__WAIT_FOR_PARAM_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__WAIT_FOR_PARAM_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__ROS__WAIT_FOR_PARAM_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -21,7 +21,7 @@
 #include <memory>
 #include <string>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 template <class T>
 T waitForParam(
@@ -47,6 +47,6 @@ T waitForParam(
 
   return {};
 }
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__ROS__WAIT_FOR_PARAM_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__ROS__WAIT_FOR_PARAM_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/system/backtrace.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/system/backtrace.hpp
similarity index 71%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/system/backtrace.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/system/backtrace.hpp
index c784d71ad5060..f195cd2b32391 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/system/backtrace.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/system/backtrace.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__SYSTEM__BACKTRACE_HPP_
-#define TIER4_AUTOWARE_UTILS__SYSTEM__BACKTRACE_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__SYSTEM__BACKTRACE_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__SYSTEM__BACKTRACE_HPP_
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 
 void print_backtrace();
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__SYSTEM__BACKTRACE_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__SYSTEM__BACKTRACE_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/system/stop_watch.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/system/stop_watch.hpp
similarity index 87%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/system/stop_watch.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/system/stop_watch.hpp
index 0d804e797936c..3df651825f1aa 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/system/stop_watch.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/system/stop_watch.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__SYSTEM__STOP_WATCH_HPP_
-#define TIER4_AUTOWARE_UTILS__SYSTEM__STOP_WATCH_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__SYSTEM__STOP_WATCH_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__SYSTEM__STOP_WATCH_HPP_
 
 #include <chrono>
 #include <string>
 #include <unordered_map>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 template <
   class OutputUnit = std::chrono::seconds, class InternalUnit = std::chrono::microseconds,
@@ -58,6 +58,6 @@ class StopWatch
 
   std::unordered_map<std::string, Time> t_start_;
 };
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__SYSTEM__STOP_WATCH_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__SYSTEM__STOP_WATCH_HPP_
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/transform/transforms.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/transform/transforms.hpp
similarity index 85%
rename from common/tier4_autoware_utils/include/tier4_autoware_utils/transform/transforms.hpp
rename to common/autoware_universe_utils/include/autoware/universe_utils/transform/transforms.hpp
index ea88ea7624216..f480a709d169e 100644
--- a/common/tier4_autoware_utils/include/tier4_autoware_utils/transform/transforms.hpp
+++ b/common/autoware_universe_utils/include/autoware/universe_utils/transform/transforms.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef TIER4_AUTOWARE_UTILS__TRANSFORM__TRANSFORMS_HPP_
-#define TIER4_AUTOWARE_UTILS__TRANSFORM__TRANSFORMS_HPP_
+#ifndef AUTOWARE__UNIVERSE_UTILS__TRANSFORM__TRANSFORMS_HPP_
+#define AUTOWARE__UNIVERSE_UTILS__TRANSFORM__TRANSFORMS_HPP_
 
 #include <Eigen/Core>
 #include <rclcpp/rclcpp.hpp>
@@ -21,7 +21,7 @@
 #include <pcl/common/transforms.h>
 #include <pcl/point_cloud.h>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 template <typename PointT>
 void transformPointCloud(
@@ -46,6 +46,6 @@ void transformPointCloud(
     pcl::transformPointCloud(cloud_in, cloud_out, transform);
   }
 }
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
-#endif  // TIER4_AUTOWARE_UTILS__TRANSFORM__TRANSFORMS_HPP_
+#endif  // AUTOWARE__UNIVERSE_UTILS__TRANSFORM__TRANSFORMS_HPP_
diff --git a/common/tier4_autoware_utils/package.xml b/common/autoware_universe_utils/package.xml
similarity index 93%
rename from common/tier4_autoware_utils/package.xml
rename to common/autoware_universe_utils/package.xml
index 334ee226a5f22..de0461b5a841d 100644
--- a/common/tier4_autoware_utils/package.xml
+++ b/common/autoware_universe_utils/package.xml
@@ -1,9 +1,9 @@
 <?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>tier4_autoware_utils</name>
+  <name>autoware_universe_utils</name>
   <version>0.1.0</version>
-  <description>The tier4_autoware_utils package</description>
+  <description>The autoware_universe_utils package</description>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
diff --git a/common/tier4_autoware_utils/src/geometry/boost_polygon_utils.cpp b/common/autoware_universe_utils/src/geometry/boost_polygon_utils.cpp
similarity index 85%
rename from common/tier4_autoware_utils/src/geometry/boost_polygon_utils.cpp
rename to common/autoware_universe_utils/src/geometry/boost_polygon_utils.cpp
index 01e02d1cf0038..ce9232a8c1add 100644
--- a/common/tier4_autoware_utils/src/geometry/boost_polygon_utils.cpp
+++ b/common/autoware_universe_utils/src/geometry/boost_polygon_utils.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <boost/geometry/geometry.hpp>
 
@@ -23,8 +23,8 @@
 namespace
 {
 namespace bg = boost::geometry;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 
 void appendPointToPolygon(Polygon2d & polygon, const geometry_msgs::msg::Point & geom_point)
 {
@@ -68,7 +68,7 @@ double getCircleArea(const geometry_msgs::msg::Vector3 & dimensions)
 }
 }  // namespace
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 bool isClockwise(const Polygon2d & polygon)
 {
@@ -123,16 +123,16 @@ Polygon2d toPolygon2d(
   Polygon2d polygon;
 
   if (shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) {
-    const auto point0 = tier4_autoware_utils::calcOffsetPose(
+    const auto point0 = autoware_universe_utils::calcOffsetPose(
                           pose, shape.dimensions.x / 2.0, shape.dimensions.y / 2.0, 0.0)
                           .position;
-    const auto point1 = tier4_autoware_utils::calcOffsetPose(
+    const auto point1 = autoware_universe_utils::calcOffsetPose(
                           pose, -shape.dimensions.x / 2.0, shape.dimensions.y / 2.0, 0.0)
                           .position;
-    const auto point2 = tier4_autoware_utils::calcOffsetPose(
+    const auto point2 = autoware_universe_utils::calcOffsetPose(
                           pose, -shape.dimensions.x / 2.0, -shape.dimensions.y / 2.0, 0.0)
                           .position;
-    const auto point3 = tier4_autoware_utils::calcOffsetPose(
+    const auto point3 = autoware_universe_utils::calcOffsetPose(
                           pose, shape.dimensions.x / 2.0, -shape.dimensions.y / 2.0, 0.0)
                           .position;
 
@@ -168,7 +168,7 @@ Polygon2d toPolygon2d(
       appendPointToPolygon(polygon, abs_point);
     }
   } else {
-    throw std::logic_error("The shape type is not supported in tier4_autoware_utils.");
+    throw std::logic_error("The shape type is not supported in autoware_universe_utils.");
   }
 
   // NOTE: push back the first point in order to close polygon
@@ -179,24 +179,24 @@ Polygon2d toPolygon2d(
   return isClockwise(polygon) ? polygon : inverseClockwise(polygon);
 }
 
-tier4_autoware_utils::Polygon2d toPolygon2d(
+autoware_universe_utils::Polygon2d toPolygon2d(
   const autoware_perception_msgs::msg::DetectedObject & object)
 {
-  return tier4_autoware_utils::toPolygon2d(
+  return autoware_universe_utils::toPolygon2d(
     object.kinematics.pose_with_covariance.pose, object.shape);
 }
 
-tier4_autoware_utils::Polygon2d toPolygon2d(
+autoware_universe_utils::Polygon2d toPolygon2d(
   const autoware_perception_msgs::msg::TrackedObject & object)
 {
-  return tier4_autoware_utils::toPolygon2d(
+  return autoware_universe_utils::toPolygon2d(
     object.kinematics.pose_with_covariance.pose, object.shape);
 }
 
-tier4_autoware_utils::Polygon2d toPolygon2d(
+autoware_universe_utils::Polygon2d toPolygon2d(
   const autoware_perception_msgs::msg::PredictedObject & object)
 {
-  return tier4_autoware_utils::toPolygon2d(
+  return autoware_universe_utils::toPolygon2d(
     object.kinematics.initial_pose_with_covariance.pose, object.shape);
 }
 
@@ -206,13 +206,17 @@ Polygon2d toFootprint(
 {
   Polygon2d polygon;
   const auto point0 =
-    tier4_autoware_utils::calcOffsetPose(base_link_pose, base_to_front, width / 2.0, 0.0).position;
+    autoware_universe_utils::calcOffsetPose(base_link_pose, base_to_front, width / 2.0, 0.0)
+      .position;
   const auto point1 =
-    tier4_autoware_utils::calcOffsetPose(base_link_pose, base_to_front, -width / 2.0, 0.0).position;
+    autoware_universe_utils::calcOffsetPose(base_link_pose, base_to_front, -width / 2.0, 0.0)
+      .position;
   const auto point2 =
-    tier4_autoware_utils::calcOffsetPose(base_link_pose, -base_to_rear, -width / 2.0, 0.0).position;
+    autoware_universe_utils::calcOffsetPose(base_link_pose, -base_to_rear, -width / 2.0, 0.0)
+      .position;
   const auto point3 =
-    tier4_autoware_utils::calcOffsetPose(base_link_pose, -base_to_rear, width / 2.0, 0.0).position;
+    autoware_universe_utils::calcOffsetPose(base_link_pose, -base_to_rear, width / 2.0, 0.0)
+      .position;
 
   appendPointToPolygon(polygon, point0);
   appendPointToPolygon(polygon, point1);
@@ -233,7 +237,7 @@ double getArea(const autoware_perception_msgs::msg::Shape & shape)
     return getPolygonArea(shape.footprint);
   }
 
-  throw std::logic_error("The shape type is not supported in tier4_autoware_utils.");
+  throw std::logic_error("The shape type is not supported in autoware_universe_utils.");
 }
 
 // NOTE: The number of vertices on the expanded polygon by boost::geometry::buffer
@@ -268,4 +272,4 @@ Polygon2d expandPolygon(const Polygon2d & input_polygon, const double offset)
   boost::geometry::correct(expanded_polygon);
   return expanded_polygon;
 }
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
diff --git a/common/tier4_autoware_utils/src/geometry/geometry.cpp b/common/autoware_universe_utils/src/geometry/geometry.cpp
similarity index 98%
rename from common/tier4_autoware_utils/src/geometry/geometry.cpp
rename to common/autoware_universe_utils/src/geometry/geometry.cpp
index b88646b73dd7c..e6a491671595a 100644
--- a/common/tier4_autoware_utils/src/geometry/geometry.cpp
+++ b/common/autoware_universe_utils/src/geometry/geometry.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <Eigen/Geometry>
 
@@ -32,7 +32,7 @@ void fromMsg(const geometry_msgs::msg::PoseStamped & msg, tf2::Stamped<tf2::Tran
 }
 }  // namespace tf2
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 geometry_msgs::msg::Vector3 getRPY(const geometry_msgs::msg::Quaternion & quat)
 {
@@ -208,7 +208,7 @@ geometry_msgs::msg::Point32 transformPoint(
 {
   const auto point =
     geometry_msgs::build<geometry_msgs::msg::Point>().x(point32.x).y(point32.y).z(point32.z);
-  const auto transformed_point = tier4_autoware_utils::transformPoint(point, pose);
+  const auto transformed_point = autoware_universe_utils::transformPoint(point, pose);
   return geometry_msgs::build<geometry_msgs::msg::Point32>()
     .x(transformed_point.x)
     .y(transformed_point.y)
@@ -383,4 +383,4 @@ std::optional<geometry_msgs::msg::Point> intersect(
   return intersect_point;
 }
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
diff --git a/common/tier4_autoware_utils/src/geometry/pose_deviation.cpp b/common/autoware_universe_utils/src/geometry/pose_deviation.cpp
similarity index 92%
rename from common/tier4_autoware_utils/src/geometry/pose_deviation.cpp
rename to common/autoware_universe_utils/src/geometry/pose_deviation.cpp
index dda8afb974d26..5c81519510c8e 100644
--- a/common/tier4_autoware_utils/src/geometry/pose_deviation.cpp
+++ b/common/autoware_universe_utils/src/geometry/pose_deviation.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/geometry/pose_deviation.hpp"
+#include "autoware/universe_utils/geometry/pose_deviation.hpp"
 
-#include "tier4_autoware_utils/math/normalization.hpp"
+#include "autoware/universe_utils/math/normalization.hpp"
 
 #include <tf2/utils.h>
 
@@ -28,7 +28,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 
 double calcLateralDeviation(
@@ -82,4 +82,4 @@ PoseDeviation calcPoseDeviation(
 
   return deviation;
 }
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
diff --git a/common/tier4_autoware_utils/src/math/sin_table.cpp b/common/autoware_universe_utils/src/math/sin_table.cpp
similarity index 99%
rename from common/tier4_autoware_utils/src/math/sin_table.cpp
rename to common/autoware_universe_utils/src/math/sin_table.cpp
index 0657c2303226f..bc0a5d7b09024 100644
--- a/common/tier4_autoware_utils/src/math/sin_table.cpp
+++ b/common/autoware_universe_utils/src/math/sin_table.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/math/sin_table.hpp"
+#include "autoware/universe_utils/math/sin_table.hpp"
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 
 const float g_sin_table[sin_table_size] = {
@@ -8212,4 +8212,4 @@ const float g_sin_table[sin_table_size] = {
   0.9999999816164293f, 0.9999999896592414f, 0.9999999954041073f, 0.9999999988510269f,
   1.0000000000000000f};
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
diff --git a/common/tier4_autoware_utils/src/math/trigonometry.cpp b/common/autoware_universe_utils/src/math/trigonometry.cpp
similarity index 81%
rename from common/tier4_autoware_utils/src/math/trigonometry.cpp
rename to common/autoware_universe_utils/src/math/trigonometry.cpp
index 0ce65c7aa5bc8..40a993343b1de 100644
--- a/common/tier4_autoware_utils/src/math/trigonometry.cpp
+++ b/common/autoware_universe_utils/src/math/trigonometry.cpp
@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/math/trigonometry.hpp"
+#include "autoware/universe_utils/math/trigonometry.hpp"
 
-#include "tier4_autoware_utils/math/constants.hpp"
-#include "tier4_autoware_utils/math/sin_table.hpp"
+#include "autoware/universe_utils/math/constants.hpp"
+#include "autoware/universe_utils/math/sin_table.hpp"
 
 #include <cmath>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 
 float sin(float radian)
 {
-  float degree = radian * (180.f / static_cast<float>(tier4_autoware_utils::pi)) *
+  float degree = radian * (180.f / static_cast<float>(autoware_universe_utils::pi)) *
                  (discrete_arcs_num_360 / 360.f);
   size_t idx =
     (static_cast<int>(std::round(degree)) % discrete_arcs_num_360 + discrete_arcs_num_360) %
@@ -46,13 +46,13 @@ float sin(float radian)
 
 float cos(float radian)
 {
-  return sin(radian + static_cast<float>(tier4_autoware_utils::pi) / 2.f);
+  return sin(radian + static_cast<float>(autoware_universe_utils::pi) / 2.f);
 }
 
 std::pair<float, float> sin_and_cos(float radian)
 {
   constexpr float tmp =
-    (180.f / static_cast<float>(tier4_autoware_utils::pi)) * (discrete_arcs_num_360 / 360.f);
+    (180.f / static_cast<float>(autoware_universe_utils::pi)) * (discrete_arcs_num_360 / 360.f);
   const float degree = radian * tmp;
   size_t idx =
     (static_cast<int>(std::round(degree)) % discrete_arcs_num_360 + discrete_arcs_num_360) %
@@ -72,4 +72,4 @@ std::pair<float, float> sin_and_cos(float radian)
   }
 }
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
diff --git a/common/tier4_autoware_utils/src/ros/logger_level_configure.cpp b/common/autoware_universe_utils/src/ros/logger_level_configure.cpp
similarity index 93%
rename from common/tier4_autoware_utils/src/ros/logger_level_configure.cpp
rename to common/autoware_universe_utils/src/ros/logger_level_configure.cpp
index d764299290d05..77e8d9bf16d7f 100644
--- a/common/tier4_autoware_utils/src/ros/logger_level_configure.cpp
+++ b/common/autoware_universe_utils/src/ros/logger_level_configure.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
 
 #include <rcutils/logging.h>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 LoggerLevelConfigure::LoggerLevelConfigure(rclcpp::Node * node) : ros_logger_(node->get_logger())
 {
@@ -58,4 +58,4 @@ void LoggerLevelConfigure::onLoggerConfigService(
   return;
 }
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
diff --git a/common/tier4_autoware_utils/src/ros/marker_helper.cpp b/common/autoware_universe_utils/src/ros/marker_helper.cpp
similarity index 94%
rename from common/tier4_autoware_utils/src/ros/marker_helper.cpp
rename to common/autoware_universe_utils/src/ros/marker_helper.cpp
index fda997edc83db..d4f97af2ef90f 100644
--- a/common/tier4_autoware_utils/src/ros/marker_helper.cpp
+++ b/common/autoware_universe_utils/src/ros/marker_helper.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
+#include "autoware/universe_utils/ros/marker_helper.hpp"
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 
 visualization_msgs::msg::Marker createDefaultMarker(
@@ -68,4 +68,4 @@ void appendMarkerArray(
   }
 }
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
diff --git a/common/tier4_autoware_utils/src/ros/msg_operation.cpp b/common/autoware_universe_utils/src/ros/msg_operation.cpp
similarity index 92%
rename from common/tier4_autoware_utils/src/ros/msg_operation.cpp
rename to common/autoware_universe_utils/src/ros/msg_operation.cpp
index cc1a59317a8e0..02c24b2a6cb33 100644
--- a/common/tier4_autoware_utils/src/ros/msg_operation.cpp
+++ b/common/autoware_universe_utils/src/ros/msg_operation.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/ros/msg_operation.hpp"
+#include "autoware/universe_utils/ros/msg_operation.hpp"
 
 #include <tf2/utils.h>
 
@@ -22,7 +22,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-// NOTE: Do not use tier4_autoware_utils namespace
+// NOTE: Do not use autoware_universe_utils namespace
 namespace geometry_msgs
 {
 namespace msg
diff --git a/common/tier4_autoware_utils/src/system/backtrace.cpp b/common/autoware_universe_utils/src/system/backtrace.cpp
similarity index 85%
rename from common/tier4_autoware_utils/src/system/backtrace.cpp
rename to common/autoware_universe_utils/src/system/backtrace.cpp
index 343f200296cad..f4c4312ce44fb 100644
--- a/common/tier4_autoware_utils/src/system/backtrace.cpp
+++ b/common/autoware_universe_utils/src/system/backtrace.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/system/backtrace.hpp"
+#include "autoware/universe_utils/system/backtrace.hpp"
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -23,7 +23,7 @@
 #include <sstream>
 #include <vector>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 
 void print_backtrace()
@@ -44,9 +44,9 @@ void print_backtrace()
   for (int i = 1; i < addrlen; i++) {
     ss << "   @   " << symbol_list[i] << std::endl;
   }
-  RCLCPP_DEBUG_STREAM(rclcpp::get_logger("tier4_autoware_utils"), ss.str());
+  RCLCPP_DEBUG_STREAM(rclcpp::get_logger("autoware_universe_utils"), ss.str());
 
   free(symbol_list);
 }
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
diff --git a/common/tier4_autoware_utils/test/src/geometry/test_boost_geometry.cpp b/common/autoware_universe_utils/test/src/geometry/test_boost_geometry.cpp
similarity index 88%
rename from common/tier4_autoware_utils/test/src/geometry/test_boost_geometry.cpp
rename to common/autoware_universe_utils/test/src/geometry/test_boost_geometry.cpp
index 4e5483935da00..764bb388fc74a 100644
--- a/common/tier4_autoware_utils/test/src/geometry/test_boost_geometry.cpp
+++ b/common/autoware_universe_utils/test/src/geometry/test_boost_geometry.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
 
 #include <boost/geometry/geometry.hpp>
 
@@ -20,8 +20,8 @@
 
 namespace bg = boost::geometry;
 
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Point3d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Point3d;
 
 TEST(boost_geometry, boost_geometry_distance)
 {
@@ -54,7 +54,7 @@ TEST(boost_geometry, to_2d)
 
 TEST(boost_geometry, toMsg)
 {
-  using tier4_autoware_utils::toMsg;
+  using autoware_universe_utils::toMsg;
 
   {
     const Point3d p(1.0, 2.0, 3.0);
@@ -68,7 +68,7 @@ TEST(boost_geometry, toMsg)
 
 TEST(boost_geometry, fromMsg)
 {
-  using tier4_autoware_utils::fromMsg;
+  using autoware_universe_utils::fromMsg;
 
   geometry_msgs::msg::Point p_msg;
   p_msg.x = 1.0;
diff --git a/common/tier4_autoware_utils/test/src/geometry/test_boost_polygon_utils.cpp b/common/autoware_universe_utils/test/src/geometry/test_boost_polygon_utils.cpp
similarity index 95%
rename from common/tier4_autoware_utils/test/src/geometry/test_boost_polygon_utils.cpp
rename to common/autoware_universe_utils/test/src/geometry/test_boost_polygon_utils.cpp
index 7689544bd79cc..ed576ba0dceaf 100644
--- a/common/tier4_autoware_utils/test/src/geometry/test_boost_polygon_utils.cpp
+++ b/common/autoware_universe_utils/test/src/geometry/test_boost_polygon_utils.cpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <boost/geometry/geometry.hpp>
 
 #include <gtest/gtest.h>
 
-using tier4_autoware_utils::Polygon2d;
+using autoware_universe_utils::Polygon2d;
 
 namespace
 {
@@ -39,7 +39,7 @@ geometry_msgs::msg::Pose createPose(const double x, const double y, const double
   p.position.x = x;
   p.position.y = y;
   p.position.z = 0.0;
-  p.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw);
+  p.orientation = autoware_universe_utils::createQuaternionFromYaw(yaw);
 
   return p;
 }
@@ -47,7 +47,7 @@ geometry_msgs::msg::Pose createPose(const double x, const double y, const double
 
 TEST(boost_geometry, boost_isClockwise)
 {
-  using tier4_autoware_utils::isClockwise;
+  using autoware_universe_utils::isClockwise;
 
   // empty
   Polygon2d empty_polygon;
@@ -72,8 +72,8 @@ TEST(boost_geometry, boost_isClockwise)
 
 TEST(boost_geometry, boost_inverseClockwise)
 {
-  using tier4_autoware_utils::inverseClockwise;
-  using tier4_autoware_utils::isClockwise;
+  using autoware_universe_utils::inverseClockwise;
+  using autoware_universe_utils::isClockwise;
 
   // empty
   Polygon2d empty_polygon;
@@ -100,7 +100,7 @@ TEST(boost_geometry, boost_inverseClockwise)
 TEST(boost_geometry, boost_rotatePolygon)
 {
   constexpr double epsilon = 1e-6;
-  using tier4_autoware_utils::rotatePolygon;
+  using autoware_universe_utils::rotatePolygon;
 
   // empty
   geometry_msgs::msg::Polygon empty_polygon;
@@ -130,7 +130,7 @@ TEST(boost_geometry, boost_rotatePolygon)
 
 TEST(boost_geometry, boost_toPolygon2d)
 {
-  using tier4_autoware_utils::toPolygon2d;
+  using autoware_universe_utils::toPolygon2d;
 
   {  // bounding box
     const double x = 1.0;
@@ -206,7 +206,7 @@ TEST(boost_geometry, boost_toPolygon2d)
 
 TEST(boost_geometry, boost_toFootprint)
 {
-  using tier4_autoware_utils::toFootprint;
+  using autoware_universe_utils::toFootprint;
 
   // from base link
   {
@@ -234,7 +234,7 @@ TEST(boost_geometry, boost_toFootprint)
 
 TEST(boost_geometry, boost_getArea)
 {
-  using tier4_autoware_utils::getArea;
+  using autoware_universe_utils::getArea;
 
   {  // bounding box
     const double x = 1.0;
@@ -290,7 +290,7 @@ TEST(boost_geometry, boost_getArea)
 
 TEST(boost_geometry, boost_expandPolygon)
 {
-  using tier4_autoware_utils::expandPolygon;
+  using autoware_universe_utils::expandPolygon;
 
   {  // box with a certain offset
     Polygon2d box_poly{{{-1.0, -1.0}, {-1.0, 1.0}, {1.0, 1.0}, {1.0, -1.0}, {-1.0, -1.0}}};
diff --git a/common/tier4_autoware_utils/test/src/geometry/test_geometry.cpp b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp
similarity index 90%
rename from common/tier4_autoware_utils/test/src/geometry/test_geometry.cpp
rename to common/autoware_universe_utils/test/src/geometry/test_geometry.cpp
index b492da2d72e88..37e43c0ce08dd 100644
--- a/common/tier4_autoware_utils/test/src/geometry/test_geometry.cpp
+++ b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 
 #include <geometry_msgs/msg/point32.hpp>
 
@@ -25,7 +25,7 @@ constexpr double epsilon = 1e-6;
 
 TEST(geometry, getPoint)
 {
-  using tier4_autoware_utils::getPoint;
+  using autoware_universe_utils::getPoint;
 
   const double x_ans = 1.0;
   const double y_ans = 2.0;
@@ -114,7 +114,7 @@ TEST(geometry, getPoint)
 
 TEST(geometry, getPose)
 {
-  using tier4_autoware_utils::getPose;
+  using autoware_universe_utils::getPose;
 
   const double x_ans = 1.0;
   const double y_ans = 2.0;
@@ -203,7 +203,7 @@ TEST(geometry, getPose)
 
 TEST(geometry, getLongitudinalVelocity)
 {
-  using tier4_autoware_utils::getLongitudinalVelocity;
+  using autoware_universe_utils::getLongitudinalVelocity;
 
   const double velocity = 1.0;
 
@@ -222,7 +222,7 @@ TEST(geometry, getLongitudinalVelocity)
 
 TEST(geometry, setPose)
 {
-  using tier4_autoware_utils::setPose;
+  using autoware_universe_utils::setPose;
 
   const double x_ans = 1.0;
   const double y_ans = 2.0;
@@ -292,9 +292,9 @@ TEST(geometry, setPose)
 
 TEST(geometry, setOrientation)
 {
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::setOrientation;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::setOrientation;
 
   geometry_msgs::msg::Pose p;
   const auto orientation = createQuaternionFromRPY(deg2rad(30), deg2rad(30), deg2rad(30));
@@ -308,7 +308,7 @@ TEST(geometry, setOrientation)
 
 TEST(geometry, setLongitudinalVelocity)
 {
-  using tier4_autoware_utils::setLongitudinalVelocity;
+  using autoware_universe_utils::setLongitudinalVelocity;
 
   const double velocity = 1.0;
 
@@ -327,7 +327,7 @@ TEST(geometry, setLongitudinalVelocity)
 
 TEST(geometry, createPoint)
 {
-  using tier4_autoware_utils::createPoint;
+  using autoware_universe_utils::createPoint;
 
   const geometry_msgs::msg::Point p_out = createPoint(1.0, 2.0, 3.0);
   EXPECT_DOUBLE_EQ(p_out.x, 1.0);
@@ -337,7 +337,7 @@ TEST(geometry, createPoint)
 
 TEST(geometry, createQuaternion)
 {
-  using tier4_autoware_utils::createQuaternion;
+  using autoware_universe_utils::createQuaternion;
 
   // (0.18257419, 0.36514837, 0.54772256, 0.73029674) is normalized quaternion of (1, 2, 3, 4)
   const geometry_msgs::msg::Quaternion q_out =
@@ -350,7 +350,7 @@ TEST(geometry, createQuaternion)
 
 TEST(geometry, createTranslation)
 {
-  using tier4_autoware_utils::createTranslation;
+  using autoware_universe_utils::createTranslation;
 
   const geometry_msgs::msg::Vector3 v_out = createTranslation(1.0, 2.0, 3.0);
   EXPECT_DOUBLE_EQ(v_out.x, 1.0);
@@ -360,8 +360,8 @@ TEST(geometry, createTranslation)
 
 TEST(geometry, createQuaternionFromRPY)
 {
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
 
   {
     const auto q_out = createQuaternionFromRPY(0, 0, 0);
@@ -390,8 +390,8 @@ TEST(geometry, createQuaternionFromRPY)
 
 TEST(geometry, createQuaternionFromYaw)
 {
-  using tier4_autoware_utils::createQuaternionFromYaw;
-  using tier4_autoware_utils::deg2rad;
+  using autoware_universe_utils::createQuaternionFromYaw;
+  using autoware_universe_utils::deg2rad;
 
   {
     const auto q_out = createQuaternionFromYaw(0);
@@ -420,9 +420,9 @@ TEST(geometry, createQuaternionFromYaw)
 
 TEST(geometry, calcElevationAngle)
 {
-  using tier4_autoware_utils::calcElevationAngle;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
+  using autoware_universe_utils::calcElevationAngle;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
 
   {
     const auto p1 = createPoint(1.0, 1.0, 1.0);
@@ -468,9 +468,9 @@ TEST(geometry, calcElevationAngle)
 
 TEST(geometry, calcAzimuthAngle)
 {
-  using tier4_autoware_utils::calcAzimuthAngle;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
+  using autoware_universe_utils::calcAzimuthAngle;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
 
   {
     const auto p1 = createPoint(0.0, 0.0, 9.0);
@@ -521,7 +521,7 @@ TEST(geometry, calcAzimuthAngle)
 
 TEST(geometry, calcDistance2d)
 {
-  using tier4_autoware_utils::calcDistance2d;
+  using autoware_universe_utils::calcDistance2d;
 
   geometry_msgs::msg::Point point;
   point.x = 1.0;
@@ -538,7 +538,7 @@ TEST(geometry, calcDistance2d)
 
 TEST(geometry, calcSquaredDistance2d)
 {
-  using tier4_autoware_utils::calcSquaredDistance2d;
+  using autoware_universe_utils::calcSquaredDistance2d;
 
   geometry_msgs::msg::Point point;
   point.x = 1.0;
@@ -555,7 +555,7 @@ TEST(geometry, calcSquaredDistance2d)
 
 TEST(geometry, calcDistance3d)
 {
-  using tier4_autoware_utils::calcDistance3d;
+  using autoware_universe_utils::calcDistance3d;
 
   geometry_msgs::msg::Point point;
   point.x = 1.0;
@@ -572,9 +572,9 @@ TEST(geometry, calcDistance3d)
 
 TEST(geometry, getRPY)
 {
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getRPY;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getRPY;
 
   {
     const double ans_roll = deg2rad(5);
@@ -610,9 +610,9 @@ TEST(geometry, getRPY)
 
 TEST(geometry, getRPY_wrapper)
 {
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getRPY;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getRPY;
 
   {
     const double ans_roll = deg2rad(45);
@@ -652,9 +652,9 @@ TEST(geometry, getRPY_wrapper)
 
 TEST(geometry, transform2pose)
 {
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::transform2pose;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::transform2pose;
 
   {
     geometry_msgs::msg::Transform transform;
@@ -703,9 +703,9 @@ TEST(geometry, transform2pose)
 
 TEST(geometry, pose2transform)
 {
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::pose2transform;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::pose2transform;
 
   {
     geometry_msgs::msg::Pose pose;
@@ -756,9 +756,9 @@ TEST(geometry, pose2transform)
 
 TEST(geometry, point2tfVector)
 {
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::point2tfVector;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::point2tfVector;
 
   // Point
   {
@@ -823,11 +823,11 @@ TEST(geometry, point2tfVector)
 
 TEST(geometry, transformPoint)
 {
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::Point2d;
-  using tier4_autoware_utils::Point3d;
-  using tier4_autoware_utils::transformPoint;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::Point2d;
+  using autoware_universe_utils::Point3d;
+  using autoware_universe_utils::transformPoint;
 
   {
     const Point2d p(1.0, 2.0);
@@ -916,9 +916,9 @@ TEST(geometry, transformPoint)
 
 TEST(geometry, transformPose)
 {
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::transformPose;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::transformPose;
 
   geometry_msgs::msg::Pose pose;
   pose.position.x = 2.0;
@@ -967,9 +967,9 @@ TEST(geometry, transformPose)
 
 TEST(geometry, inverseTransformPose)
 {
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::inverseTransformPose;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::inverseTransformPose;
 
   geometry_msgs::msg::Pose pose;
   pose.position.x = 2.0;
@@ -1018,10 +1018,10 @@ TEST(geometry, inverseTransformPose)
 
 TEST(geometry, inverseTransformPoint)
 {
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::inverseTransformPoint;
-  using tier4_autoware_utils::inverseTransformPose;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::inverseTransformPoint;
+  using autoware_universe_utils::inverseTransformPose;
 
   geometry_msgs::msg::Pose pose_transform;
   pose_transform.position.x = 1.0;
@@ -1050,10 +1050,10 @@ TEST(geometry, inverseTransformPoint)
 
 TEST(geometry, transformVector)
 {
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::MultiPoint3d;
-  using tier4_autoware_utils::transformVector;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::MultiPoint3d;
+  using autoware_universe_utils::transformVector;
 
   {
     const MultiPoint3d ps{{1.0, 2.0, 3.0}, {2.0, 3.0, 4.0}};
@@ -1078,51 +1078,51 @@ TEST(geometry, transformVector)
 
 TEST(geometry, calcCurvature)
 {
-  using tier4_autoware_utils::calcCurvature;
+  using autoware_universe_utils::calcCurvature;
   // Straight Line
   {
-    geometry_msgs::msg::Point p1 = tier4_autoware_utils::createPoint(0.0, 0.0, 0.0);
-    geometry_msgs::msg::Point p2 = tier4_autoware_utils::createPoint(1.0, 0.0, 0.0);
-    geometry_msgs::msg::Point p3 = tier4_autoware_utils::createPoint(2.0, 0.0, 0.0);
+    geometry_msgs::msg::Point p1 = autoware_universe_utils::createPoint(0.0, 0.0, 0.0);
+    geometry_msgs::msg::Point p2 = autoware_universe_utils::createPoint(1.0, 0.0, 0.0);
+    geometry_msgs::msg::Point p3 = autoware_universe_utils::createPoint(2.0, 0.0, 0.0);
     EXPECT_DOUBLE_EQ(calcCurvature(p1, p2, p3), 0.0);
   }
 
   // Clockwise Curved Road with a 1[m] radius
   {
-    geometry_msgs::msg::Point p1 = tier4_autoware_utils::createPoint(0.0, 0.0, 0.0);
-    geometry_msgs::msg::Point p2 = tier4_autoware_utils::createPoint(1.0, 1.0, 0.0);
-    geometry_msgs::msg::Point p3 = tier4_autoware_utils::createPoint(2.0, 0.0, 0.0);
+    geometry_msgs::msg::Point p1 = autoware_universe_utils::createPoint(0.0, 0.0, 0.0);
+    geometry_msgs::msg::Point p2 = autoware_universe_utils::createPoint(1.0, 1.0, 0.0);
+    geometry_msgs::msg::Point p3 = autoware_universe_utils::createPoint(2.0, 0.0, 0.0);
     EXPECT_DOUBLE_EQ(calcCurvature(p1, p2, p3), -1.0);
   }
 
   // Clockwise Curved Road with a 5[m] radius
   {
-    geometry_msgs::msg::Point p1 = tier4_autoware_utils::createPoint(0.0, 0.0, 0.0);
-    geometry_msgs::msg::Point p2 = tier4_autoware_utils::createPoint(5.0, 5.0, 0.0);
-    geometry_msgs::msg::Point p3 = tier4_autoware_utils::createPoint(10.0, 0.0, 0.0);
+    geometry_msgs::msg::Point p1 = autoware_universe_utils::createPoint(0.0, 0.0, 0.0);
+    geometry_msgs::msg::Point p2 = autoware_universe_utils::createPoint(5.0, 5.0, 0.0);
+    geometry_msgs::msg::Point p3 = autoware_universe_utils::createPoint(10.0, 0.0, 0.0);
     EXPECT_DOUBLE_EQ(calcCurvature(p1, p2, p3), -0.2);
   }
 
   // Counter-Clockwise Curved Road with a 1[m] radius
   {
-    geometry_msgs::msg::Point p1 = tier4_autoware_utils::createPoint(0.0, 0.0, 0.0);
-    geometry_msgs::msg::Point p2 = tier4_autoware_utils::createPoint(-1.0, 1.0, 0.0);
-    geometry_msgs::msg::Point p3 = tier4_autoware_utils::createPoint(-2.0, 0.0, 0.0);
+    geometry_msgs::msg::Point p1 = autoware_universe_utils::createPoint(0.0, 0.0, 0.0);
+    geometry_msgs::msg::Point p2 = autoware_universe_utils::createPoint(-1.0, 1.0, 0.0);
+    geometry_msgs::msg::Point p3 = autoware_universe_utils::createPoint(-2.0, 0.0, 0.0);
     EXPECT_DOUBLE_EQ(calcCurvature(p1, p2, p3), 1.0);
   }
 
   // Counter-Clockwise Curved Road with a 5[m] radius
   {
-    geometry_msgs::msg::Point p1 = tier4_autoware_utils::createPoint(0.0, 0.0, 0.0);
-    geometry_msgs::msg::Point p2 = tier4_autoware_utils::createPoint(-5.0, 5.0, 0.0);
-    geometry_msgs::msg::Point p3 = tier4_autoware_utils::createPoint(-10.0, 0.0, 0.0);
+    geometry_msgs::msg::Point p1 = autoware_universe_utils::createPoint(0.0, 0.0, 0.0);
+    geometry_msgs::msg::Point p2 = autoware_universe_utils::createPoint(-5.0, 5.0, 0.0);
+    geometry_msgs::msg::Point p3 = autoware_universe_utils::createPoint(-10.0, 0.0, 0.0);
     EXPECT_DOUBLE_EQ(calcCurvature(p1, p2, p3), 0.2);
   }
 
   // Give same points
   {
-    geometry_msgs::msg::Point p1 = tier4_autoware_utils::createPoint(0.0, 0.0, 0.0);
-    geometry_msgs::msg::Point p2 = tier4_autoware_utils::createPoint(1.0, 0.0, 0.0);
+    geometry_msgs::msg::Point p1 = autoware_universe_utils::createPoint(0.0, 0.0, 0.0);
+    geometry_msgs::msg::Point p2 = autoware_universe_utils::createPoint(1.0, 0.0, 0.0);
     ASSERT_ANY_THROW(calcCurvature(p1, p1, p1));
     ASSERT_ANY_THROW(calcCurvature(p1, p1, p2));
     ASSERT_ANY_THROW(calcCurvature(p1, p2, p1));
@@ -1132,11 +1132,11 @@ TEST(geometry, calcCurvature)
 
 TEST(geometry, calcOffsetPose)
 {
-  using tier4_autoware_utils::calcOffsetPose;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::createQuaternion;
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
+  using autoware_universe_utils::calcOffsetPose;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::createQuaternion;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
 
   // Only translation
   {
@@ -1224,12 +1224,12 @@ TEST(geometry, calcOffsetPose)
 
 TEST(geometry, isDrivingForward)
 {
-  using tier4_autoware_utils::calcInterpolatedPoint;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::createQuaternion;
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::isDrivingForward;
+  using autoware_universe_utils::calcInterpolatedPoint;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::createQuaternion;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::isDrivingForward;
 
   const double epsilon = 1e-3;
 
@@ -1286,8 +1286,8 @@ TEST(geometry, isDrivingForward)
 
 TEST(geometry, calcInterpolatedPoint)
 {
-  using tier4_autoware_utils::calcInterpolatedPoint;
-  using tier4_autoware_utils::createPoint;
+  using autoware_universe_utils::calcInterpolatedPoint;
+  using autoware_universe_utils::createPoint;
 
   {
     const auto src_point = createPoint(0.0, 0.0, 0.0);
@@ -1343,11 +1343,11 @@ TEST(geometry, calcInterpolatedPoint)
 
 TEST(geometry, calcInterpolatedPose)
 {
-  using tier4_autoware_utils::calcInterpolatedPose;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::createQuaternion;
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
+  using autoware_universe_utils::calcInterpolatedPose;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::createQuaternion;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
   const double epsilon = 1e-3;
 
   // Position Interpolation
@@ -1527,11 +1527,11 @@ TEST(geometry, calcInterpolatedPose)
 
 TEST(geometry, calcInterpolatedPose_with_Spherical_Interpolation)
 {
-  using tier4_autoware_utils::calcInterpolatedPose;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::createQuaternion;
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
+  using autoware_universe_utils::calcInterpolatedPose;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::createQuaternion;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
   const double epsilon = 1e-3;
 
   // Position Interpolation
@@ -1675,7 +1675,7 @@ TEST(geometry, calcInterpolatedPose_with_Spherical_Interpolation)
 
 TEST(geometry, getTwist)
 {
-  using tier4_autoware_utils::createVector3;
+  using autoware_universe_utils::createVector3;
 
   geometry_msgs::msg::Vector3 velocity = createVector3(1.0, 2.0, 3.0);
   geometry_msgs::msg::Vector3 angular = createVector3(0.1, 0.2, 0.3);
@@ -1691,7 +1691,7 @@ TEST(geometry, getTwist)
 
   // getTwist
   {
-    auto t_out = tier4_autoware_utils::createTwist(velocity, angular);
+    auto t_out = autoware_universe_utils::createTwist(velocity, angular);
     EXPECT_DOUBLE_EQ(t_out.linear.x, twist.linear.x);
     EXPECT_DOUBLE_EQ(t_out.linear.y, twist.linear.y);
     EXPECT_DOUBLE_EQ(t_out.linear.z, twist.linear.z);
@@ -1703,32 +1703,32 @@ TEST(geometry, getTwist)
 
 TEST(geometry, getTwistNorm)
 {
-  using tier4_autoware_utils::createVector3;
+  using autoware_universe_utils::createVector3;
   geometry_msgs::msg::TwistWithCovariance twist_with_covariance;
   twist_with_covariance.twist = geometry_msgs::build<geometry_msgs::msg::Twist>()
                                   .linear(createVector3(3.0, 4.0, 0.0))
                                   .angular(createVector3(0.1, 0.2, 0.3));
-  EXPECT_NEAR(tier4_autoware_utils::calcNorm(twist_with_covariance.twist.linear), 5.0, epsilon);
+  EXPECT_NEAR(autoware_universe_utils::calcNorm(twist_with_covariance.twist.linear), 5.0, epsilon);
 }
 
 TEST(geometry, isTwistCovarianceValid)
 {
-  using tier4_autoware_utils::createVector3;
+  using autoware_universe_utils::createVector3;
   geometry_msgs::msg::TwistWithCovariance twist_with_covariance;
   twist_with_covariance.twist = geometry_msgs::build<geometry_msgs::msg::Twist>()
                                   .linear(createVector3(1.0, 2.0, 3.0))
                                   .angular(createVector3(0.1, 0.2, 0.3));
 
-  EXPECT_EQ(tier4_autoware_utils::isTwistCovarianceValid(twist_with_covariance), false);
+  EXPECT_EQ(autoware_universe_utils::isTwistCovarianceValid(twist_with_covariance), false);
 
   twist_with_covariance.covariance.at(0) = 1.0;
-  EXPECT_EQ(tier4_autoware_utils::isTwistCovarianceValid(twist_with_covariance), true);
+  EXPECT_EQ(autoware_universe_utils::isTwistCovarianceValid(twist_with_covariance), true);
 }
 
 TEST(geometry, intersect)
 {
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::intersect;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::intersect;
 
   {  // Normally crossing
     const auto p1 = createPoint(0.0, -1.0, 0.0);
diff --git a/common/tier4_autoware_utils/test/src/geometry/test_path_with_lane_id_geometry.cpp b/common/autoware_universe_utils/test/src/geometry/test_path_with_lane_id_geometry.cpp
similarity index 92%
rename from common/tier4_autoware_utils/test/src/geometry/test_path_with_lane_id_geometry.cpp
rename to common/autoware_universe_utils/test/src/geometry/test_path_with_lane_id_geometry.cpp
index 5c55a09af95b1..058149af2c192 100644
--- a/common/tier4_autoware_utils/test/src/geometry/test_path_with_lane_id_geometry.cpp
+++ b/common/autoware_universe_utils/test/src/geometry/test_path_with_lane_id_geometry.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <gtest/gtest.h>
 
 TEST(geometry, getPoint_PathWithLaneId)
 {
-  using tier4_autoware_utils::getPoint;
+  using autoware_universe_utils::getPoint;
 
   const double x_ans = 1.0;
   const double y_ans = 2.0;
@@ -36,7 +36,7 @@ TEST(geometry, getPoint_PathWithLaneId)
 
 TEST(geometry, getPose_PathWithLaneId)
 {
-  using tier4_autoware_utils::getPose;
+  using autoware_universe_utils::getPose;
 
   const double x_ans = 1.0;
   const double y_ans = 2.0;
@@ -66,7 +66,7 @@ TEST(geometry, getPose_PathWithLaneId)
 
 TEST(geometry, getLongitudinalVelocity_PathWithLaneId)
 {
-  using tier4_autoware_utils::getLongitudinalVelocity;
+  using autoware_universe_utils::getLongitudinalVelocity;
 
   const double velocity = 1.0;
 
@@ -77,7 +77,7 @@ TEST(geometry, getLongitudinalVelocity_PathWithLaneId)
 
 TEST(geometry, setPose_PathWithLaneId)
 {
-  using tier4_autoware_utils::setPose;
+  using autoware_universe_utils::setPose;
 
   const double x_ans = 1.0;
   const double y_ans = 2.0;
@@ -109,7 +109,7 @@ TEST(geometry, setPose_PathWithLaneId)
 
 TEST(geometry, setLongitudinalVelocity_PathWithLaneId)
 {
-  using tier4_autoware_utils::setLongitudinalVelocity;
+  using autoware_universe_utils::setLongitudinalVelocity;
 
   const double velocity = 1.0;
 
diff --git a/common/tier4_autoware_utils/test/src/geometry/test_pose_deviation.cpp b/common/autoware_universe_utils/test/src/geometry/test_pose_deviation.cpp
similarity index 78%
rename from common/tier4_autoware_utils/test/src/geometry/test_pose_deviation.cpp
rename to common/autoware_universe_utils/test/src/geometry/test_pose_deviation.cpp
index 76e742edde59c..0808223bb9ea2 100644
--- a/common/tier4_autoware_utils/test/src/geometry/test_pose_deviation.cpp
+++ b/common/autoware_universe_utils/test/src/geometry/test_pose_deviation.cpp
@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/geometry/pose_deviation.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/pose_deviation.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 
 #include <gtest/gtest.h>
 
 TEST(geometry, pose_deviation)
 {
-  using tier4_autoware_utils::calcPoseDeviation;
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::deg2rad;
+  using autoware_universe_utils::calcPoseDeviation;
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::deg2rad;
 
   geometry_msgs::msg::Pose pose1;
   pose1.position.x = 1.0;
diff --git a/common/tier4_autoware_utils/test/src/math/test_constants.cpp b/common/autoware_universe_utils/test/src/math/test_constants.cpp
similarity index 85%
rename from common/tier4_autoware_utils/test/src/math/test_constants.cpp
rename to common/autoware_universe_utils/test/src/math/test_constants.cpp
index 80db5414a30f4..47e76efd66f6e 100644
--- a/common/tier4_autoware_utils/test/src/math/test_constants.cpp
+++ b/common/autoware_universe_utils/test/src/math/test_constants.cpp
@@ -12,20 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/math/constants.hpp"
+#include "autoware/universe_utils/math/constants.hpp"
 
 #include <gtest/gtest.h>
 
 TEST(constants, pi)
 {
-  using tier4_autoware_utils::pi;
+  using autoware_universe_utils::pi;
 
   EXPECT_DOUBLE_EQ(pi, 3.14159265358979323846);
 }
 
 TEST(constants, gravity)
 {
-  using tier4_autoware_utils::gravity;
+  using autoware_universe_utils::gravity;
 
   EXPECT_DOUBLE_EQ(gravity, 9.80665);
 }
diff --git a/common/tier4_autoware_utils/test/src/math/test_normalization.cpp b/common/autoware_universe_utils/test/src/math/test_normalization.cpp
similarity index 94%
rename from common/tier4_autoware_utils/test/src/math/test_normalization.cpp
rename to common/autoware_universe_utils/test/src/math/test_normalization.cpp
index 0ae15ea320850..19b8a29019057 100644
--- a/common/tier4_autoware_utils/test/src/math/test_normalization.cpp
+++ b/common/autoware_universe_utils/test/src/math/test_normalization.cpp
@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/math/normalization.hpp"
+#include "autoware/universe_utils/math/normalization.hpp"
 
 #include <gtest/gtest.h>
 
 TEST(normalization, normalizeDegree)
 {
-  using tier4_autoware_utils::normalizeDegree;
+  using autoware_universe_utils::normalizeDegree;
 
   // -180 <= deg < 180
   {
@@ -51,7 +51,7 @@ TEST(normalization, normalizeDegree)
 
 TEST(normalization, normalizeRadian)
 {
-  using tier4_autoware_utils::normalizeRadian;
+  using autoware_universe_utils::normalizeRadian;
 
   // -M_PI <= deg < M_PI
   {
diff --git a/common/tier4_autoware_utils/test/src/math/test_range.cpp b/common/autoware_universe_utils/test/src/math/test_range.cpp
similarity index 96%
rename from common/tier4_autoware_utils/test/src/math/test_range.cpp
rename to common/autoware_universe_utils/test/src/math/test_range.cpp
index 429c08938949f..400a6a4dd20c1 100644
--- a/common/tier4_autoware_utils/test/src/math/test_range.cpp
+++ b/common/autoware_universe_utils/test/src/math/test_range.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/math/range.hpp"
+#include "autoware/universe_utils/math/range.hpp"
 
 #include <gtest/gtest.h>
 
@@ -44,7 +44,7 @@ void expect_eq_vector(const std::vector<int> & input, const std::vector<int> & e
 
 TEST(arange_Test, arange_double)
 {
-  using tier4_autoware_utils::arange;
+  using autoware_universe_utils::arange;
 
   // general cases
   {
@@ -82,7 +82,7 @@ TEST(arange_Test, arange_double)
 
 TEST(arange_Test, arange_float)
 {
-  using tier4_autoware_utils::arange;
+  using autoware_universe_utils::arange;
 
   // general cases
   {
@@ -121,7 +121,7 @@ TEST(arange_Test, arange_float)
 
 TEST(arange_Test, arange_int)
 {
-  using tier4_autoware_utils::arange;
+  using autoware_universe_utils::arange;
 
   // general cases
   {
@@ -154,7 +154,7 @@ TEST(arange_Test, arange_int)
 
 TEST(test_linspace, linspace_double)
 {
-  using tier4_autoware_utils::linspace;
+  using autoware_universe_utils::linspace;
 
   // general cases
   {
@@ -182,7 +182,7 @@ TEST(test_linspace, linspace_double)
 
 TEST(test_linspace, linspace_float)
 {
-  using tier4_autoware_utils::linspace;
+  using autoware_universe_utils::linspace;
 
   // general cases
   {
@@ -211,7 +211,7 @@ TEST(test_linspace, linspace_float)
 
 TEST(test_linspace, linspace_int)
 {
-  using tier4_autoware_utils::linspace;
+  using autoware_universe_utils::linspace;
 
   // general cases
   {
diff --git a/common/tier4_autoware_utils/test/src/math/test_trigonometry.cpp b/common/autoware_universe_utils/test/src/math/test_trigonometry.cpp
similarity index 69%
rename from common/tier4_autoware_utils/test/src/math/test_trigonometry.cpp
rename to common/autoware_universe_utils/test/src/math/test_trigonometry.cpp
index d7106fd823682..c4ba81a6b77ff 100644
--- a/common/tier4_autoware_utils/test/src/math/test_trigonometry.cpp
+++ b/common/autoware_universe_utils/test/src/math/test_trigonometry.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/math/constants.hpp"
-#include "tier4_autoware_utils/math/trigonometry.hpp"
+#include "autoware/universe_utils/math/constants.hpp"
+#include "autoware/universe_utils/math/trigonometry.hpp"
 
 #include <gtest/gtest.h>
 
@@ -21,31 +21,31 @@
 
 TEST(trigonometry, sin)
 {
-  float x = 4.f * tier4_autoware_utils::pi / 128.f;
+  float x = 4.f * autoware_universe_utils::pi / 128.f;
   for (int i = 0; i < 128; i++) {
     EXPECT_TRUE(
       std::abs(
         std::sin(x * static_cast<float>(i)) -
-        tier4_autoware_utils::sin(x * static_cast<float>(i))) < 10e-5);
+        autoware_universe_utils::sin(x * static_cast<float>(i))) < 10e-5);
   }
 }
 
 TEST(trigonometry, cos)
 {
-  float x = 4.f * tier4_autoware_utils::pi / 128.f;
+  float x = 4.f * autoware_universe_utils::pi / 128.f;
   for (int i = 0; i < 128; i++) {
     EXPECT_TRUE(
       std::abs(
         std::cos(x * static_cast<float>(i)) -
-        tier4_autoware_utils::cos(x * static_cast<float>(i))) < 10e-5);
+        autoware_universe_utils::cos(x * static_cast<float>(i))) < 10e-5);
   }
 }
 
 TEST(trigonometry, sin_and_cos)
 {
-  float x = 4.f * tier4_autoware_utils::pi / 128.f;
+  float x = 4.f * autoware_universe_utils::pi / 128.f;
   for (int i = 0; i < 128; i++) {
-    const auto sin_and_cos = tier4_autoware_utils::sin_and_cos(x * static_cast<float>(i));
+    const auto sin_and_cos = autoware_universe_utils::sin_and_cos(x * static_cast<float>(i));
     EXPECT_TRUE(std::abs(std::sin(x * static_cast<float>(i)) - sin_and_cos.first) < 10e-7);
     EXPECT_TRUE(std::abs(std::cos(x * static_cast<float>(i)) - sin_and_cos.second) < 10e-7);
   }
diff --git a/common/tier4_autoware_utils/test/src/math/test_unit_conversion.cpp b/common/autoware_universe_utils/test/src/math/test_unit_conversion.cpp
similarity index 86%
rename from common/tier4_autoware_utils/test/src/math/test_unit_conversion.cpp
rename to common/autoware_universe_utils/test/src/math/test_unit_conversion.cpp
index 9b689d1257932..e00b85f9e24f2 100644
--- a/common/tier4_autoware_utils/test/src/math/test_unit_conversion.cpp
+++ b/common/autoware_universe_utils/test/src/math/test_unit_conversion.cpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 
 #include <gtest/gtest.h>
 
-using tier4_autoware_utils::pi;
+using autoware_universe_utils::pi;
 
 TEST(unit_conversion, deg2rad)
 {
-  using tier4_autoware_utils::deg2rad;
+  using autoware_universe_utils::deg2rad;
 
   EXPECT_DOUBLE_EQ(deg2rad(-720), -4 * pi);
   EXPECT_DOUBLE_EQ(deg2rad(0), 0);
@@ -33,7 +33,7 @@ TEST(unit_conversion, deg2rad)
 
 TEST(unit_conversion, rad2deg)
 {
-  using tier4_autoware_utils::rad2deg;
+  using autoware_universe_utils::rad2deg;
 
   EXPECT_DOUBLE_EQ(rad2deg(-4 * pi), -720);
   EXPECT_DOUBLE_EQ(rad2deg(0), 0);
@@ -46,7 +46,7 @@ TEST(unit_conversion, rad2deg)
 
 TEST(unit_conversion, kmph2mps)
 {
-  using tier4_autoware_utils::kmph2mps;
+  using autoware_universe_utils::kmph2mps;
 
   EXPECT_DOUBLE_EQ(kmph2mps(0), 0);
   EXPECT_DOUBLE_EQ(kmph2mps(36), 10);
@@ -56,7 +56,7 @@ TEST(unit_conversion, kmph2mps)
 
 TEST(unit_conversion, mps2kmph)
 {
-  using tier4_autoware_utils::mps2kmph;
+  using autoware_universe_utils::mps2kmph;
 
   EXPECT_DOUBLE_EQ(mps2kmph(0), 0);
   EXPECT_DOUBLE_EQ(mps2kmph(10), 36);
diff --git a/common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp b/common/autoware_universe_utils/test/src/ros/test_published_time_publisher.cpp
similarity index 96%
rename from common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp
rename to common/autoware_universe_utils/test/src/ros/test_published_time_publisher.cpp
index 133cb01f9b348..238a97e901611 100644
--- a/common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp
+++ b/common/autoware_universe_utils/test/src/ros/test_published_time_publisher.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_internal_msgs/msg/published_time.hpp>
 #include <std_msgs/msg/header.hpp>
@@ -24,7 +24,7 @@ class PublishedTimePublisherWithSubscriptionTest : public ::testing::Test
 {
 protected:
   std::shared_ptr<rclcpp::Node> node_{nullptr};
-  std::shared_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_ptr_{
+  std::shared_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_ptr_{
     nullptr};
 
   std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Header>> first_test_publisher_ptr_{nullptr};
@@ -70,7 +70,7 @@ class PublishedTimePublisherWithSubscriptionTest : public ::testing::Test
 
     // Create a PublishedTimePublisher
     published_time_publisher_ptr_ =
-      std::make_shared<tier4_autoware_utils::PublishedTimePublisher>(node_.get());
+      std::make_shared<autoware_universe_utils::PublishedTimePublisher>(node_.get());
 
     // Create the first subscriber
     first_test_subscriber_ptr_ =
@@ -98,7 +98,7 @@ class PublishedTimePublisherWithoutSubscriptionTest : public ::testing::Test
 {
 protected:
   std::shared_ptr<rclcpp::Node> node_{nullptr};
-  std::shared_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_ptr_{
+  std::shared_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_ptr_{
     nullptr};
 
   std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Header>> first_test_publisher_ptr_{nullptr};
@@ -135,7 +135,7 @@ class PublishedTimePublisherWithoutSubscriptionTest : public ::testing::Test
 
     // Create a PublishedTimePublisher
     published_time_publisher_ptr_ =
-      std::make_shared<tier4_autoware_utils::PublishedTimePublisher>(node_.get());
+      std::make_shared<autoware_universe_utils::PublishedTimePublisher>(node_.get());
 
     rclcpp::spin_some(node_);
   }
diff --git a/common/tier4_autoware_utils/test/src/system/test_stop_watch.cpp b/common/autoware_universe_utils/test/src/system/test_stop_watch.cpp
similarity index 91%
rename from common/tier4_autoware_utils/test/src/system/test_stop_watch.cpp
rename to common/autoware_universe_utils/test/src/system/test_stop_watch.cpp
index cb201ab0dd5ec..6bf9857595f98 100644
--- a/common/tier4_autoware_utils/test/src/system/test_stop_watch.cpp
+++ b/common/autoware_universe_utils/test/src/system/test_stop_watch.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/system/stop_watch.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
 #include <gtest/gtest.h>
 
@@ -21,7 +21,7 @@
 
 TEST(system, StopWatch_sec)
 {
-  using tier4_autoware_utils::StopWatch;
+  using autoware_universe_utils::StopWatch;
 
   StopWatch<std::chrono::seconds> stop_watch;
 
@@ -50,7 +50,7 @@ TEST(system, StopWatch_sec)
 
 TEST(system, StopWatch_msec)
 {
-  using tier4_autoware_utils::StopWatch;
+  using autoware_universe_utils::StopWatch;
 
   StopWatch<std::chrono::milliseconds> stop_watch;
 
diff --git a/common/tier4_autoware_utils/test/src/test_autoware_utils.cpp b/common/autoware_universe_utils/test/src/test_autoware_utils.cpp
similarity index 100%
rename from common/tier4_autoware_utils/test/src/test_autoware_utils.cpp
rename to common/autoware_universe_utils/test/src/test_autoware_utils.cpp
diff --git a/common/tier4_autoware_utils/test/src/transform/test_transform.cpp b/common/autoware_universe_utils/test/src/transform/test_transform.cpp
similarity index 85%
rename from common/tier4_autoware_utils/test/src/transform/test_transform.cpp
rename to common/autoware_universe_utils/test/src/transform/test_transform.cpp
index aae8cc22ea9fb..e659ec0f2a749 100644
--- a/common/tier4_autoware_utils/test/src/transform/test_transform.cpp
+++ b/common/autoware_universe_utils/test/src/transform/test_transform.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "tier4_autoware_utils/transform/transforms.hpp"
+#include "autoware/universe_utils/transform/transforms.hpp"
 
 #include <gtest/gtest.h>
 #include <pcl/point_cloud.h>
@@ -31,7 +31,7 @@ TEST(system, transform_point_cloud)
     42301.179688, -0.001429, -0.017543, 0.999845, -3.157415, 0.000000, 0.000000, 0.000000, 1.000000;
 
   pcl::PointCloud<pcl::PointXYZI> cloud_transformed;
-  tier4_autoware_utils::transformPointCloud(cloud, cloud_transformed, transform);
+  autoware_universe_utils::transformPointCloud(cloud, cloud_transformed, transform);
 
   pcl::PointXYZI pt1_gt(89603.187500, 42270.878906, -13.056946, 4);
 
@@ -52,8 +52,9 @@ TEST(system, empty_point_cloud)
 
   pcl::PointCloud<pcl::PointXYZI> cloud_transformed;
 
-  EXPECT_NO_THROW(tier4_autoware_utils::transformPointCloud(cloud, cloud_transformed, transform));
+  EXPECT_NO_THROW(
+    autoware_universe_utils::transformPointCloud(cloud, cloud_transformed, transform));
   EXPECT_NO_FATAL_FAILURE(
-    tier4_autoware_utils::transformPointCloud(cloud, cloud_transformed, transform));
+    autoware_universe_utils::transformPointCloud(cloud, cloud_transformed, transform));
   EXPECT_EQ(cloud_transformed.size(), 0ul);
 }
diff --git a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp b/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp
index 3329c1349b707..370765a81c743 100644
--- a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp
+++ b/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator.hpp
@@ -15,8 +15,8 @@
 #ifndef GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
 #define GOAL_DISTANCE_CALCULATOR__GOAL_DISTANCE_CALCULATOR_HPP_
 
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/pose_deviation.hpp>
 
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -25,7 +25,7 @@
 
 namespace goal_distance_calculator
 {
-using tier4_autoware_utils::PoseDeviation;
+using autoware_universe_utils::PoseDeviation;
 
 struct Param
 {
diff --git a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp b/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp
index 680c4a3cdfff1..c1154884e8340 100644
--- a/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp
+++ b/common/goal_distance_calculator/include/goal_distance_calculator/goal_distance_calculator_node.hpp
@@ -17,9 +17,9 @@
 
 #include "goal_distance_calculator/goal_distance_calculator.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/self_pose_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/self_pose_listener.hpp>
 
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -45,7 +45,7 @@ class GoalDistanceCalculatorNode : public rclcpp::Node
 private:
   // Subscriber
   rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr sub_initial_pose_;
-  tier4_autoware_utils::SelfPoseListener self_pose_listener_;
+  autoware_universe_utils::SelfPoseListener self_pose_listener_;
   rclcpp::Subscription<autoware_planning_msgs::msg::LaneletRoute>::SharedPtr sub_route_;
 
   // Data Buffer
@@ -56,7 +56,7 @@ class GoalDistanceCalculatorNode : public rclcpp::Node
   void onRoute(const autoware_planning_msgs::msg::LaneletRoute::ConstSharedPtr & msg);
 
   // Publisher
-  tier4_autoware_utils::DebugPublisher debug_publisher_;
+  autoware_universe_utils::DebugPublisher debug_publisher_;
 
   // Timer
   rclcpp::TimerBase::SharedPtr timer_;
diff --git a/common/goal_distance_calculator/package.xml b/common/goal_distance_calculator/package.xml
index eb71dc45f31a3..04ea8a37a5053 100644
--- a/common/goal_distance_calculator/package.xml
+++ b/common/goal_distance_calculator/package.xml
@@ -11,10 +11,10 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/common/goal_distance_calculator/src/goal_distance_calculator.cpp b/common/goal_distance_calculator/src/goal_distance_calculator.cpp
index 719baef283791..5491fe96c0848 100755
--- a/common/goal_distance_calculator/src/goal_distance_calculator.cpp
+++ b/common/goal_distance_calculator/src/goal_distance_calculator.cpp
@@ -21,7 +21,7 @@ Output GoalDistanceCalculator::update(const Input & input)
   Output output{};
 
   output.goal_deviation =
-    tier4_autoware_utils::calcPoseDeviation(input.route->goal_pose, input.current_pose->pose);
+    autoware_universe_utils::calcPoseDeviation(input.route->goal_pose, input.current_pose->pose);
 
   return output;
 }
diff --git a/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp b/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp
index ab1c35e246719..7f4346dac63dc 100644
--- a/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp
+++ b/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp
@@ -14,9 +14,9 @@
 
 #include "goal_distance_calculator/goal_distance_calculator_node.hpp"
 
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/timer.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <tier4_debug_msgs/msg/float64_stamped.hpp>
 
@@ -107,7 +107,7 @@ void GoalDistanceCalculatorNode::onTimer()
   output_ = goal_distance_calculator_->update(input_);
 
   {
-    using tier4_autoware_utils::rad2deg;
+    using autoware_universe_utils::rad2deg;
     const auto & deviation = output_.goal_deviation;
 
     debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
diff --git a/common/interpolation/include/interpolation/spline_interpolation.hpp b/common/interpolation/include/interpolation/spline_interpolation.hpp
index f5befefeae9da..38e7b3fed5b8b 100644
--- a/common/interpolation/include/interpolation/spline_interpolation.hpp
+++ b/common/interpolation/include/interpolation/spline_interpolation.hpp
@@ -15,8 +15,8 @@
 #ifndef INTERPOLATION__SPLINE_INTERPOLATION_HPP_
 #define INTERPOLATION__SPLINE_INTERPOLATION_HPP_
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "interpolation/interpolation_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <algorithm>
 #include <cmath>
diff --git a/common/interpolation/include/interpolation/spline_interpolation_points_2d.hpp b/common/interpolation/include/interpolation/spline_interpolation_points_2d.hpp
index 653d6c61d05b6..b2fc5c6c36e54 100644
--- a/common/interpolation/include/interpolation/spline_interpolation_points_2d.hpp
+++ b/common/interpolation/include/interpolation/spline_interpolation_points_2d.hpp
@@ -53,7 +53,7 @@ class SplineInterpolationPoints2d
   {
     std::vector<geometry_msgs::msg::Point> points_inner;
     for (const auto & p : points) {
-      points_inner.push_back(tier4_autoware_utils::getPoint(p));
+      points_inner.push_back(autoware_universe_utils::getPoint(p));
     }
     calcSplineCoefficientsInner(points_inner);
   }
diff --git a/common/interpolation/package.xml b/common/interpolation/package.xml
index 6be04482da3ee..bb4af924dd252 100644
--- a/common/interpolation/package.xml
+++ b/common/interpolation/package.xml
@@ -11,7 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>tier4_autoware_utils</depend>
+  <depend>autoware_universe_utils</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/common/interpolation/src/spline_interpolation_points_2d.cpp b/common/interpolation/src/spline_interpolation_points_2d.cpp
index 61c60df7a8984..11bc407e4c511 100644
--- a/common/interpolation/src/spline_interpolation_points_2d.cpp
+++ b/common/interpolation/src/spline_interpolation_points_2d.cpp
@@ -118,7 +118,7 @@ geometry_msgs::msg::Pose SplineInterpolationPoints2d::getSplineInterpolatedPose(
   geometry_msgs::msg::Pose pose;
   pose.position = getSplineInterpolatedPoint(idx, s);
   pose.orientation =
-    tier4_autoware_utils::createQuaternionFromYaw(getSplineInterpolatedYaw(idx, s));
+    autoware_universe_utils::createQuaternionFromYaw(getSplineInterpolatedYaw(idx, s));
   return pose;
 }
 
diff --git a/common/interpolation/test/src/test_spline_interpolation.cpp b/common/interpolation/test/src/test_spline_interpolation.cpp
index 94baf50992cf5..d3cb2d6d3060b 100644
--- a/common/interpolation/test/src/test_spline_interpolation.cpp
+++ b/common/interpolation/test/src/test_spline_interpolation.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "interpolation/spline_interpolation.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/common/interpolation/test/src/test_spline_interpolation_points_2d.cpp b/common/interpolation/test/src/test_spline_interpolation_points_2d.cpp
index 09973826387a2..2d582e2318600 100644
--- a/common/interpolation/test/src/test_spline_interpolation_points_2d.cpp
+++ b/common/interpolation/test/src/test_spline_interpolation_points_2d.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "interpolation/spline_interpolation.hpp"
 #include "interpolation/spline_interpolation_points_2d.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <gtest/gtest.h>
 
@@ -25,7 +25,7 @@ constexpr double epsilon = 1e-6;
 
 TEST(spline_interpolation, splineYawFromPoints)
 {
-  using tier4_autoware_utils::createPoint;
+  using autoware_universe_utils::createPoint;
 
   {  // straight
     std::vector<geometry_msgs::msg::Point> points;
@@ -96,7 +96,7 @@ TEST(spline_interpolation, splineYawFromPoints)
 
 TEST(spline_interpolation, SplineInterpolationPoints2d)
 {
-  using tier4_autoware_utils::createPoint;
+  using autoware_universe_utils::createPoint;
 
   // curve
   std::vector<geometry_msgs::msg::Point> points;
@@ -200,7 +200,7 @@ TEST(spline_interpolation, SplineInterpolationPoints2d)
 TEST(spline_interpolation, SplineInterpolationPoints2dPolymorphism)
 {
   using autoware_planning_msgs::msg::TrajectoryPoint;
-  using tier4_autoware_utils::createPoint;
+  using autoware_universe_utils::createPoint;
 
   std::vector<geometry_msgs::msg::Point> points;
   points.push_back(createPoint(-2.0, -10.0, 0.0));
diff --git a/common/motion_utils/docs/vehicle/vehicle.md b/common/motion_utils/docs/vehicle/vehicle.md
index c768e6115731c..32cbf6be28dcc 100644
--- a/common/motion_utils/docs/vehicle/vehicle.md
+++ b/common/motion_utils/docs/vehicle/vehicle.md
@@ -36,7 +36,7 @@ bool isVehicleStopped(const double stop_duration)
 Necessary includes:
 
 ```c++
-#include <tier4_autoware_utils/vehicle/vehicle_state_checker.hpp>
+#include <autoware/universe_utils/vehicle/vehicle_state_checker.hpp>
 ```
 
 1.Create a checker instance.
@@ -116,7 +116,7 @@ bool isVehicleStoppedAtStopPoint(const double stop_duration)
 Necessary includes:
 
 ```c++
-#include <tier4_autoware_utils/vehicle/vehicle_state_checker.hpp>
+#include <autoware/universe_utils/vehicle/vehicle_state_checker.hpp>
 ```
 
 1.Create a checker instance.
diff --git a/common/motion_utils/include/motion_utils/resample/resample_utils.hpp b/common/motion_utils/include/motion_utils/resample/resample_utils.hpp
index fb151ec56b085..ad312701faad0 100644
--- a/common/motion_utils/include/motion_utils/resample/resample_utils.hpp
+++ b/common/motion_utils/include/motion_utils/resample/resample_utils.hpp
@@ -15,11 +15,11 @@
 #ifndef MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
 #define MOTION_UTILS__RESAMPLE__RESAMPLE_UTILS_HPP_
 
-#include "tier4_autoware_utils/system/backtrace.hpp"
+#include "autoware/universe_utils/system/backtrace.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <motion_utils/constants.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <vector>
 
@@ -50,9 +50,9 @@ template <class T>
 bool validate_points_duplication(const T & points)
 {
   for (size_t i = 0; i < points.size() - 1; ++i) {
-    const auto & curr_pt = tier4_autoware_utils::getPoint(points.at(i));
-    const auto & next_pt = tier4_autoware_utils::getPoint(points.at(i + 1));
-    const double ds = tier4_autoware_utils::calcDistance2d(curr_pt, next_pt);
+    const auto & curr_pt = autoware_universe_utils::getPoint(points.at(i));
+    const auto & next_pt = autoware_universe_utils::getPoint(points.at(i + 1));
+    const double ds = autoware_universe_utils::calcDistance2d(curr_pt, next_pt);
     if (ds < close_s_threshold) {
       return false;
     }
@@ -67,27 +67,27 @@ bool validate_arguments(const T & input_points, const std::vector<double> & resa
   // Check size of the arguments
   if (!validate_size(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2");
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     return false;
   }
   if (!validate_size(resampling_intervals)) {
     RCLCPP_DEBUG(
       get_logger(), "invalid argument: The number of resampling intervals is less than 2");
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     return false;
   }
 
   // Check resampling range
   if (!validate_resampling_range(input_points, resampling_intervals)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: resampling interval is longer than input points");
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     return false;
   }
 
   // Check duplication
   if (!validate_points_duplication(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points");
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     return false;
   }
 
@@ -100,7 +100,7 @@ bool validate_arguments(const T & input_points, const double resampling_interval
   // Check size of the arguments
   if (!validate_size(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2");
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     return false;
   }
 
@@ -109,14 +109,14 @@ bool validate_arguments(const T & input_points, const double resampling_interval
     RCLCPP_DEBUG(
       get_logger(), "invalid argument: resampling interval is less than %f",
       motion_utils::overlap_threshold);
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     return false;
   }
 
   // Check duplication
   if (!validate_points_duplication(input_points)) {
     RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points");
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     return false;
   }
 
diff --git a/common/motion_utils/include/motion_utils/trajectory/interpolation.hpp b/common/motion_utils/include/motion_utils/trajectory/interpolation.hpp
index 0a0b14cb7488d..86a8048b9eec4 100644
--- a/common/motion_utils/include/motion_utils/trajectory/interpolation.hpp
+++ b/common/motion_utils/include/motion_utils/trajectory/interpolation.hpp
@@ -15,7 +15,7 @@
 #ifndef MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
 #define MOTION_UTILS__TRAJECTORY__INTERPOLATION_HPP_
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
@@ -73,22 +73,22 @@ geometry_msgs::msg::Pose calcInterpolatedPose(const T & points, const double tar
   }
 
   if (points.size() < 2 || target_length < 0.0) {
-    return tier4_autoware_utils::getPose(points.front());
+    return autoware_universe_utils::getPose(points.front());
   }
 
   double accumulated_length = 0;
   for (size_t i = 0; i < points.size() - 1; ++i) {
-    const auto & curr_pose = tier4_autoware_utils::getPose(points.at(i));
-    const auto & next_pose = tier4_autoware_utils::getPose(points.at(i + 1));
-    const double length = tier4_autoware_utils::calcDistance3d(curr_pose, next_pose);
+    const auto & curr_pose = autoware_universe_utils::getPose(points.at(i));
+    const auto & next_pose = autoware_universe_utils::getPose(points.at(i + 1));
+    const double length = autoware_universe_utils::calcDistance3d(curr_pose, next_pose);
     if (accumulated_length + length > target_length) {
       const double ratio = (target_length - accumulated_length) / std::max(length, 1e-6);
-      return tier4_autoware_utils::calcInterpolatedPose(curr_pose, next_pose, ratio);
+      return autoware_universe_utils::calcInterpolatedPose(curr_pose, next_pose, ratio);
     }
     accumulated_length += length;
   }
 
-  return tier4_autoware_utils::getPose(points.back());
+  return autoware_universe_utils::getPose(points.back());
 }
 
 }  // namespace motion_utils
diff --git a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp
index 3715f466e7684..d9cb853d7db92 100644
--- a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp
+++ b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp
@@ -15,10 +15,10 @@
 #ifndef MOTION_UTILS__TRAJECTORY__TRAJECTORY_HPP_
 #define MOTION_UTILS__TRAJECTORY__TRAJECTORY_HPP_
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/geometry/pose_deviation.hpp"
-#include "tier4_autoware_utils/math/constants.hpp"
-#include "tier4_autoware_utils/system/backtrace.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/pose_deviation.hpp"
+#include "autoware/universe_utils/math/constants.hpp"
+#include "autoware/universe_utils/system/backtrace.hpp"
 
 #include <Eigen/Geometry>
 #include <rclcpp/logging.hpp>
@@ -51,7 +51,7 @@ template <class T>
 void validateNonEmpty(const T & points)
 {
   if (points.empty()) {
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     throw std::invalid_argument("[motion_utils] validateNonEmpty(): Points is empty.");
   }
 }
@@ -72,22 +72,22 @@ extern template void validateNonEmpty<std::vector<autoware_planning_msgs::msg::T
 template <class T>
 void validateNonSharpAngle(
   const T & point1, const T & point2, const T & point3,
-  const double angle_threshold = tier4_autoware_utils::pi / 4)
+  const double angle_threshold = autoware_universe_utils::pi / 4)
 {
-  const auto p1 = tier4_autoware_utils::getPoint(point1);
-  const auto p2 = tier4_autoware_utils::getPoint(point2);
-  const auto p3 = tier4_autoware_utils::getPoint(point3);
+  const auto p1 = autoware_universe_utils::getPoint(point1);
+  const auto p2 = autoware_universe_utils::getPoint(point2);
+  const auto p3 = autoware_universe_utils::getPoint(point3);
 
   const std::vector vec_1to2 = {p2.x - p1.x, p2.y - p1.y, p2.z - p1.z};
   const std::vector vec_3to2 = {p2.x - p3.x, p2.y - p3.y, p2.z - p3.z};
   const auto product = std::inner_product(vec_1to2.begin(), vec_1to2.end(), vec_3to2.begin(), 0.0);
 
-  const auto dist_1to2 = tier4_autoware_utils::calcDistance3d(p1, p2);
-  const auto dist_3to2 = tier4_autoware_utils::calcDistance3d(p3, p2);
+  const auto dist_1to2 = autoware_universe_utils::calcDistance3d(p1, p2);
+  const auto dist_3to2 = autoware_universe_utils::calcDistance3d(p3, p2);
 
   constexpr double epsilon = 1e-3;
   if (std::cos(angle_threshold) < product / dist_1to2 / dist_3to2 + epsilon) {
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     throw std::invalid_argument("[motion_utils] validateNonSharpAngle(): Too sharp angle.");
   }
 }
@@ -105,10 +105,10 @@ std::optional<bool> isDrivingForward(const T & points)
   }
 
   // check the first point direction
-  const auto & first_pose = tier4_autoware_utils::getPose(points.at(0));
-  const auto & second_pose = tier4_autoware_utils::getPose(points.at(1));
+  const auto & first_pose = autoware_universe_utils::getPose(points.at(0));
+  const auto & second_pose = autoware_universe_utils::getPose(points.at(1));
 
-  return tier4_autoware_utils::isDrivingForward(first_pose, second_pose);
+  return autoware_universe_utils::isDrivingForward(first_pose, second_pose);
 }
 
 extern template std::optional<bool>
@@ -134,10 +134,10 @@ std::optional<bool> isDrivingForwardWithTwist(const T & points_with_twist)
     return std::nullopt;
   }
   if (points_with_twist.size() == 1) {
-    if (0.0 < tier4_autoware_utils::getLongitudinalVelocity(points_with_twist.front())) {
+    if (0.0 < autoware_universe_utils::getLongitudinalVelocity(points_with_twist.front())) {
       return true;
     }
-    if (0.0 > tier4_autoware_utils::getLongitudinalVelocity(points_with_twist.front())) {
+    if (0.0 > autoware_universe_utils::getLongitudinalVelocity(points_with_twist.front())) {
       return false;
     }
     return std::nullopt;
@@ -181,8 +181,8 @@ T removeOverlapPoints(const T & points, const size_t start_idx = 0)
 
   constexpr double eps = 1.0E-08;
   for (size_t i = start_idx + 1; i < points.size(); ++i) {
-    const auto prev_p = tier4_autoware_utils::getPoint(dst.back());
-    const auto curr_p = tier4_autoware_utils::getPoint(points.at(i));
+    const auto prev_p = autoware_universe_utils::getPoint(dst.back());
+    const auto curr_p = autoware_universe_utils::getPoint(points.at(i));
     if (std::abs(prev_p.x - curr_p.x) < eps && std::abs(prev_p.y - curr_p.y) < eps) {
       continue;
     }
@@ -298,7 +298,7 @@ size_t findNearestIndex(const T & points, const geometry_msgs::msg::Point & poin
   size_t min_idx = 0;
 
   for (size_t i = 0; i < points.size(); ++i) {
-    const auto dist = tier4_autoware_utils::calcSquaredDistance2d(points.at(i), point);
+    const auto dist = autoware_universe_utils::calcSquaredDistance2d(points.at(i), point);
     if (dist < min_dist) {
       min_dist = dist;
       min_idx = i;
@@ -350,13 +350,13 @@ std::optional<size_t> findNearestIndex(
   size_t min_idx = 0;
 
   for (size_t i = 0; i < points.size(); ++i) {
-    const auto squared_dist = tier4_autoware_utils::calcSquaredDistance2d(points.at(i), pose);
+    const auto squared_dist = autoware_universe_utils::calcSquaredDistance2d(points.at(i), pose);
     if (squared_dist > max_squared_dist || squared_dist >= min_squared_dist) {
       continue;
     }
 
-    const auto yaw =
-      tier4_autoware_utils::calcYawDeviation(tier4_autoware_utils::getPose(points.at(i)), pose);
+    const auto yaw = autoware_universe_utils::calcYawDeviation(
+      autoware_universe_utils::getPose(points.at(i)), pose);
     if (std::fabs(yaw) > max_yaw) {
       continue;
     }
@@ -408,7 +408,7 @@ double calcLongitudinalOffsetToSegment(
       "[motion_utils] " + std::string(__func__) +
       ": Failed to calculate longitudinal offset because the given segment index is out of the "
       "points size.");
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     if (throw_exception) {
       throw std::out_of_range(error_message);
     }
@@ -436,7 +436,7 @@ double calcLongitudinalOffsetToSegment(
     const std::string error_message(
       "[motion_utils] " + std::string(__func__) +
       ": Longitudinal offset calculation is not supported for the same points.");
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     if (throw_exception) {
       throw std::runtime_error(error_message);
     }
@@ -447,8 +447,8 @@ double calcLongitudinalOffsetToSegment(
     return std::nan("");
   }
 
-  const auto p_front = tier4_autoware_utils::getPoint(overlap_removed_points.at(seg_idx));
-  const auto p_back = tier4_autoware_utils::getPoint(overlap_removed_points.at(seg_idx + 1));
+  const auto p_front = autoware_universe_utils::getPoint(overlap_removed_points.at(seg_idx));
+  const auto p_back = autoware_universe_utils::getPoint(overlap_removed_points.at(seg_idx + 1));
 
   const Eigen::Vector3d segment_vec{p_back.x - p_front.x, p_back.y - p_front.y, 0};
   const Eigen::Vector3d target_vec{p_target.x - p_front.x, p_target.y - p_front.y, 0};
@@ -598,7 +598,7 @@ double calcLateralOffset(
     const std::string error_message(
       "[motion_utils] " + std::string(__func__) +
       ": Lateral offset calculation is not supported for the same points.");
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     if (throw_exception) {
       throw std::runtime_error(error_message);
     }
@@ -613,8 +613,8 @@ double calcLateralOffset(
   const auto p_front_idx = (p_indices > seg_idx) ? seg_idx : p_indices;
   const auto p_back_idx = p_front_idx + 1;
 
-  const auto p_front = tier4_autoware_utils::getPoint(overlap_removed_points.at(p_front_idx));
-  const auto p_back = tier4_autoware_utils::getPoint(overlap_removed_points.at(p_back_idx));
+  const auto p_front = autoware_universe_utils::getPoint(overlap_removed_points.at(p_front_idx));
+  const auto p_back = autoware_universe_utils::getPoint(overlap_removed_points.at(p_back_idx));
 
   const Eigen::Vector3d segment_vec{p_back.x - p_front.x, p_back.y - p_front.y, 0.0};
   const Eigen::Vector3d target_vec{p_target.x - p_front.x, p_target.y - p_front.y, 0.0};
@@ -671,7 +671,7 @@ double calcLateralOffset(
     const std::string error_message(
       "[motion_utils] " + std::string(__func__) +
       ": Lateral offset calculation is not supported for the same points.");
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     if (throw_exception) {
       throw std::runtime_error(error_message);
     }
@@ -723,7 +723,7 @@ double calcSignedArcLength(const T & points, const size_t src_idx, const size_t
 
   double dist_sum = 0.0;
   for (size_t i = src_idx; i < dst_idx; ++i) {
-    dist_sum += tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i + 1));
+    dist_sum += autoware_universe_utils::calcDistance2d(points.at(i), points.at(i + 1));
   }
   return dist_sum;
 }
@@ -771,7 +771,7 @@ std::vector<double> calcSignedArcLengthPartialSum(
   double dist_sum = 0.0;
   partial_dist.push_back(dist_sum);
   for (size_t i = src_idx; i < dst_idx - 1; ++i) {
-    dist_sum += tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i + 1));
+    dist_sum += autoware_universe_utils::calcDistance2d(points.at(i), points.at(i + 1));
     partial_dist.push_back(dist_sum);
   }
   return partial_dist;
@@ -958,10 +958,10 @@ std::vector<double> calcCurvature(const T & points)
   }
 
   for (size_t i = 1; i < points.size() - 1; ++i) {
-    const auto p1 = tier4_autoware_utils::getPoint(points.at(i - 1));
-    const auto p2 = tier4_autoware_utils::getPoint(points.at(i));
-    const auto p3 = tier4_autoware_utils::getPoint(points.at(i + 1));
-    curvature_vec.at(i) = (tier4_autoware_utils::calcCurvature(p1, p2, p3));
+    const auto p1 = autoware_universe_utils::getPoint(points.at(i - 1));
+    const auto p2 = autoware_universe_utils::getPoint(points.at(i));
+    const auto p3 = autoware_universe_utils::getPoint(points.at(i + 1));
+    curvature_vec.at(i) = (autoware_universe_utils::calcCurvature(p1, p2, p3));
   }
   curvature_vec.at(0) = curvature_vec.at(1);
   curvature_vec.at(curvature_vec.size() - 1) = curvature_vec.at(curvature_vec.size() - 2);
@@ -996,12 +996,13 @@ std::vector<std::pair<double, double>> calcCurvatureAndArcLength(const T & point
   std::vector<std::pair<double, double>> curvature_arc_length_vec;
   curvature_arc_length_vec.emplace_back(0.0, 0.0);
   for (size_t i = 1; i < points.size() - 1; ++i) {
-    const auto p1 = tier4_autoware_utils::getPoint(points.at(i - 1));
-    const auto p2 = tier4_autoware_utils::getPoint(points.at(i));
-    const auto p3 = tier4_autoware_utils::getPoint(points.at(i + 1));
-    const double curvature = tier4_autoware_utils::calcCurvature(p1, p2, p3);
-    const double arc_length = tier4_autoware_utils::calcDistance2d(points.at(i - 1), points.at(i)) +
-                              tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i + 1));
+    const auto p1 = autoware_universe_utils::getPoint(points.at(i - 1));
+    const auto p2 = autoware_universe_utils::getPoint(points.at(i));
+    const auto p3 = autoware_universe_utils::getPoint(points.at(i + 1));
+    const double curvature = autoware_universe_utils::calcCurvature(p1, p2, p3);
+    const double arc_length =
+      autoware_universe_utils::calcDistance2d(points.at(i - 1), points.at(i)) +
+      autoware_universe_utils::calcDistance2d(points.at(i), points.at(i + 1));
     curvature_arc_length_vec.emplace_back(curvature, arc_length);
   }
   curvature_arc_length_vec.emplace_back(0.0, 0.0);
@@ -1076,7 +1077,7 @@ std::optional<geometry_msgs::msg::Point> calcLongitudinalOffsetPoint(
       "[motion_utils] " + std::string(__func__) +
       " error: The given source index is out of the points size. Failed to calculate longitudinal "
       "offset.");
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     if (throw_exception) {
       throw std::out_of_range(error_message);
     }
@@ -1092,7 +1093,7 @@ std::optional<geometry_msgs::msg::Point> calcLongitudinalOffsetPoint(
   }
 
   if (src_idx + 1 == points.size() && offset == 0.0) {
-    return tier4_autoware_utils::getPoint(points.at(src_idx));
+    return autoware_universe_utils::getPoint(points.at(src_idx));
   }
 
   if (offset < 0.0) {
@@ -1108,12 +1109,12 @@ std::optional<geometry_msgs::msg::Point> calcLongitudinalOffsetPoint(
     const auto & p_front = points.at(i);
     const auto & p_back = points.at(i + 1);
 
-    const auto dist_segment = tier4_autoware_utils::calcDistance2d(p_front, p_back);
+    const auto dist_segment = autoware_universe_utils::calcDistance2d(p_front, p_back);
     dist_sum += dist_segment;
 
     const auto dist_res = offset - dist_sum;
     if (dist_res <= 0.0) {
-      return tier4_autoware_utils::calcInterpolatedPoint(
+      return autoware_universe_utils::calcInterpolatedPoint(
         p_back, p_front, std::abs(dist_res / dist_segment));
     }
   }
@@ -1207,7 +1208,7 @@ std::optional<geometry_msgs::msg::Pose> calcLongitudinalOffsetPose(
       "[motion_utils] " + std::string(__func__) +
       " error: The given source index is out of the points size. Failed to calculate longitudinal "
       "offset.");
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     if (throw_exception) {
       throw std::out_of_range(error_message);
     }
@@ -1221,7 +1222,7 @@ std::optional<geometry_msgs::msg::Pose> calcLongitudinalOffsetPose(
   }
 
   if (src_idx + 1 == points.size() && offset == 0.0) {
-    return tier4_autoware_utils::getPose(points.at(src_idx));
+    return autoware_universe_utils::getPose(points.at(src_idx));
   }
 
   if (offset < 0.0) {
@@ -1234,12 +1235,12 @@ std::optional<geometry_msgs::msg::Pose> calcLongitudinalOffsetPose(
       const auto & p_front = reverse_points.at(i);
       const auto & p_back = reverse_points.at(i + 1);
 
-      const auto dist_segment = tier4_autoware_utils::calcDistance2d(p_front, p_back);
+      const auto dist_segment = autoware_universe_utils::calcDistance2d(p_front, p_back);
       dist_sum += dist_segment;
 
       const auto dist_res = -offset - dist_sum;
       if (dist_res <= 0.0) {
-        return tier4_autoware_utils::calcInterpolatedPose(
+        return autoware_universe_utils::calcInterpolatedPose(
           p_back, p_front, std::abs(dist_res / dist_segment),
           set_orientation_from_position_direction);
       }
@@ -1251,12 +1252,12 @@ std::optional<geometry_msgs::msg::Pose> calcLongitudinalOffsetPose(
       const auto & p_front = points.at(i);
       const auto & p_back = points.at(i + 1);
 
-      const auto dist_segment = tier4_autoware_utils::calcDistance2d(p_front, p_back);
+      const auto dist_segment = autoware_universe_utils::calcDistance2d(p_front, p_back);
       dist_sum += dist_segment;
 
       const auto dist_res = offset - dist_sum;
       if (dist_res <= 0.0) {
-        return tier4_autoware_utils::calcInterpolatedPose(
+        return autoware_universe_utils::calcInterpolatedPose(
           p_front, p_back, 1.0 - std::abs(dist_res / dist_segment),
           set_orientation_from_position_direction);
       }
@@ -1356,8 +1357,8 @@ std::optional<size_t> insertTargetPoint(
     return {};
   }
 
-  const auto p_front = tier4_autoware_utils::getPoint(points.at(seg_idx));
-  const auto p_back = tier4_autoware_utils::getPoint(points.at(seg_idx + 1));
+  const auto p_front = autoware_universe_utils::getPoint(points.at(seg_idx));
+  const auto p_back = autoware_universe_utils::getPoint(points.at(seg_idx + 1));
 
   try {
     validateNonSharpAngle(p_front, p_target, p_back);
@@ -1367,9 +1368,9 @@ std::optional<size_t> insertTargetPoint(
   }
 
   const auto overlap_with_front =
-    tier4_autoware_utils::calcDistance2d(p_target, p_front) < overlap_threshold;
+    autoware_universe_utils::calcDistance2d(p_target, p_front) < overlap_threshold;
   const auto overlap_with_back =
-    tier4_autoware_utils::calcDistance2d(p_target, p_back) < overlap_threshold;
+    autoware_universe_utils::calcDistance2d(p_target, p_back) < overlap_threshold;
 
   const auto is_driving_forward = isDrivingForward(points);
   if (!is_driving_forward) {
@@ -1379,31 +1380,31 @@ std::optional<size_t> insertTargetPoint(
   geometry_msgs::msg::Pose target_pose;
   {
     const auto p_base = is_driving_forward.value() ? p_back : p_front;
-    const auto pitch = tier4_autoware_utils::calcElevationAngle(p_target, p_base);
-    const auto yaw = tier4_autoware_utils::calcAzimuthAngle(p_target, p_base);
+    const auto pitch = autoware_universe_utils::calcElevationAngle(p_target, p_base);
+    const auto yaw = autoware_universe_utils::calcAzimuthAngle(p_target, p_base);
 
     target_pose.position = p_target;
-    target_pose.orientation = tier4_autoware_utils::createQuaternionFromRPY(0.0, pitch, yaw);
+    target_pose.orientation = autoware_universe_utils::createQuaternionFromRPY(0.0, pitch, yaw);
   }
 
   auto p_insert = points.at(seg_idx);
-  tier4_autoware_utils::setPose(target_pose, p_insert);
+  autoware_universe_utils::setPose(target_pose, p_insert);
 
   geometry_msgs::msg::Pose base_pose;
   {
     const auto p_base = is_driving_forward.value() ? p_front : p_back;
-    const auto pitch = tier4_autoware_utils::calcElevationAngle(p_base, p_target);
-    const auto yaw = tier4_autoware_utils::calcAzimuthAngle(p_base, p_target);
+    const auto pitch = autoware_universe_utils::calcElevationAngle(p_base, p_target);
+    const auto yaw = autoware_universe_utils::calcAzimuthAngle(p_base, p_target);
 
-    base_pose.position = tier4_autoware_utils::getPoint(p_base);
-    base_pose.orientation = tier4_autoware_utils::createQuaternionFromRPY(0.0, pitch, yaw);
+    base_pose.position = autoware_universe_utils::getPoint(p_base);
+    base_pose.orientation = autoware_universe_utils::createQuaternionFromRPY(0.0, pitch, yaw);
   }
 
   if (!overlap_with_front && !overlap_with_back) {
     if (is_driving_forward.value()) {
-      tier4_autoware_utils::setPose(base_pose, points.at(seg_idx));
+      autoware_universe_utils::setPose(base_pose, points.at(seg_idx));
     } else {
-      tier4_autoware_utils::setPose(base_pose, points.at(seg_idx + 1));
+      autoware_universe_utils::setPose(base_pose, points.at(seg_idx + 1));
     }
     points.insert(points.begin() + seg_idx + 1, p_insert);
     return seg_idx + 1;
@@ -1537,9 +1538,9 @@ std::optional<size_t> insertTargetPoint(
   const double target_length =
     insert_point_length - calcSignedArcLength(points, src_segment_idx, *segment_idx);
   const double ratio = std::clamp(target_length / segment_length, 0.0, 1.0);
-  const auto p_target = tier4_autoware_utils::calcInterpolatedPoint(
-    tier4_autoware_utils::getPoint(points.at(*segment_idx)),
-    tier4_autoware_utils::getPoint(points.at(*segment_idx + 1)), ratio);
+  const auto p_target = autoware_universe_utils::calcInterpolatedPoint(
+    autoware_universe_utils::getPoint(points.at(*segment_idx)),
+    autoware_universe_utils::getPoint(points.at(*segment_idx + 1)), ratio);
 
   return insertTargetPoint(*segment_idx, p_target, points, overlap_threshold);
 }
@@ -1643,7 +1644,7 @@ std::optional<size_t> insertStopPoint(
   }
 
   for (size_t i = *stop_idx; i < points_with_twist.size(); ++i) {
-    tier4_autoware_utils::setLongitudinalVelocity(0.0, points_with_twist.at(i));
+    autoware_universe_utils::setLongitudinalVelocity(0.0, points_with_twist.at(i));
   }
 
   return stop_idx;
@@ -1685,9 +1686,9 @@ std::optional<size_t> insertStopPoint(
 
   double accumulated_length = 0;
   for (size_t i = 0; i < points_with_twist.size() - 1; ++i) {
-    const auto curr_pose = tier4_autoware_utils::getPose(points_with_twist.at(i));
-    const auto next_pose = tier4_autoware_utils::getPose(points_with_twist.at(i + 1));
-    const double length = tier4_autoware_utils::calcDistance2d(curr_pose, next_pose);
+    const auto curr_pose = autoware_universe_utils::getPose(points_with_twist.at(i));
+    const auto next_pose = autoware_universe_utils::getPose(points_with_twist.at(i + 1));
+    const double length = autoware_universe_utils::calcDistance2d(curr_pose, next_pose);
     if (accumulated_length + length + overlap_threshold > distance_to_stop_point) {
       const double insert_length = distance_to_stop_point - accumulated_length;
       return insertStopPoint(i, insert_length, points_with_twist, overlap_threshold);
@@ -1747,7 +1748,7 @@ std::optional<size_t> insertStopPoint(
   }
 
   for (size_t i = *stop_idx; i < points_with_twist.size(); ++i) {
-    tier4_autoware_utils::setLongitudinalVelocity(0.0, points_with_twist.at(i));
+    autoware_universe_utils::setLongitudinalVelocity(0.0, points_with_twist.at(i));
   }
 
   return stop_idx;
@@ -1794,7 +1795,7 @@ std::optional<size_t> insertStopPoint(
   }
 
   for (size_t i = insert_idx.value(); i < points_with_twist.size(); ++i) {
-    tier4_autoware_utils::setLongitudinalVelocity(0.0, points_with_twist.at(i));
+    autoware_universe_utils::setLongitudinalVelocity(0.0, points_with_twist.at(i));
   }
 
   return insert_idx;
@@ -1834,8 +1835,8 @@ std::optional<size_t> insertDecelPoint(
 
   for (size_t i = insert_idx.value(); i < points_with_twist.size(); ++i) {
     const auto & original_velocity =
-      tier4_autoware_utils::getLongitudinalVelocity(points_with_twist.at(i));
-    tier4_autoware_utils::setLongitudinalVelocity(
+      autoware_universe_utils::getLongitudinalVelocity(points_with_twist.at(i));
+    autoware_universe_utils::setLongitudinalVelocity(
       std::min(original_velocity, velocity), points_with_twist.at(i));
   }
 
@@ -1858,30 +1859,30 @@ void insertOrientation(T & points, const bool is_driving_forward)
 {
   if (is_driving_forward) {
     for (size_t i = 0; i < points.size() - 1; ++i) {
-      const auto & src_point = tier4_autoware_utils::getPoint(points.at(i));
-      const auto & dst_point = tier4_autoware_utils::getPoint(points.at(i + 1));
-      const double pitch = tier4_autoware_utils::calcElevationAngle(src_point, dst_point);
-      const double yaw = tier4_autoware_utils::calcAzimuthAngle(src_point, dst_point);
-      tier4_autoware_utils::setOrientation(
-        tier4_autoware_utils::createQuaternionFromRPY(0.0, pitch, yaw), points.at(i));
+      const auto & src_point = autoware_universe_utils::getPoint(points.at(i));
+      const auto & dst_point = autoware_universe_utils::getPoint(points.at(i + 1));
+      const double pitch = autoware_universe_utils::calcElevationAngle(src_point, dst_point);
+      const double yaw = autoware_universe_utils::calcAzimuthAngle(src_point, dst_point);
+      autoware_universe_utils::setOrientation(
+        autoware_universe_utils::createQuaternionFromRPY(0.0, pitch, yaw), points.at(i));
       if (i == points.size() - 2) {
         // Terminal orientation is same as the point before it
-        tier4_autoware_utils::setOrientation(
-          tier4_autoware_utils::getPose(points.at(i)).orientation, points.at(i + 1));
+        autoware_universe_utils::setOrientation(
+          autoware_universe_utils::getPose(points.at(i)).orientation, points.at(i + 1));
       }
     }
   } else {
     for (size_t i = points.size() - 1; i >= 1; --i) {
-      const auto & src_point = tier4_autoware_utils::getPoint(points.at(i));
-      const auto & dst_point = tier4_autoware_utils::getPoint(points.at(i - 1));
-      const double pitch = tier4_autoware_utils::calcElevationAngle(src_point, dst_point);
-      const double yaw = tier4_autoware_utils::calcAzimuthAngle(src_point, dst_point);
-      tier4_autoware_utils::setOrientation(
-        tier4_autoware_utils::createQuaternionFromRPY(0.0, pitch, yaw), points.at(i));
+      const auto & src_point = autoware_universe_utils::getPoint(points.at(i));
+      const auto & dst_point = autoware_universe_utils::getPoint(points.at(i - 1));
+      const double pitch = autoware_universe_utils::calcElevationAngle(src_point, dst_point);
+      const double yaw = autoware_universe_utils::calcAzimuthAngle(src_point, dst_point);
+      autoware_universe_utils::setOrientation(
+        autoware_universe_utils::createQuaternionFromRPY(0.0, pitch, yaw), points.at(i));
     }
     // Initial orientation is same as the point after it
-    tier4_autoware_utils::setOrientation(
-      tier4_autoware_utils::getPose(points.at(1)).orientation, points.at(0));
+    autoware_universe_utils::setOrientation(
+      autoware_universe_utils::getPose(points.at(1)).orientation, points.at(0));
   }
 }
 
@@ -1906,14 +1907,14 @@ template <class T>
 void removeFirstInvalidOrientationPoints(T & points, const double max_yaw_diff = M_PI_2)
 {
   for (auto itr = points.begin(); std::next(itr) != points.end();) {
-    const auto p1 = tier4_autoware_utils::getPose(*itr);
-    const auto p2 = tier4_autoware_utils::getPose(*std::next(itr));
+    const auto p1 = autoware_universe_utils::getPose(*itr);
+    const auto p2 = autoware_universe_utils::getPose(*std::next(itr));
     const double yaw1 = tf2::getYaw(p1.orientation);
     const double yaw2 = tf2::getYaw(p2.orientation);
 
     if (
-      max_yaw_diff < std::abs(tier4_autoware_utils::normalizeRadian(yaw1 - yaw2)) ||
-      !tier4_autoware_utils::isDrivingForward(p1, p2)) {
+      max_yaw_diff < std::abs(autoware_universe_utils::normalizeRadian(yaw1 - yaw2)) ||
+      !autoware_universe_utils::isDrivingForward(p1, p2)) {
       points.erase(std::next(itr));
       return;
     } else {
@@ -2066,9 +2067,9 @@ size_t findFirstNearestIndexWithSoftConstraints(
     bool is_within_constraints = false;
     for (size_t i = 0; i < points.size(); ++i) {
       const auto squared_dist =
-        tier4_autoware_utils::calcSquaredDistance2d(points.at(i), pose.position);
-      const auto yaw =
-        tier4_autoware_utils::calcYawDeviation(tier4_autoware_utils::getPose(points.at(i)), pose);
+        autoware_universe_utils::calcSquaredDistance2d(points.at(i), pose.position);
+      const auto yaw = autoware_universe_utils::calcYawDeviation(
+        autoware_universe_utils::getPose(points.at(i)), pose);
 
       if (squared_dist_threshold < squared_dist || yaw_threshold < std::abs(yaw)) {
         if (is_within_constraints) {
@@ -2099,7 +2100,7 @@ size_t findFirstNearestIndexWithSoftConstraints(
     bool is_within_constraints = false;
     for (size_t i = 0; i < points.size(); ++i) {
       const auto squared_dist =
-        tier4_autoware_utils::calcSquaredDistance2d(points.at(i), pose.position);
+        autoware_universe_utils::calcSquaredDistance2d(points.at(i), pose.position);
 
       if (squared_dist_threshold < squared_dist) {
         if (is_within_constraints) {
@@ -2278,7 +2279,7 @@ T cropForwardPoints(
   double sum_length =
     -motion_utils::calcLongitudinalOffsetToSegment(points, target_seg_idx, target_pos);
   for (size_t i = target_seg_idx + 1; i < points.size(); ++i) {
-    sum_length += tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i - 1));
+    sum_length += autoware_universe_utils::calcDistance2d(points.at(i), points.at(i - 1));
     if (forward_length < sum_length) {
       const size_t end_idx = i;
       return T{points.begin(), points.begin() + end_idx};
@@ -2318,7 +2319,7 @@ T cropBackwardPoints(
   double sum_length =
     -motion_utils::calcLongitudinalOffsetToSegment(points, target_seg_idx, target_pos);
   for (int i = target_seg_idx; 0 < i; --i) {
-    sum_length -= tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i - 1));
+    sum_length -= autoware_universe_utils::calcDistance2d(points.at(i), points.at(i - 1));
     if (sum_length < -backward_length) {
       const size_t begin_idx = i;
       return T{points.begin() + begin_idx, points.end()};
@@ -2417,7 +2418,7 @@ double calcYawDeviation(
     const std::string error_message(
       "[motion_utils] " + std::string(__func__) +
       " Given points size is less than 2. Failed to calculate yaw deviation.");
-    tier4_autoware_utils::print_backtrace();
+    autoware_universe_utils::print_backtrace();
     if (throw_exception) {
       throw std::runtime_error(error_message);
     }
@@ -2430,12 +2431,12 @@ double calcYawDeviation(
 
   const size_t seg_idx = findNearestSegmentIndex(overlap_removed_points, pose.position);
 
-  const double path_yaw = tier4_autoware_utils::calcAzimuthAngle(
-    tier4_autoware_utils::getPoint(overlap_removed_points.at(seg_idx)),
-    tier4_autoware_utils::getPoint(overlap_removed_points.at(seg_idx + 1)));
+  const double path_yaw = autoware_universe_utils::calcAzimuthAngle(
+    autoware_universe_utils::getPoint(overlap_removed_points.at(seg_idx)),
+    autoware_universe_utils::getPoint(overlap_removed_points.at(seg_idx + 1)));
   const double pose_yaw = tf2::getYaw(pose.orientation);
 
-  return tier4_autoware_utils::normalizeRadian(pose_yaw - path_yaw);
+  return autoware_universe_utils::normalizeRadian(pose_yaw - path_yaw);
 }
 
 extern template double calcYawDeviation<std::vector<autoware_planning_msgs::msg::PathPoint>>(
diff --git a/common/motion_utils/package.xml b/common/motion_utils/package.xml
index 21471a4a6a75e..c4ec4227f13e9 100644
--- a/common/motion_utils/package.xml
+++ b/common/motion_utils/package.xml
@@ -23,6 +23,7 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
@@ -31,7 +32,6 @@
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/common/motion_utils/src/marker/marker_helper.cpp b/common/motion_utils/src/marker/marker_helper.cpp
index 6e9c45adc241b..9a01900517337 100644
--- a/common/motion_utils/src/marker/marker_helper.cpp
+++ b/common/motion_utils/src/marker/marker_helper.cpp
@@ -14,16 +14,16 @@
 
 #include "motion_utils/marker/marker_helper.hpp"
 
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
+#include "autoware/universe_utils/ros/marker_helper.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <visualization_msgs/msg/marker_array.hpp>
 
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createDeletedDefaultMarker;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerScale;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createDeletedDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
 using visualization_msgs::msg::MarkerArray;
 
 namespace
@@ -92,7 +92,7 @@ visualization_msgs::msg::MarkerArray createStopVirtualWallMarker(
   const int32_t id, const double longitudinal_offset, const std::string & ns_prefix,
   const bool is_driving_forward)
 {
-  const auto pose_with_offset = tier4_autoware_utils::calcOffsetPose(
+  const auto pose_with_offset = autoware_universe_utils::calcOffsetPose(
     pose, longitudinal_offset * (is_driving_forward ? 1.0 : -1.0), 0.0, 0.0);
   return createVirtualWallMarkerArray(
     pose_with_offset, module_name, ns_prefix + "stop_", now, id,
@@ -104,7 +104,7 @@ visualization_msgs::msg::MarkerArray createSlowDownVirtualWallMarker(
   const int32_t id, const double longitudinal_offset, const std::string & ns_prefix,
   const bool is_driving_forward)
 {
-  const auto pose_with_offset = tier4_autoware_utils::calcOffsetPose(
+  const auto pose_with_offset = autoware_universe_utils::calcOffsetPose(
     pose, longitudinal_offset * (is_driving_forward ? 1.0 : -1.0), 0.0, 0.0);
   return createVirtualWallMarkerArray(
     pose_with_offset, module_name, ns_prefix + "slow_down_", now, id,
@@ -116,7 +116,7 @@ visualization_msgs::msg::MarkerArray createDeadLineVirtualWallMarker(
   const int32_t id, const double longitudinal_offset, const std::string & ns_prefix,
   const bool is_driving_forward)
 {
-  const auto pose_with_offset = tier4_autoware_utils::calcOffsetPose(
+  const auto pose_with_offset = autoware_universe_utils::calcOffsetPose(
     pose, longitudinal_offset * (is_driving_forward ? 1.0 : -1.0), 0.0, 0.0);
   return createVirtualWallMarkerArray(
     pose_with_offset, module_name, ns_prefix + "dead_line_", now, id,
diff --git a/common/motion_utils/src/resample/resample.cpp b/common/motion_utils/src/resample/resample.cpp
index 4a4e8dff1e4ad..1378c8921ee06 100644
--- a/common/motion_utils/src/resample/resample.cpp
+++ b/common/motion_utils/src/resample/resample.cpp
@@ -14,12 +14,12 @@
 
 #include "motion_utils/resample/resample.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "interpolation/linear_interpolation.hpp"
 #include "interpolation/spline_interpolation.hpp"
 #include "interpolation/zero_order_hold.hpp"
 #include "motion_utils/resample/resample_utils.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 namespace motion_utils
 {
@@ -50,7 +50,7 @@ std::vector<geometry_msgs::msg::Point> resamplePointVector(
   for (size_t i = 1; i < points.size(); ++i) {
     const auto & prev_pt = points.at(i - 1);
     const auto & curr_pt = points.at(i);
-    const double ds = tier4_autoware_utils::calcDistance2d(prev_pt, curr_pt);
+    const double ds = autoware_universe_utils::calcDistance2d(prev_pt, curr_pt);
     input_arclength.push_back(ds + input_arclength.back());
     x.push_back(curr_pt.x);
     y.push_back(curr_pt.y);
@@ -144,7 +144,7 @@ std::vector<geometry_msgs::msg::Pose> resamplePoseVector(
   }
 
   const bool is_driving_forward =
-    tier4_autoware_utils::isDrivingForward(points.at(0), points.at(1));
+    autoware_universe_utils::isDrivingForward(points.at(0), points.at(1));
   motion_utils::insertOrientation(resampled_points, is_driving_forward);
 
   // Initial orientation is depend on the initial value of the resampled_arclength
@@ -260,7 +260,7 @@ tier4_planning_msgs::msg::PathWithLaneId resamplePath(
     const auto & prev_pt = input_path.points.at(i - 1).point;
     const auto & curr_pt = input_path.points.at(i).point;
     const double ds =
-      tier4_autoware_utils::calcDistance2d(prev_pt.pose.position, curr_pt.pose.position);
+      autoware_universe_utils::calcDistance2d(prev_pt.pose.position, curr_pt.pose.position);
     input_arclength.push_back(ds + input_arclength.back());
     input_pose.push_back(curr_pt.pose);
     v_lon.push_back(curr_pt.longitudinal_velocity_mps);
@@ -449,7 +449,7 @@ autoware_planning_msgs::msg::Path resamplePath(
     const auto & prev_pt = input_path.points.at(i - 1);
     const auto & curr_pt = input_path.points.at(i);
     const double ds =
-      tier4_autoware_utils::calcDistance2d(prev_pt.pose.position, curr_pt.pose.position);
+      autoware_universe_utils::calcDistance2d(prev_pt.pose.position, curr_pt.pose.position);
     input_arclength.push_back(ds + input_arclength.back());
     input_pose.push_back(curr_pt.pose);
     v_lon.push_back(curr_pt.longitudinal_velocity_mps);
@@ -603,7 +603,7 @@ autoware_planning_msgs::msg::Trajectory resampleTrajectory(
     const auto & prev_pt = input_trajectory.points.at(i - 1);
     const auto & curr_pt = input_trajectory.points.at(i);
     const double ds =
-      tier4_autoware_utils::calcDistance2d(prev_pt.pose.position, curr_pt.pose.position);
+      autoware_universe_utils::calcDistance2d(prev_pt.pose.position, curr_pt.pose.position);
     input_arclength.push_back(ds + input_arclength.back());
     input_pose.push_back(curr_pt.pose);
     v_lon.push_back(curr_pt.longitudinal_velocity_mps);
diff --git a/common/motion_utils/src/trajectory/interpolation.cpp b/common/motion_utils/src/trajectory/interpolation.cpp
index 13df39daab59d..05e61b2120326 100644
--- a/common/motion_utils/src/trajectory/interpolation.cpp
+++ b/common/motion_utils/src/trajectory/interpolation.cpp
@@ -43,8 +43,8 @@ TrajectoryPoint calcInterpolatedPoint(
   // Calculate interpolation ratio
   const auto & curr_pt = trajectory.points.at(segment_idx);
   const auto & next_pt = trajectory.points.at(segment_idx + 1);
-  const auto v1 = tier4_autoware_utils::point2tfVector(curr_pt, next_pt);
-  const auto v2 = tier4_autoware_utils::point2tfVector(curr_pt, target_pose);
+  const auto v1 = autoware_universe_utils::point2tfVector(curr_pt, next_pt);
+  const auto v2 = autoware_universe_utils::point2tfVector(curr_pt, target_pose);
   if (v1.length2() < 1e-3) {
     return curr_pt;
   }
@@ -57,7 +57,7 @@ TrajectoryPoint calcInterpolatedPoint(
 
   // pose interpolation
   interpolated_point.pose =
-    tier4_autoware_utils::calcInterpolatedPose(curr_pt, next_pt, clamped_ratio);
+    autoware_universe_utils::calcInterpolatedPose(curr_pt, next_pt, clamped_ratio);
 
   // twist interpolation
   if (use_zero_order_hold_for_twist) {
@@ -111,8 +111,8 @@ PathPointWithLaneId calcInterpolatedPoint(
   // Calculate interpolation ratio
   const auto & curr_pt = path.points.at(segment_idx);
   const auto & next_pt = path.points.at(segment_idx + 1);
-  const auto v1 = tier4_autoware_utils::point2tfVector(curr_pt.point, next_pt.point);
-  const auto v2 = tier4_autoware_utils::point2tfVector(curr_pt.point, target_pose);
+  const auto v1 = autoware_universe_utils::point2tfVector(curr_pt.point, next_pt.point);
+  const auto v2 = autoware_universe_utils::point2tfVector(curr_pt.point, target_pose);
   if (v1.length2() < 1e-3) {
     return curr_pt;
   }
@@ -125,7 +125,7 @@ PathPointWithLaneId calcInterpolatedPoint(
 
   // pose interpolation
   interpolated_point.point.pose =
-    tier4_autoware_utils::calcInterpolatedPose(curr_pt.point, next_pt.point, clamped_ratio);
+    autoware_universe_utils::calcInterpolatedPose(curr_pt.point, next_pt.point, clamped_ratio);
 
   // twist interpolation
   if (use_zero_order_hold_for_twist) {
diff --git a/common/motion_utils/src/trajectory/path_with_lane_id.cpp b/common/motion_utils/src/trajectory/path_with_lane_id.cpp
index 4c86135811003..90a7bff4f47ec 100644
--- a/common/motion_utils/src/trajectory/path_with_lane_id.cpp
+++ b/common/motion_utils/src/trajectory/path_with_lane_id.cpp
@@ -116,15 +116,15 @@ tier4_planning_msgs::msg::PathWithLaneId convertToRearWheelCenter(
 
     // apply beta to CoG pose
     geometry_msgs::msg::Pose cog_pose_with_beta;
-    cog_pose_with_beta.position = tier4_autoware_utils::getPoint(path.points.at(i));
+    cog_pose_with_beta.position = autoware_universe_utils::getPoint(path.points.at(i));
     cog_pose_with_beta.orientation =
-      tier4_autoware_utils::createQuaternionFromYaw(yaw_vec.at(i) - beta);
+      autoware_universe_utils::createQuaternionFromYaw(yaw_vec.at(i) - beta);
 
     const auto rear_pose =
-      tier4_autoware_utils::calcOffsetPose(cog_pose_with_beta, -rear_to_cog, 0.0, 0.0);
+      autoware_universe_utils::calcOffsetPose(cog_pose_with_beta, -rear_to_cog, 0.0, 0.0);
 
     // update pose
-    tier4_autoware_utils::setPose(rear_pose, cog_path.points.at(i));
+    autoware_universe_utils::setPose(rear_pose, cog_path.points.at(i));
   }
 
   // compensate for the last pose
diff --git a/common/motion_utils/test/src/resample/test_resample.cpp b/common/motion_utils/test/src/resample/test_resample.cpp
index ef374f0b484db..545a71aa0db08 100644
--- a/common/motion_utils/test/src/resample/test_resample.cpp
+++ b/common/motion_utils/test/src/resample/test_resample.cpp
@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/constants.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "motion_utils/constants.hpp"
 #include "motion_utils/resample/resample.hpp"
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/constants.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
 
 #include <gtest/gtest.h>
 #include <gtest/internal/gtest-port.h>
@@ -31,9 +31,9 @@ using autoware_planning_msgs::msg::Path;
 using autoware_planning_msgs::msg::PathPoint;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::createQuaternionFromRPY;
-using tier4_autoware_utils::transformPoint;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::createQuaternionFromRPY;
+using autoware_universe_utils::transformPoint;
 using tier4_planning_msgs::msg::PathPointWithLaneId;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
@@ -251,7 +251,7 @@ TEST(resample_path_with_lane_id, resample_path_by_vector)
 
     // Change the last point orientation
     path.points.back() = generateTestPathPointWithLaneId(
-      9.0, 0.0, 0.0, tier4_autoware_utils::pi / 3.0, 3.0, 1.0, 0.01, true, {9});
+      9.0, 0.0, 0.0, autoware_universe_utils::pi / 3.0, 3.0, 1.0, 0.01, true, {9});
     {
       const auto resampled_path = resamplePath(path, resampled_arclength);
       for (size_t i = 0; i < resampled_path.points.size() - 1; ++i) {
@@ -276,7 +276,7 @@ TEST(resample_path_with_lane_id, resample_path_by_vector)
 
       const auto p = resampled_path.points.back();
       const auto ans_p = path.points.back();
-      const auto ans_quat = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+      const auto ans_quat = autoware_universe_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
       EXPECT_NEAR(p.point.pose.position.x, ans_p.point.pose.position.x, epsilon);
       EXPECT_NEAR(p.point.pose.position.y, ans_p.point.pose.position.y, epsilon);
       EXPECT_NEAR(p.point.pose.position.z, ans_p.point.pose.position.z, epsilon);
@@ -547,7 +547,7 @@ TEST(resample_path_with_lane_id, resample_path_by_vector_backward)
     path.points.resize(10);
     for (size_t i = 0; i < 10; ++i) {
       path.points.at(i) = generateTestPathPointWithLaneId(
-        i * 1.0, 0.0, 0.0, tier4_autoware_utils::pi, i * 1.0, i * 0.5, i * 0.1, false,
+        i * 1.0, 0.0, 0.0, autoware_universe_utils::pi, i * 1.0, i * 0.5, i * 0.1, false,
         {static_cast<int64_t>(i)});
     }
     path.points.back().point.is_final = true;
@@ -639,7 +639,7 @@ TEST(resample_path_with_lane_id, resample_path_by_vector_backward)
       }
     }
 
-    const auto ans_quat = tier4_autoware_utils::createQuaternionFromYaw(M_PI);
+    const auto ans_quat = autoware_universe_utils::createQuaternionFromYaw(M_PI);
     for (size_t i = 0; i < resampled_path.points.size(); ++i) {
       const auto p = resampled_path.points.at(i).point;
       EXPECT_NEAR(p.pose.orientation.x, ans_quat.x, epsilon);
@@ -659,7 +659,7 @@ TEST(resample_path_with_lane_id, resample_path_by_vector_backward)
     }
     path.points.back().point.is_final = true;
     path.points.at(0).point.pose.orientation =
-      tier4_autoware_utils::createQuaternionFromYaw(M_PI + M_PI / 3.0);
+      autoware_universe_utils::createQuaternionFromYaw(M_PI + M_PI / 3.0);
     std::vector<double> resampled_arclength = {0.0, 1.2, 1.5, 5.3, 7.5, 9.0};
 
     const auto resampled_path = resamplePath(path, resampled_arclength);
@@ -750,7 +750,7 @@ TEST(resample_path_with_lane_id, resample_path_by_vector_backward)
 
     // Initial Orientation
     {
-      const auto ans_quat = tier4_autoware_utils::createQuaternionFromYaw(M_PI + M_PI / 3.0);
+      const auto ans_quat = autoware_universe_utils::createQuaternionFromYaw(M_PI + M_PI / 3.0);
       const auto p = resampled_path.points.at(0).point;
       EXPECT_NEAR(p.pose.orientation.x, ans_quat.x, epsilon);
       EXPECT_NEAR(p.pose.orientation.y, ans_quat.y, epsilon);
@@ -758,7 +758,7 @@ TEST(resample_path_with_lane_id, resample_path_by_vector_backward)
       EXPECT_NEAR(p.pose.orientation.w, ans_quat.w, epsilon);
     }
 
-    const auto ans_quat = tier4_autoware_utils::createQuaternionFromYaw(M_PI);
+    const auto ans_quat = autoware_universe_utils::createQuaternionFromYaw(M_PI);
     for (size_t i = 1; i < resampled_path.points.size(); ++i) {
       const auto p = resampled_path.points.at(i).point;
       EXPECT_NEAR(p.pose.orientation.x, ans_quat.x, epsilon);
@@ -919,7 +919,7 @@ TEST(resample_path_with_lane_id, resample_path_by_vector_non_default)
     }
 
     const double pitch = std::atan(1.0);
-    const auto ans_quat = tier4_autoware_utils::createQuaternionFromRPY(0.0, pitch, 0.0);
+    const auto ans_quat = autoware_universe_utils::createQuaternionFromRPY(0.0, pitch, 0.0);
     for (size_t i = 0; i < resampled_path.points.size(); ++i) {
       const auto p = resampled_path.points.at(i).point;
       EXPECT_NEAR(p.pose.orientation.x, ans_quat.x, epsilon);
@@ -1045,7 +1045,7 @@ TEST(resample_path_with_lane_id, resample_path_by_same_interval)
     }
     // Change the last point orientation
     path.points.back() = generateTestPathPointWithLaneId(
-      9.0, 0.0, 0.0, tier4_autoware_utils::pi / 3.0, 3.0, 1.0, 0.01, true, {9});
+      9.0, 0.0, 0.0, autoware_universe_utils::pi / 3.0, 3.0, 1.0, 0.01, true, {9});
     {
       const auto resampled_path = resamplePath(path, 1.0);
       for (size_t i = 0; i < resampled_path.points.size() - 1; ++i) {
@@ -1070,7 +1070,7 @@ TEST(resample_path_with_lane_id, resample_path_by_same_interval)
 
       const auto p = resampled_path.points.back();
       const auto ans_p = path.points.back();
-      const auto ans_quat = tier4_autoware_utils::createQuaternionFromYaw(0.0);
+      const auto ans_quat = autoware_universe_utils::createQuaternionFromYaw(0.0);
       EXPECT_NEAR(p.point.pose.position.x, ans_p.point.pose.position.x, epsilon);
       EXPECT_NEAR(p.point.pose.position.y, ans_p.point.pose.position.y, epsilon);
       EXPECT_NEAR(p.point.pose.position.z, ans_p.point.pose.position.z, epsilon);
@@ -1590,7 +1590,7 @@ TEST(resample_path, resample_path_by_vector)
 
     // Change the last point orientation
     path.points.back() =
-      generateTestPathPoint(9.0, 0.0, 0.0, tier4_autoware_utils::pi / 3.0, 3.0, 1.0, 0.01);
+      generateTestPathPoint(9.0, 0.0, 0.0, autoware_universe_utils::pi / 3.0, 3.0, 1.0, 0.01);
     {
       const auto resampled_path = resamplePath(path, resampled_arclength);
       for (size_t i = 0; i < resampled_path.points.size() - 1; ++i) {
@@ -1610,7 +1610,7 @@ TEST(resample_path, resample_path_by_vector)
 
       const auto p = resampled_path.points.back();
       const auto ans_p = path.points.back();
-      const auto ans_quat = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+      const auto ans_quat = autoware_universe_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
       EXPECT_NEAR(p.pose.position.x, ans_p.pose.position.x, epsilon);
       EXPECT_NEAR(p.pose.position.y, ans_p.pose.position.y, epsilon);
       EXPECT_NEAR(p.pose.position.z, ans_p.pose.position.z, epsilon);
@@ -1884,7 +1884,7 @@ TEST(resample_path, resample_path_by_vector_backward)
       EXPECT_NEAR(p.heading_rate_rps, 0.9, epsilon);
     }
 
-    const auto ans_quat = tier4_autoware_utils::createQuaternionFromYaw(M_PI);
+    const auto ans_quat = autoware_universe_utils::createQuaternionFromYaw(M_PI);
     for (size_t i = 0; i < resampled_path.points.size(); ++i) {
       const auto p = resampled_path.points.at(i);
       EXPECT_NEAR(p.pose.orientation.x, ans_quat.x, epsilon);
@@ -1902,7 +1902,7 @@ TEST(resample_path, resample_path_by_vector_backward)
       path.points.at(i) = generateTestPathPoint(i * 1.0, 0.0, 0.0, M_PI, i * 1.0, i * 0.5, i * 0.1);
     }
     path.points.at(0).pose.orientation =
-      tier4_autoware_utils::createQuaternionFromYaw(M_PI + M_PI / 3.0);
+      autoware_universe_utils::createQuaternionFromYaw(M_PI + M_PI / 3.0);
     std::vector<double> resampled_arclength = {0.0, 1.2, 1.5, 5.3, 7.5, 9.0};
 
     const auto resampled_path = resamplePath(path, resampled_arclength);
@@ -1969,7 +1969,7 @@ TEST(resample_path, resample_path_by_vector_backward)
 
     // Initial Orientation
     {
-      const auto ans_quat = tier4_autoware_utils::createQuaternionFromYaw(M_PI + M_PI / 3.0);
+      const auto ans_quat = autoware_universe_utils::createQuaternionFromYaw(M_PI + M_PI / 3.0);
       const auto p = resampled_path.points.at(0);
       EXPECT_NEAR(p.pose.orientation.x, ans_quat.x, epsilon);
       EXPECT_NEAR(p.pose.orientation.y, ans_quat.y, epsilon);
@@ -1977,7 +1977,7 @@ TEST(resample_path, resample_path_by_vector_backward)
       EXPECT_NEAR(p.pose.orientation.w, ans_quat.w, epsilon);
     }
 
-    const auto ans_quat = tier4_autoware_utils::createQuaternionFromYaw(M_PI);
+    const auto ans_quat = autoware_universe_utils::createQuaternionFromYaw(M_PI);
     for (size_t i = 1; i < resampled_path.points.size(); ++i) {
       const auto p = resampled_path.points.at(i);
       EXPECT_NEAR(p.pose.orientation.x, ans_quat.x, epsilon);
@@ -2103,7 +2103,7 @@ TEST(resample_path, resample_path_by_vector_non_default)
     }
 
     const double pitch = std::atan(1.0);
-    const auto ans_quat = tier4_autoware_utils::createQuaternionFromRPY(0.0, pitch, 0.0);
+    const auto ans_quat = autoware_universe_utils::createQuaternionFromRPY(0.0, pitch, 0.0);
     for (size_t i = 0; i < resampled_path.points.size(); ++i) {
       const auto p = resampled_path.points.at(i);
       EXPECT_NEAR(p.pose.orientation.x, ans_quat.x, epsilon);
@@ -2205,7 +2205,7 @@ TEST(resample_path, resample_path_by_same_interval)
 
     // Change the last point orientation
     path.points.back() =
-      generateTestPathPoint(9.0, 0.0, 0.0, tier4_autoware_utils::pi / 3.0, 3.0, 1.0, 0.01);
+      generateTestPathPoint(9.0, 0.0, 0.0, autoware_universe_utils::pi / 3.0, 3.0, 1.0, 0.01);
     {
       const auto resampled_path = resamplePath(path, 1.0);
       for (size_t i = 0; i < resampled_path.points.size() - 1; ++i) {
@@ -2225,7 +2225,7 @@ TEST(resample_path, resample_path_by_same_interval)
 
       const auto p = resampled_path.points.back();
       const auto ans_p = path.points.back();
-      const auto ans_quat = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+      const auto ans_quat = autoware_universe_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
       EXPECT_NEAR(p.pose.position.x, ans_p.pose.position.x, epsilon);
       EXPECT_NEAR(p.pose.position.y, ans_p.pose.position.y, epsilon);
       EXPECT_NEAR(p.pose.position.z, ans_p.pose.position.z, epsilon);
@@ -2660,7 +2660,7 @@ TEST(resample_trajectory, resample_trajectory_by_vector)
 
     // Change the last point orientation
     traj.points.back() = generateTestTrajectoryPoint(
-      9.0, 0.0, 0.0, tier4_autoware_utils::pi / 3.0, 3.0, 1.0, 0.01, 0.5);
+      9.0, 0.0, 0.0, autoware_universe_utils::pi / 3.0, 3.0, 1.0, 0.01, 0.5);
     {
       const auto resampled_path = resampleTrajectory(traj, resampled_arclength);
       for (size_t i = 0; i < resampled_path.points.size() - 1; ++i) {
@@ -2681,7 +2681,7 @@ TEST(resample_trajectory, resample_trajectory_by_vector)
 
       const auto p = resampled_path.points.back();
       const auto ans_p = traj.points.back();
-      const auto ans_quat = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+      const auto ans_quat = autoware_universe_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
       EXPECT_NEAR(p.pose.position.x, ans_p.pose.position.x, epsilon);
       EXPECT_NEAR(p.pose.position.y, ans_p.pose.position.y, epsilon);
       EXPECT_NEAR(p.pose.position.z, ans_p.pose.position.z, epsilon);
@@ -3013,7 +3013,7 @@ TEST(resample_trajectory, resample_trajectory_by_vector_non_default)
     }
 
     const double pitch = std::atan(1.0);
-    const auto ans_quat = tier4_autoware_utils::createQuaternionFromRPY(0.0, pitch, 0.0);
+    const auto ans_quat = autoware_universe_utils::createQuaternionFromRPY(0.0, pitch, 0.0);
     for (size_t i = 0; i < resampled_traj.points.size(); ++i) {
       const auto p = resampled_traj.points.at(i);
       EXPECT_NEAR(p.pose.orientation.x, ans_quat.x, epsilon);
@@ -3122,7 +3122,7 @@ TEST(resample_trajectory, resample_trajectory_by_same_interval)
 
     // Change the last point orientation
     traj.points.back() = generateTestTrajectoryPoint(
-      9.0, 0.0, 0.0, tier4_autoware_utils::pi / 3.0, 3.0, 1.0, 0.01, 0.5);
+      9.0, 0.0, 0.0, autoware_universe_utils::pi / 3.0, 3.0, 1.0, 0.01, 0.5);
     {
       const auto resampled_path = resampleTrajectory(traj, 1.0);
       for (size_t i = 0; i < resampled_path.points.size() - 1; ++i) {
@@ -3143,7 +3143,7 @@ TEST(resample_trajectory, resample_trajectory_by_same_interval)
 
       const auto p = resampled_path.points.back();
       const auto ans_p = traj.points.back();
-      const auto ans_quat = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+      const auto ans_quat = autoware_universe_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
       EXPECT_NEAR(p.pose.position.x, ans_p.pose.position.x, epsilon);
       EXPECT_NEAR(p.pose.position.y, ans_p.pose.position.y, epsilon);
       EXPECT_NEAR(p.pose.position.z, ans_p.pose.position.z, epsilon);
diff --git a/common/motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp b/common/motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp
index 7aae860b76533..4ba7ab9d5d859 100644
--- a/common/motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp
+++ b/common/motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp
@@ -23,8 +23,8 @@
 namespace
 {
 using autoware_planning_msgs::msg::Trajectory;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::createQuaternionFromRPY;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::createQuaternionFromRPY;
 
 constexpr double epsilon = 1e-6;
 
diff --git a/common/motion_utils/test/src/trajectory/test_interpolation.cpp b/common/motion_utils/test/src/trajectory/test_interpolation.cpp
index 90b11e535c486..7b1a57b229816 100644
--- a/common/motion_utils/test/src/trajectory/test_interpolation.cpp
+++ b/common/motion_utils/test/src/trajectory/test_interpolation.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "motion_utils/trajectory/interpolation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
 
 #include <gtest/gtest.h>
 #include <gtest/internal/gtest-port.h>
@@ -29,9 +29,9 @@ namespace
 {
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::createQuaternionFromRPY;
-using tier4_autoware_utils::transformPoint;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::createQuaternionFromRPY;
+using autoware_universe_utils::transformPoint;
 using tier4_planning_msgs::msg::PathPointWithLaneId;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
diff --git a/common/motion_utils/test/src/trajectory/test_path_with_lane_id.cpp b/common/motion_utils/test/src/trajectory/test_path_with_lane_id.cpp
index 6dd60c499d181..be35ae4c87135 100644
--- a/common/motion_utils/test/src/trajectory/test_path_with_lane_id.cpp
+++ b/common/motion_utils/test/src/trajectory/test_path_with_lane_id.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "motion_utils/trajectory/path_with_lane_id.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <gtest/gtest.h>
 
@@ -22,7 +22,7 @@
 
 namespace
 {
-using tier4_autoware_utils::createPoint;
+using autoware_universe_utils::createPoint;
 using tier4_planning_msgs::msg::PathPointWithLaneId;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
@@ -31,7 +31,7 @@ geometry_msgs::msg::Pose createPose(
 {
   geometry_msgs::msg::Pose p;
   p.position = createPoint(x, y, z);
-  p.orientation = tier4_autoware_utils::createQuaternionFromRPY(roll, pitch, yaw);
+  p.orientation = autoware_universe_utils::createQuaternionFromRPY(roll, pitch, yaw);
   return p;
 }
 
diff --git a/common/motion_utils/test/src/trajectory/test_trajectory.cpp b/common/motion_utils/test/src/trajectory/test_trajectory.cpp
index 3789ea21a2256..9c7281048f9f8 100644
--- a/common/motion_utils/test/src/trajectory/test_trajectory.cpp
+++ b/common/motion_utils/test/src/trajectory/test_trajectory.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
 
 #include <gtest/gtest.h>
 #include <gtest/internal/gtest-port.h>
@@ -28,9 +28,9 @@ namespace
 {
 using autoware_planning_msgs::msg::Trajectory;
 using TrajectoryPointArray = std::vector<autoware_planning_msgs::msg::TrajectoryPoint>;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::createQuaternionFromRPY;
-using tier4_autoware_utils::transformPoint;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::createQuaternionFromRPY;
+using autoware_universe_utils::transformPoint;
 
 constexpr double epsilon = 1e-6;
 
@@ -136,8 +136,8 @@ TEST(trajectory, validateNonSharpAngle_DefaultThreshold)
 TEST(trajectory, validateNonSharpAngle_SetThreshold)
 {
   using autoware_planning_msgs::msg::TrajectoryPoint;
+  using autoware_universe_utils::pi;
   using motion_utils::validateNonSharpAngle;
-  using tier4_autoware_utils::pi;
 
   TrajectoryPoint p1;
   p1.pose = createPose(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
@@ -1009,8 +1009,8 @@ TEST(trajectory, calcDistanceToForwardStopPoint_DistThreshold)
 
 TEST(trajectory, calcDistanceToForwardStopPoint_YawThreshold)
 {
+  using autoware_universe_utils::deg2rad;
   using motion_utils::calcDistanceToForwardStopPoint;
-  using tier4_autoware_utils::deg2rad;
 
   const auto max_d = std::numeric_limits<double>::max();
   auto traj_input = generateTestTrajectory<Trajectory>(100, 1.0, 3.0);
@@ -1061,10 +1061,10 @@ TEST(trajectory, calcDistanceToForwardStopPoint_YawThreshold)
 
 TEST(trajectory, calcLongitudinalOffsetPointFromIndex)
 {
+  using autoware_universe_utils::getPoint;
   using motion_utils::calcArcLength;
   using motion_utils::calcLongitudinalOffsetPoint;
   using motion_utils::calcSignedArcLength;
-  using tier4_autoware_utils::getPoint;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
   const auto total_length = calcArcLength(traj.points);
@@ -1137,11 +1137,11 @@ TEST(trajectory, calcLongitudinalOffsetPointFromIndex)
 
 TEST(trajectory, calcLongitudinalOffsetPointFromPoint)
 {
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::getPoint;
   using motion_utils::calcArcLength;
   using motion_utils::calcLongitudinalOffsetPoint;
   using motion_utils::calcSignedArcLength;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::getPoint;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
   const auto total_length = calcArcLength(traj.points);
@@ -1215,10 +1215,10 @@ TEST(trajectory, calcLongitudinalOffsetPointFromPoint)
 
 TEST(trajectory, calcLongitudinalOffsetPoseFromIndex)
 {
+  using autoware_universe_utils::getPoint;
   using motion_utils::calcArcLength;
   using motion_utils::calcLongitudinalOffsetPose;
   using motion_utils::calcSignedArcLength;
-  using tier4_autoware_utils::getPoint;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
   const auto total_length = calcArcLength(traj.points);
@@ -1300,9 +1300,9 @@ TEST(trajectory, calcLongitudinalOffsetPoseFromIndex)
 TEST(trajectory, calcLongitudinalOffsetPoseFromIndex_quatInterpolation)
 {
   using autoware_planning_msgs::msg::TrajectoryPoint;
+  using autoware_universe_utils::deg2rad;
   using motion_utils::calcArcLength;
   using motion_utils::calcLongitudinalOffsetPose;
-  using tier4_autoware_utils::deg2rad;
 
   Trajectory traj{};
 
@@ -1386,9 +1386,9 @@ TEST(trajectory, calcLongitudinalOffsetPoseFromIndex_quatInterpolation)
 TEST(trajectory, calcLongitudinalOffsetPoseFromIndex_quatSphericalInterpolation)
 {
   using autoware_planning_msgs::msg::TrajectoryPoint;
+  using autoware_universe_utils::deg2rad;
   using motion_utils::calcArcLength;
   using motion_utils::calcLongitudinalOffsetPose;
-  using tier4_autoware_utils::deg2rad;
 
   Trajectory traj{};
 
@@ -1477,11 +1477,11 @@ TEST(trajectory, calcLongitudinalOffsetPoseFromIndex_quatSphericalInterpolation)
 
 TEST(trajectory, calcLongitudinalOffsetPoseFromPoint)
 {
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::getPoint;
   using motion_utils::calcArcLength;
   using motion_utils::calcLongitudinalOffsetPose;
   using motion_utils::calcSignedArcLength;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::getPoint;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
   const auto total_length = calcArcLength(traj.points);
@@ -1564,11 +1564,11 @@ TEST(trajectory, calcLongitudinalOffsetPoseFromPoint)
 TEST(trajectory, calcLongitudinalOffsetPoseFromPoint_quatInterpolation)
 {
   using autoware_planning_msgs::msg::TrajectoryPoint;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
   using motion_utils::calcArcLength;
   using motion_utils::calcLongitudinalOffsetPose;
   using motion_utils::calcLongitudinalOffsetToSegment;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
 
   Trajectory traj{};
 
@@ -1638,11 +1638,11 @@ TEST(trajectory, calcLongitudinalOffsetPoseFromPoint_quatInterpolation)
 TEST(trajectory, calcLongitudinalOffsetPoseFromPoint_quatSphericalInterpolation)
 {
   using autoware_planning_msgs::msg::TrajectoryPoint;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
   using motion_utils::calcArcLength;
   using motion_utils::calcLongitudinalOffsetPose;
   using motion_utils::calcLongitudinalOffsetToSegment;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
 
   Trajectory traj{};
 
@@ -1715,13 +1715,13 @@ TEST(trajectory, calcLongitudinalOffsetPoseFromPoint_quatSphericalInterpolation)
 
 TEST(trajectory, insertTargetPoint)
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getPose;
   using motion_utils::calcArcLength;
   using motion_utils::findNearestSegmentIndex;
   using motion_utils::insertTargetPoint;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getPose;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
   const auto total_length = calcArcLength(traj.points);
@@ -1928,19 +1928,19 @@ TEST(trajectory, insertTargetPoint)
 
 TEST(trajectory, insertTargetPoint_Reverse)
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::createQuaternionFromYaw;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getPose;
   using motion_utils::calcArcLength;
   using motion_utils::findNearestSegmentIndex;
   using motion_utils::insertTargetPoint;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::createQuaternionFromYaw;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getPose;
 
   constexpr double overlap_threshold = 1e-4;
   auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
   for (size_t i = 0; i < traj.points.size(); ++i) {
-    traj.points.at(i).pose.orientation = createQuaternionFromYaw(tier4_autoware_utils::pi);
+    traj.points.at(i).pose.orientation = createQuaternionFromYaw(autoware_universe_utils::pi);
   }
   const auto total_length = calcArcLength(traj.points);
 
@@ -1986,13 +1986,13 @@ TEST(trajectory, insertTargetPoint_Reverse)
 
 TEST(trajectory, insertTargetPoint_OverlapThreshold)
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getPose;
   using motion_utils::calcArcLength;
   using motion_utils::findNearestSegmentIndex;
   using motion_utils::insertTargetPoint;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getPose;
 
   constexpr double overlap_threshold = 1e-4;
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
@@ -2079,13 +2079,13 @@ TEST(trajectory, insertTargetPoint_OverlapThreshold)
 
 TEST(trajectory, insertTargetPoint_Length)
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getPose;
   using motion_utils::calcArcLength;
   using motion_utils::findNearestSegmentIndex;
   using motion_utils::insertTargetPoint;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getPose;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
   const auto total_length = calcArcLength(traj.points);
@@ -2317,13 +2317,13 @@ TEST(trajectory, insertTargetPoint_Length)
 
 TEST(trajectory, insertTargetPoint_Length_Without_Target_Point)
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getPose;
   using motion_utils::calcArcLength;
   using motion_utils::findNearestSegmentIndex;
   using motion_utils::insertTargetPoint;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getPose;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
   const auto total_length = calcArcLength(traj.points);
@@ -2503,13 +2503,13 @@ TEST(trajectory, insertTargetPoint_Length_Without_Target_Point)
 
 TEST(trajectory, insertTargetPoint_Length_Without_Target_Point_Non_Zero_Start_Idx)
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getPose;
   using motion_utils::calcArcLength;
   using motion_utils::findNearestSegmentIndex;
   using motion_utils::insertTargetPoint;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getPose;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
 
@@ -2733,13 +2733,13 @@ TEST(trajectory, insertTargetPoint_Length_Without_Target_Point_Non_Zero_Start_Id
 
 TEST(trajectory, insertTargetPoint_Negative_Length_Without_Target_Point_Non_Zero_Start_Idx)
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getPose;
   using motion_utils::calcArcLength;
   using motion_utils::findNearestSegmentIndex;
   using motion_utils::insertTargetPoint;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getPose;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
 
@@ -2920,13 +2920,13 @@ TEST(trajectory, insertTargetPoint_Negative_Length_Without_Target_Point_Non_Zero
 
 TEST(trajectory, insertTargetPoint_Length_from_a_pose)
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getPose;
   using motion_utils::calcArcLength;
   using motion_utils::findNearestSegmentIndex;
   using motion_utils::insertTargetPoint;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getPose;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
   const auto total_length = calcArcLength(traj.points);
@@ -3272,13 +3272,13 @@ TEST(trajectory, insertTargetPoint_Length_from_a_pose)
 
 TEST(trajectory, insertStopPoint_from_a_source_index)
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getPose;
   using motion_utils::calcArcLength;
   using motion_utils::findNearestSegmentIndex;
   using motion_utils::insertStopPoint;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getPose;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0, 10.0);
 
@@ -3527,13 +3527,13 @@ TEST(trajectory, insertStopPoint_from_a_source_index)
 
 TEST(trajectory, insertStopPoint_from_front_point)
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getPose;
   using motion_utils::calcArcLength;
   using motion_utils::findNearestSegmentIndex;
   using motion_utils::insertStopPoint;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getPose;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0, 10.0);
 
@@ -3724,13 +3724,13 @@ TEST(trajectory, insertStopPoint_from_front_point)
 
 TEST(trajectory, insertStopPoint_from_a_pose)
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getPose;
   using motion_utils::calcArcLength;
   using motion_utils::findNearestSegmentIndex;
   using motion_utils::insertStopPoint;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getPose;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0, 10.0);
   const auto total_length = calcArcLength(traj.points);
@@ -4110,13 +4110,13 @@ TEST(trajectory, insertStopPoint_from_a_pose)
 
 TEST(trajectory, insertStopPoint_with_pose_and_segment_index)
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::deg2rad;
+  using autoware_universe_utils::getPose;
   using motion_utils::calcArcLength;
   using motion_utils::findNearestSegmentIndex;
   using motion_utils::insertStopPoint;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::deg2rad;
-  using tier4_autoware_utils::getPose;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0, 3.0);
   const auto total_length = calcArcLength(traj.points);
@@ -4354,12 +4354,12 @@ TEST(trajectory, insertStopPoint_with_pose_and_segment_index)
 
 TEST(trajectory, insertDecelPoint_from_a_point)
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::getLongitudinalVelocity;
   using motion_utils::calcArcLength;
   using motion_utils::findNearestSegmentIndex;
   using motion_utils::insertDecelPoint;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::getLongitudinalVelocity;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0, 10.0);
   const auto total_length = calcArcLength(traj.points);
@@ -4444,9 +4444,9 @@ TEST(trajectory, insertDecelPoint_from_a_point)
 
 TEST(trajectory, findFirstNearestIndexWithSoftConstraints)
 {
+  using autoware_universe_utils::pi;
   using motion_utils::findFirstNearestIndexWithSoftConstraints;
   using motion_utils::findFirstNearestSegmentIndexWithSoftConstraints;
-  using tier4_autoware_utils::pi;
 
   const auto traj = generateTestTrajectory<Trajectory>(10, 1.0);
 
@@ -5252,25 +5252,25 @@ TEST(trajectory, cropForwardPoints)
 
   {  // Normal case
     const auto cropped_traj_points =
-      cropForwardPoints(traj.points, tier4_autoware_utils::createPoint(1.5, 1.5, 0.0), 1, 4.8);
+      cropForwardPoints(traj.points, autoware_universe_utils::createPoint(1.5, 1.5, 0.0), 1, 4.8);
     EXPECT_EQ(cropped_traj_points.size(), static_cast<size_t>(7));
   }
 
   {  // Forward length is longer than points arc length.
     const auto cropped_traj_points =
-      cropForwardPoints(traj.points, tier4_autoware_utils::createPoint(1.5, 1.5, 0.0), 1, 10.0);
+      cropForwardPoints(traj.points, autoware_universe_utils::createPoint(1.5, 1.5, 0.0), 1, 10.0);
     EXPECT_EQ(cropped_traj_points.size(), static_cast<size_t>(10));
   }
 
   {  // Point is on the previous segment
     const auto cropped_traj_points =
-      cropForwardPoints(traj.points, tier4_autoware_utils::createPoint(1.0, 1.0, 0.0), 0, 2.5);
+      cropForwardPoints(traj.points, autoware_universe_utils::createPoint(1.0, 1.0, 0.0), 0, 2.5);
     EXPECT_EQ(cropped_traj_points.size(), static_cast<size_t>(4));
   }
 
   {  // Point is on the next segment
     const auto cropped_traj_points =
-      cropForwardPoints(traj.points, tier4_autoware_utils::createPoint(1.0, 1.0, 0.0), 1, 2.5);
+      cropForwardPoints(traj.points, autoware_universe_utils::createPoint(1.0, 1.0, 0.0), 1, 2.5);
     EXPECT_EQ(cropped_traj_points.size(), static_cast<size_t>(4));
   }
 }
@@ -5283,25 +5283,25 @@ TEST(trajectory, cropBackwardPoints)
 
   {  // Normal case
     const auto cropped_traj_points =
-      cropBackwardPoints(traj.points, tier4_autoware_utils::createPoint(8.5, 8.5, 0.0), 8, 4.8);
+      cropBackwardPoints(traj.points, autoware_universe_utils::createPoint(8.5, 8.5, 0.0), 8, 4.8);
     EXPECT_EQ(cropped_traj_points.size(), static_cast<size_t>(6));
   }
 
   {  // Backward length is longer than points arc length.
     const auto cropped_traj_points =
-      cropBackwardPoints(traj.points, tier4_autoware_utils::createPoint(8.5, 8.5, 0.0), 8, 10.0);
+      cropBackwardPoints(traj.points, autoware_universe_utils::createPoint(8.5, 8.5, 0.0), 8, 10.0);
     EXPECT_EQ(cropped_traj_points.size(), static_cast<size_t>(10));
   }
 
   {  // Point is on the previous segment
     const auto cropped_traj_points =
-      cropBackwardPoints(traj.points, tier4_autoware_utils::createPoint(8.0, 8.0, 0.0), 7, 2.5);
+      cropBackwardPoints(traj.points, autoware_universe_utils::createPoint(8.0, 8.0, 0.0), 7, 2.5);
     EXPECT_EQ(cropped_traj_points.size(), static_cast<size_t>(4));
   }
 
   {  // Point is on the next segment
     const auto cropped_traj_points =
-      cropBackwardPoints(traj.points, tier4_autoware_utils::createPoint(8.0, 8.0, 0.0), 8, 2.5);
+      cropBackwardPoints(traj.points, autoware_universe_utils::createPoint(8.0, 8.0, 0.0), 8, 2.5);
     EXPECT_EQ(cropped_traj_points.size(), static_cast<size_t>(4));
   }
 }
@@ -5314,25 +5314,25 @@ TEST(trajectory, cropPoints)
 
   {  // Normal case
     const auto cropped_traj_points =
-      cropPoints(traj.points, tier4_autoware_utils::createPoint(3.5, 3.5, 0.0), 3, 2.3, 1.2);
+      cropPoints(traj.points, autoware_universe_utils::createPoint(3.5, 3.5, 0.0), 3, 2.3, 1.2);
     EXPECT_EQ(cropped_traj_points.size(), static_cast<size_t>(3));
   }
 
   {  // Length is longer than points arc length.
     const auto cropped_traj_points =
-      cropPoints(traj.points, tier4_autoware_utils::createPoint(3.5, 3.5, 0.0), 3, 10.0, 10.0);
+      cropPoints(traj.points, autoware_universe_utils::createPoint(3.5, 3.5, 0.0), 3, 10.0, 10.0);
     EXPECT_EQ(cropped_traj_points.size(), static_cast<size_t>(10));
   }
 
   {  // Point is on the previous segment
     const auto cropped_traj_points =
-      cropPoints(traj.points, tier4_autoware_utils::createPoint(3.0, 3.0, 0.0), 2, 2.2, 1.9);
+      cropPoints(traj.points, autoware_universe_utils::createPoint(3.0, 3.0, 0.0), 2, 2.2, 1.9);
     EXPECT_EQ(cropped_traj_points.size(), static_cast<size_t>(4));
   }
 
   {  // Point is on the next segment
     const auto cropped_traj_points =
-      cropPoints(traj.points, tier4_autoware_utils::createPoint(3.0, 3.0, 0.0), 3, 2.2, 1.9);
+      cropPoints(traj.points, autoware_universe_utils::createPoint(3.0, 3.0, 0.0), 3, 2.2, 1.9);
     EXPECT_EQ(cropped_traj_points.size(), static_cast<size_t>(4));
   }
 }
@@ -5357,7 +5357,7 @@ TEST(Trajectory, removeFirstInvalidOrientationPoints)
       EXPECT_EQ(traj.points.at(i), modified_traj.points.at(i));
       const double yaw1 = tf2::getYaw(modified_traj.points.at(i).pose.orientation);
       const double yaw2 = tf2::getYaw(modified_traj.points.at(i + 1).pose.orientation);
-      const double yaw_diff = std::abs(tier4_autoware_utils::normalizeRadian(yaw1 - yaw2));
+      const double yaw_diff = std::abs(autoware_universe_utils::normalizeRadian(yaw1 - yaw2));
       EXPECT_LE(yaw_diff, max_yaw_diff);
     }
   };
@@ -5420,8 +5420,8 @@ TEST(trajectory, calcYawDeviation)
 TEST(trajectory, isTargetPointFront)
 {
   using autoware_planning_msgs::msg::TrajectoryPoint;
+  using autoware_universe_utils::createPoint;
   using motion_utils::isTargetPointFront;
-  using tier4_autoware_utils::createPoint;
 
   // Generate test trajectory
   const auto trajectory = generateTestTrajectory<Trajectory>(10, 1.0);
diff --git a/common/motion_utils/test/src/vehicle/test_vehicle_state_checker.cpp b/common/motion_utils/test/src/vehicle/test_vehicle_state_checker.cpp
index 540aef70cc1f4..826539458175c 100644
--- a/common/motion_utils/test/src/vehicle/test_vehicle_state_checker.cpp
+++ b/common/motion_utils/test/src/vehicle/test_vehicle_state_checker.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "motion_utils/vehicle/vehicle_state_checker.hpp"
 #include "test_vehicle_state_checker_helper.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -32,12 +32,12 @@ constexpr double STOP_DURATION_THRESHOLD_600_MS = 0.6;
 constexpr double STOP_DURATION_THRESHOLD_800_MS = 0.8;
 constexpr double STOP_DURATION_THRESHOLD_1000_MS = 1.0;
 
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::createQuaternion;
+using autoware_universe_utils::createTranslation;
 using motion_utils::VehicleArrivalChecker;
 using motion_utils::VehicleStopChecker;
 using nav_msgs::msg::Odometry;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::createQuaternion;
-using tier4_autoware_utils::createTranslation;
 
 class CheckerNode : public rclcpp::Node
 {
diff --git a/common/object_recognition_utils/include/object_recognition_utils/matching.hpp b/common/object_recognition_utils/include/object_recognition_utils/matching.hpp
index e9b924023f62e..eb8a7b81dbfb9 100644
--- a/common/object_recognition_utils/include/object_recognition_utils/matching.hpp
+++ b/common/object_recognition_utils/include/object_recognition_utils/matching.hpp
@@ -15,9 +15,9 @@
 #ifndef OBJECT_RECOGNITION_UTILS__MATCHING_HPP_
 #define OBJECT_RECOGNITION_UTILS__MATCHING_HPP_
 
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 #include "object_recognition_utils/geometry.hpp"
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
 #include <boost/geometry.hpp>
 
@@ -28,7 +28,7 @@
 
 namespace object_recognition_utils
 {
-using tier4_autoware_utils::Polygon2d;
+using autoware_universe_utils::Polygon2d;
 // minimum area to avoid division by zero
 static const double MIN_AREA = 1e-6;
 
@@ -37,7 +37,7 @@ inline double getConvexShapeArea(const Polygon2d & source_polygon, const Polygon
   boost::geometry::model::multi_polygon<Polygon2d> union_polygons;
   boost::geometry::union_(source_polygon, target_polygon, union_polygons);
 
-  tier4_autoware_utils::Polygon2d hull;
+  autoware_universe_utils::Polygon2d hull;
   boost::geometry::convex_hull(union_polygons, hull);
   return boost::geometry::area(hull);
 }
@@ -67,9 +67,9 @@ inline double getUnionArea(const Polygon2d & source_polygon, const Polygon2d & t
 template <class T1, class T2>
 double get2dIoU(const T1 source_object, const T2 target_object, const double min_union_area = 0.01)
 {
-  const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object);
+  const auto source_polygon = autoware_universe_utils::toPolygon2d(source_object);
   if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0;
-  const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object);
+  const auto target_polygon = autoware_universe_utils::toPolygon2d(target_object);
   if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0;
 
   const double intersection_area = getIntersectionArea(source_polygon, target_polygon);
@@ -84,9 +84,9 @@ double get2dIoU(const T1 source_object, const T2 target_object, const double min
 template <class T1, class T2>
 double get2dGeneralizedIoU(const T1 & source_object, const T2 & target_object)
 {
-  const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object);
+  const auto source_polygon = autoware_universe_utils::toPolygon2d(source_object);
   if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0;
-  const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object);
+  const auto target_polygon = autoware_universe_utils::toPolygon2d(target_object);
   if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0;
 
   const double intersection_area = getIntersectionArea(source_polygon, target_polygon);
@@ -100,10 +100,10 @@ double get2dGeneralizedIoU(const T1 & source_object, const T2 & target_object)
 template <class T1, class T2>
 double get2dPrecision(const T1 source_object, const T2 target_object)
 {
-  const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object);
+  const auto source_polygon = autoware_universe_utils::toPolygon2d(source_object);
   const double source_area = boost::geometry::area(source_polygon);
   if (source_area < MIN_AREA) return 0.0;
-  const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object);
+  const auto target_polygon = autoware_universe_utils::toPolygon2d(target_object);
   if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0;
 
   const double intersection_area = getIntersectionArea(source_polygon, target_polygon);
@@ -115,9 +115,9 @@ double get2dPrecision(const T1 source_object, const T2 target_object)
 template <class T1, class T2>
 double get2dRecall(const T1 source_object, const T2 target_object)
 {
-  const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object);
+  const auto source_polygon = autoware_universe_utils::toPolygon2d(source_object);
   if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0;
-  const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object);
+  const auto target_polygon = autoware_universe_utils::toPolygon2d(target_object);
   const double target_area = boost::geometry::area(target_polygon);
   if (target_area < MIN_AREA) return 0.0;
 
diff --git a/common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp b/common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp
index 1cd838e090560..72e70185d553b 100644
--- a/common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp
+++ b/common/object_recognition_utils/include/object_recognition_utils/predicted_path_utils.hpp
@@ -15,7 +15,7 @@
 #ifndef OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_
 #define OBJECT_RECOGNITION_UTILS__PREDICTED_PATH_UTILS_HPP_
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <autoware_perception_msgs/msg/predicted_path.hpp>
 #include <geometry_msgs/msg/pose.hpp>
diff --git a/common/object_recognition_utils/package.xml b/common/object_recognition_utils/package.xml
index fdf73e6b26057..e7eaea96907f2 100644
--- a/common/object_recognition_utils/package.xml
+++ b/common/object_recognition_utils/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
   <depend>libboost-dev</depend>
@@ -24,7 +25,6 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/common/object_recognition_utils/src/predicted_path_utils.cpp b/common/object_recognition_utils/src/predicted_path_utils.cpp
index fe9499b4eec33..e748d1165bef7 100644
--- a/common/object_recognition_utils/src/predicted_path_utils.cpp
+++ b/common/object_recognition_utils/src/predicted_path_utils.cpp
@@ -38,7 +38,7 @@ boost::optional<geometry_msgs::msg::Pose> calcInterpolatedPose(
     if (relative_time - epsilon < time_step * path_idx) {
       const double offset = relative_time - time_step * (path_idx - 1);
       const double ratio = std::clamp(offset / time_step, 0.0, 1.0);
-      return tier4_autoware_utils::calcInterpolatedPose(prev_pt, pt, ratio, false);
+      return autoware_universe_utils::calcInterpolatedPose(prev_pt, pt, ratio, false);
     }
   }
 
@@ -90,7 +90,7 @@ autoware_perception_msgs::msg::PredictedPath resamplePredictedPath(
 
   // Set Position
   for (size_t i = 0; i < resampled_size; ++i) {
-    const auto p = tier4_autoware_utils::createPoint(
+    const auto p = autoware_universe_utils::createPoint(
       interpolated_x.at(i), interpolated_y.at(i), interpolated_z.at(i));
     resampled_path.path.at(i).position = p;
     resampled_path.path.at(i).orientation = interpolated_quat.at(i);
diff --git a/common/object_recognition_utils/test/src/test_conversion.cpp b/common/object_recognition_utils/test/src/test_conversion.cpp
index 378f9a1245746..a9b462f9ec4c4 100644
--- a/common/object_recognition_utils/test/src/test_conversion.cpp
+++ b/common/object_recognition_utils/test/src/test_conversion.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "object_recognition_utils/conversion.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <gtest/gtest.h>
 
diff --git a/common/object_recognition_utils/test/src/test_matching.cpp b/common/object_recognition_utils/test/src/test_matching.cpp
index 2ad34c3ae6bbe..1481492e40e71 100644
--- a/common/object_recognition_utils/test/src/test_matching.cpp
+++ b/common/object_recognition_utils/test/src/test_matching.cpp
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "object_recognition_utils/matching.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <autoware_perception_msgs/msg/detected_object.hpp>
 
 #include <gtest/gtest.h>
 
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Point3d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Point3d;
 
 constexpr double epsilon = 1e-06;
 
@@ -30,7 +30,7 @@ geometry_msgs::msg::Pose createPose(const double x, const double y, const double
 {
   geometry_msgs::msg::Pose p;
   p.position = geometry_msgs::build<geometry_msgs::msg::Point>().x(x).y(y).z(0.0);
-  p.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw);
+  p.orientation = autoware_universe_utils::createQuaternionFromYaw(yaw);
   return p;
 }
 }  // namespace
diff --git a/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp b/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp
index 3dc3a8bcba3f7..94136c9c4da9c 100644
--- a/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp
+++ b/common/object_recognition_utils/test/src/test_predicted_path_utils.cpp
@@ -12,23 +12,23 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
 
 #include <gtest/gtest.h>
 
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Point3d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Point3d;
 
 constexpr double epsilon = 1e-06;
 
 namespace
 {
 using autoware_perception_msgs::msg::PredictedPath;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::createQuaternionFromRPY;
-using tier4_autoware_utils::transformPoint;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::createQuaternionFromRPY;
+using autoware_universe_utils::transformPoint;
 
 geometry_msgs::msg::Pose createPose(
   double x, double y, double z, double roll, double pitch, double yaw)
@@ -62,10 +62,10 @@ PredictedPath createTestPredictedPath(
 
 TEST(predicted_path_utils, testCalcInterpolatedPose)
 {
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::createQuaternionFromYaw;
+  using autoware_universe_utils::deg2rad;
   using object_recognition_utils::calcInterpolatedPose;
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::createQuaternionFromYaw;
-  using tier4_autoware_utils::deg2rad;
 
   const auto path = createTestPredictedPath(100, 0.1, 1.0);
 
@@ -128,10 +128,10 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
 
 TEST(predicted_path_utils, resamplePredictedPath_by_vector)
 {
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::createQuaternionFromYaw;
+  using autoware_universe_utils::deg2rad;
   using object_recognition_utils::resamplePredictedPath;
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::createQuaternionFromYaw;
-  using tier4_autoware_utils::deg2rad;
 
   const auto path = createTestPredictedPath(10, 1.0, 1.0);
 
@@ -205,10 +205,10 @@ TEST(predicted_path_utils, resamplePredictedPath_by_vector)
 
 TEST(predicted_path_utils, resamplePredictedPath_by_sampling_time)
 {
+  using autoware_universe_utils::createQuaternionFromRPY;
+  using autoware_universe_utils::createQuaternionFromYaw;
+  using autoware_universe_utils::deg2rad;
   using object_recognition_utils::resamplePredictedPath;
-  using tier4_autoware_utils::createQuaternionFromRPY;
-  using tier4_autoware_utils::createQuaternionFromYaw;
-  using tier4_autoware_utils::deg2rad;
 
   const auto path = createTestPredictedPath(10, 1.0, 1.0);
 
diff --git a/common/path_distance_calculator/package.xml b/common/path_distance_calculator/package.xml
index 0ccc6419b13de..c4641dc1e0db5 100644
--- a/common/path_distance_calculator/package.xml
+++ b/common/path_distance_calculator/package.xml
@@ -11,10 +11,10 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>motion_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/common/path_distance_calculator/src/path_distance_calculator.hpp b/common/path_distance_calculator/src/path_distance_calculator.hpp
index 838afb903c55f..ceef07ca268c4 100644
--- a/common/path_distance_calculator/src/path_distance_calculator.hpp
+++ b/common/path_distance_calculator/src/path_distance_calculator.hpp
@@ -15,8 +15,8 @@
 #ifndef PATH_DISTANCE_CALCULATOR_HPP_
 #define PATH_DISTANCE_CALCULATOR_HPP_
 
+#include <autoware/universe_utils/ros/self_pose_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/self_pose_listener.hpp>
 
 #include <autoware_planning_msgs/msg/path.hpp>
 #include <tier4_debug_msgs/msg/float64_stamped.hpp>
@@ -30,7 +30,7 @@ class PathDistanceCalculator : public rclcpp::Node
   rclcpp::Subscription<autoware_planning_msgs::msg::Path>::SharedPtr sub_path_;
   rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr pub_dist_;
   rclcpp::TimerBase::SharedPtr timer_;
-  tier4_autoware_utils::SelfPoseListener self_pose_listener_;
+  autoware_universe_utils::SelfPoseListener self_pose_listener_;
   autoware_planning_msgs::msg::Path::SharedPtr path_;
 };
 
diff --git a/common/tier4_autoware_utils/README.md b/common/tier4_autoware_utils/README.md
deleted file mode 100644
index ffcc414cd76ce..0000000000000
--- a/common/tier4_autoware_utils/README.md
+++ /dev/null
@@ -1,9 +0,0 @@
-# tier4_autoware_utils
-
-## Purpose
-
-This package contains many common functions used by other packages, so please refer to them as needed.
-
-## For developers
-
-`tier4_autoware_utils.hpp` header file was removed because the source files that directly/indirectly include this file took a long time for preprocessing.
diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp b/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp
index ab6a0b25fd3b4..6d7109fbfa061 100644
--- a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp
+++ b/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display.hpp
@@ -61,22 +61,22 @@ void visualizeBound(
     const auto [normal_vector_angle, adaptive_width] = [&]() -> std::pair<float, float> {
       if (i == 0) {
         return std::make_pair(
-          tier4_autoware_utils::calcAzimuthAngle(bound.at(i), bound.at(i + 1)) + M_PI_2, width);
+          autoware_universe_utils::calcAzimuthAngle(bound.at(i), bound.at(i + 1)) + M_PI_2, width);
       }
       if (i == bound.size() - 1) {
         return std::make_pair(
-          tier4_autoware_utils::calcAzimuthAngle(bound.at(i - 1), bound.at(i)) + M_PI_2, width);
+          autoware_universe_utils::calcAzimuthAngle(bound.at(i - 1), bound.at(i)) + M_PI_2, width);
       }
       const auto & prev_p = bound.at(i - 1);
       const auto & curr_p = bound.at(i);
       const auto & next_p = bound.at(i + 1);
 
-      const float curr_to_prev_angle = tier4_autoware_utils::calcAzimuthAngle(curr_p, prev_p);
-      const float curr_to_next_angle = tier4_autoware_utils::calcAzimuthAngle(curr_p, next_p);
+      const float curr_to_prev_angle = autoware_universe_utils::calcAzimuthAngle(curr_p, prev_p);
+      const float curr_to_next_angle = autoware_universe_utils::calcAzimuthAngle(curr_p, next_p);
       const float normal_vector_angle = (curr_to_prev_angle + curr_to_next_angle) / 2.0;
 
       const float diff_angle =
-        tier4_autoware_utils::normalizeRadian(normal_vector_angle - curr_to_next_angle);
+        autoware_universe_utils::normalizeRadian(normal_vector_angle - curr_to_next_angle);
       if (diff_angle == 0.0) {
         return std::make_pair(normal_vector_angle, width);
       }
diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp b/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp
index 9cb710c239029..8edae446c46b0 100644
--- a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp
+++ b/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp
@@ -86,8 +86,8 @@ bool validateFloats(const typename T::ConstSharedPtr & msg_ptr)
 {
   for (auto && path_point : msg_ptr->points) {
     if (
-      !rviz_common::validateFloats(tier4_autoware_utils::getPose(path_point)) &&
-      !rviz_common::validateFloats(tier4_autoware_utils::getLongitudinalVelocity(path_point))) {
+      !rviz_common::validateFloats(autoware_universe_utils::getPose(path_point)) &&
+      !rviz_common::validateFloats(autoware_universe_utils::getLongitudinalVelocity(path_point))) {
       return false;
     }
   }
@@ -358,8 +358,8 @@ class AutowarePathBaseDisplay : public rviz_common::MessageFilterDisplay<T>
 
     for (size_t point_idx = 0; point_idx < msg_ptr->points.size(); point_idx++) {
       const auto & path_point = msg_ptr->points.at(point_idx);
-      const auto & pose = tier4_autoware_utils::getPose(path_point);
-      const auto & velocity = tier4_autoware_utils::getLongitudinalVelocity(path_point);
+      const auto & pose = autoware_universe_utils::getPose(path_point);
+      const auto & velocity = autoware_universe_utils::getLongitudinalVelocity(path_point);
 
       // path
       if (property_path_view_.getBool()) {
@@ -454,9 +454,9 @@ class AutowarePathBaseDisplay : public rviz_common::MessageFilterDisplay<T>
           (point_idx != msg_ptr->points.size() - 1) ? point_idx + 1 : point_idx;
 
         const auto & prev_path_pos =
-          tier4_autoware_utils::getPose(msg_ptr->points.at(prev_idx)).position;
+          autoware_universe_utils::getPose(msg_ptr->points.at(prev_idx)).position;
         const auto & next_path_pos =
-          tier4_autoware_utils::getPose(msg_ptr->points.at(next_idx)).position;
+          autoware_universe_utils::getPose(msg_ptr->points.at(next_idx)).position;
 
         Ogre::Vector3 position;
         position.x = pose.position.x;
@@ -466,7 +466,8 @@ class AutowarePathBaseDisplay : public rviz_common::MessageFilterDisplay<T>
         node->setPosition(position);
 
         rviz_rendering::MovableText * text = slope_texts_.at(point_idx);
-        const double slope = tier4_autoware_utils::calcElevationAngle(prev_path_pos, next_path_pos);
+        const double slope =
+          autoware_universe_utils::calcElevationAngle(prev_path_pos, next_path_pos);
 
         std::stringstream ss;
         ss << std::fixed << std::setprecision(2) << slope;
@@ -510,7 +511,7 @@ class AutowarePathBaseDisplay : public rviz_common::MessageFilterDisplay<T>
 
     for (size_t p_idx = 0; p_idx < msg_ptr->points.size(); p_idx++) {
       const auto & point = msg_ptr->points.at(p_idx);
-      const auto & pose = tier4_autoware_utils::getPose(point);
+      const auto & pose = autoware_universe_utils::getPose(point);
       // footprint
       if (property_footprint_view_.getBool()) {
         Ogre::ColourValue color;
diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp b/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp
index 94943a25f6a64..c82f5b5df3885 100644
--- a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp
+++ b/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/utils.hpp
@@ -15,8 +15,8 @@
 #ifndef TIER4_PLANNING_RVIZ_PLUGIN__UTILS_HPP_
 #define TIER4_PLANNING_RVIZ_PLUGIN__UTILS_HPP_
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
 
 #include <tf2/utils.h>
 
@@ -29,7 +29,7 @@ bool isDrivingForward(const T points_with_twist, size_t target_idx)
 
   // 1. check velocity
   const double target_velocity =
-    tier4_autoware_utils::getLongitudinalVelocity(points_with_twist.at(target_idx));
+    autoware_universe_utils::getLongitudinalVelocity(points_with_twist.at(target_idx));
   if (epsilon < target_velocity) {
     return true;
   } else if (target_velocity < -epsilon) {
@@ -46,13 +46,13 @@ bool isDrivingForward(const T points_with_twist, size_t target_idx)
   const size_t first_idx = is_last_point ? target_idx - 1 : target_idx;
   const size_t second_idx = is_last_point ? target_idx : target_idx + 1;
 
-  const auto first_pose = tier4_autoware_utils::getPose(points_with_twist.at(first_idx));
-  const auto second_pose = tier4_autoware_utils::getPose(points_with_twist.at(second_idx));
+  const auto first_pose = autoware_universe_utils::getPose(points_with_twist.at(first_idx));
+  const auto second_pose = autoware_universe_utils::getPose(points_with_twist.at(second_idx));
   const double first_traj_yaw = tf2::getYaw(first_pose.orientation);
   const double driving_direction_yaw =
-    tier4_autoware_utils::calcAzimuthAngle(first_pose.position, second_pose.position);
+    autoware_universe_utils::calcAzimuthAngle(first_pose.position, second_pose.position);
   if (
-    std::abs(tier4_autoware_utils::normalizeRadian(first_traj_yaw - driving_direction_yaw)) <
+    std::abs(autoware_universe_utils::normalizeRadian(first_traj_yaw - driving_direction_yaw)) <
     M_PI_2) {
     return true;
   }
diff --git a/common/tier4_planning_rviz_plugin/package.xml b/common/tier4_planning_rviz_plugin/package.xml
index 95edcb7a96c56..f1089e2421927 100644
--- a/common/tier4_planning_rviz_plugin/package.xml
+++ b/common/tier4_planning_rviz_plugin/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
@@ -24,7 +25,6 @@
   <depend>rviz_rendering</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/common/tier4_system_rviz_plugin/package.xml b/common/tier4_system_rviz_plugin/package.xml
index bd72ecf97def4..bd888fb085960 100644
--- a/common/tier4_system_rviz_plugin/package.xml
+++ b/common/tier4_system_rviz_plugin/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_system_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
@@ -19,7 +20,6 @@
   <depend>rviz_common</depend>
   <depend>rviz_default_plugins</depend>
   <depend>rviz_ogre_vendor</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/common/tier4_vehicle_rviz_plugin/package.xml b/common/tier4_vehicle_rviz_plugin/package.xml
index 922ebd2c5e318..69057701886cb 100644
--- a/common/tier4_vehicle_rviz_plugin/package.xml
+++ b/common/tier4_vehicle_rviz_plugin/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
@@ -18,7 +19,6 @@
   <depend>rviz_common</depend>
   <depend>rviz_default_plugins</depend>
   <depend>rviz_ogre_vendor</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp b/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp
index 3b3810a782a91..a77e5769f7ff8 100644
--- a/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp
+++ b/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp
@@ -231,14 +231,14 @@ void AccelerationMeterDisplay::updateVisualization()
   inner_arc_.y0 = line_width_ / 2.0;
   inner_arc_.x1 = w;
   inner_arc_.y1 = h;
-  inner_arc_.start_angle = tier4_autoware_utils::rad2deg(min_range_theta - M_PI);
-  inner_arc_.end_angle = tier4_autoware_utils::rad2deg(max_range_theta - min_range_theta);
+  inner_arc_.start_angle = autoware_universe_utils::rad2deg(min_range_theta - M_PI);
+  inner_arc_.end_angle = autoware_universe_utils::rad2deg(max_range_theta - min_range_theta);
   outer_arc_.x0 = w * 3 / 8;
   outer_arc_.y0 = h * 3 / 8;
   outer_arc_.x1 = w / 4;
   outer_arc_.y1 = h / 4;
-  outer_arc_.start_angle = tier4_autoware_utils::rad2deg(min_range_theta - M_PI);
-  outer_arc_.end_angle = tier4_autoware_utils::rad2deg(max_range_theta - min_range_theta);
+  outer_arc_.start_angle = autoware_universe_utils::rad2deg(min_range_theta - M_PI);
+  outer_arc_.end_angle = autoware_universe_utils::rad2deg(max_range_theta - min_range_theta);
 }
 
 }  // namespace rviz_plugins
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp b/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp
index 8a962cea575e8..86adc54306262 100644
--- a/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp
+++ b/common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp
@@ -21,11 +21,11 @@
 #ifndef Q_MOC_RUN
 #include "jsk_overlay_utils.hpp"
 
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <rviz_common/properties/color_property.hpp>
 #include <rviz_common/properties/float_property.hpp>
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #endif
@@ -67,8 +67,8 @@ private Q_SLOTS:
 private:
   static constexpr float meter_min_acceleration_ = -10.0f;
   static constexpr float meter_max_acceleration_ = 10.0f;
-  static constexpr float meter_min_angle_ = tier4_autoware_utils::deg2rad(40.f);
-  static constexpr float meter_max_angle_ = tier4_autoware_utils::deg2rad(320.f);
+  static constexpr float meter_min_angle_ = autoware_universe_utils::deg2rad(40.f);
+  static constexpr float meter_max_angle_ = autoware_universe_utils::deg2rad(320.f);
   static constexpr int line_width_ = 2;
   static constexpr int hand_width_ = 4;
   struct Line  // for drawLine
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp b/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp
index 5a9f7e602efc7..90bd6e91f9e4a 100644
--- a/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp
+++ b/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp
@@ -212,14 +212,14 @@ void ConsoleMeterDisplay::updateVisualization()
   inner_arc_.y0 = line_width_ / 2.0;
   inner_arc_.x1 = w;
   inner_arc_.y1 = h;
-  inner_arc_.start_angle = tier4_autoware_utils::rad2deg(min_range_theta - M_PI);
-  inner_arc_.end_angle = tier4_autoware_utils::rad2deg(max_range_theta - min_range_theta);
+  inner_arc_.start_angle = autoware_universe_utils::rad2deg(min_range_theta - M_PI);
+  inner_arc_.end_angle = autoware_universe_utils::rad2deg(max_range_theta - min_range_theta);
   outer_arc_.x0 = w * 3 / 8;
   outer_arc_.y0 = h * 3 / 8;
   outer_arc_.x1 = w / 4;
   outer_arc_.y1 = h / 4;
-  outer_arc_.start_angle = tier4_autoware_utils::rad2deg(min_range_theta - M_PI);
-  outer_arc_.end_angle = tier4_autoware_utils::rad2deg(max_range_theta - min_range_theta);
+  outer_arc_.start_angle = autoware_universe_utils::rad2deg(min_range_theta - M_PI);
+  outer_arc_.end_angle = autoware_universe_utils::rad2deg(max_range_theta - min_range_theta);
 }
 
 }  // namespace rviz_plugins
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp b/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp
index 8f1a62fc35361..fc54208ddb8c8 100644
--- a/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp
+++ b/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.hpp
@@ -21,12 +21,12 @@
 #ifndef Q_MOC_RUN
 #include "jsk_overlay_utils.hpp"
 
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <rviz_common/properties/color_property.hpp>
 #include <rviz_common/properties/float_property.hpp>
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <autoware_vehicle_msgs/msg/velocity_report.hpp>
 #endif
@@ -63,10 +63,10 @@ private Q_SLOTS:
   // QImage hud_;
 
 private:
-  static constexpr float meter_min_velocity_ = tier4_autoware_utils::kmph2mps(0.f);
-  static constexpr float meter_max_velocity_ = tier4_autoware_utils::kmph2mps(60.f);
-  static constexpr float meter_min_angle_ = tier4_autoware_utils::deg2rad(40.f);
-  static constexpr float meter_max_angle_ = tier4_autoware_utils::deg2rad(320.f);
+  static constexpr float meter_min_velocity_ = autoware_universe_utils::kmph2mps(0.f);
+  static constexpr float meter_max_velocity_ = autoware_universe_utils::kmph2mps(60.f);
+  static constexpr float meter_min_angle_ = autoware_universe_utils::deg2rad(40.f);
+  static constexpr float meter_max_angle_ = autoware_universe_utils::deg2rad(320.f);
   static constexpr int line_width_ = 2;
   static constexpr int hand_width_ = 4;
   struct Line  // for drawLine
diff --git a/common/traffic_light_recognition_marker_publisher/package.xml b/common/traffic_light_recognition_marker_publisher/package.xml
index 2b65c5b868313..71a3e5238b388 100644
--- a/common/traffic_light_recognition_marker_publisher/package.xml
+++ b/common/traffic_light_recognition_marker_publisher/package.xml
@@ -14,11 +14,11 @@
 
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp
index f11263e41da2b..b6dfdd88ded96 100644
--- a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp
+++ b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp
@@ -15,13 +15,13 @@
 #ifndef AUTOWARE__AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
 #define AUTOWARE__AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
 
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <autoware_system_msgs/msg/autoware_state.hpp>
@@ -60,10 +60,10 @@ using sensor_msgs::msg::Imu;
 using sensor_msgs::msg::PointCloud2;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
 using autoware::vehicle_info_utils::VehicleInfo;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 using diagnostic_updater::DiagnosticStatusWrapper;
 using diagnostic_updater::Updater;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 using Path = std::vector<geometry_msgs::msg::Pose>;
@@ -235,14 +235,14 @@ class AEB : public rclcpp::Node
   explicit AEB(const rclcpp::NodeOptions & node_options);
 
   // subscriber
-  tier4_autoware_utils::InterProcessPollingSubscriber<PointCloud2> sub_point_cloud_{
-    this, "~/input/pointcloud", tier4_autoware_utils::SingleDepthSensorQoS()};
-  tier4_autoware_utils::InterProcessPollingSubscriber<VelocityReport> sub_velocity_{
+  autoware_universe_utils::InterProcessPollingSubscriber<PointCloud2> sub_point_cloud_{
+    this, "~/input/pointcloud", autoware_universe_utils::SingleDepthSensorQoS()};
+  autoware_universe_utils::InterProcessPollingSubscriber<VelocityReport> sub_velocity_{
     this, "~/input/velocity"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<Imu> sub_imu_{this, "~/input/imu"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<Trajectory> sub_predicted_traj_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Imu> sub_imu_{this, "~/input/imu"};
+  autoware_universe_utils::InterProcessPollingSubscriber<Trajectory> sub_predicted_traj_{
     this, "~/input/predicted_trajectory"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<AutowareState> sub_autoware_state_{
+  autoware_universe_utils::InterProcessPollingSubscriber<AutowareState> sub_autoware_state_{
     this, "/autoware/state"};
   // publisher
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_obstacle_pointcloud_;
diff --git a/control/autoware_autonomous_emergency_braking/package.xml b/control/autoware_autonomous_emergency_braking/package.xml
index 0404eec7ca308..e1bfd66376a0e 100644
--- a/control/autoware_autonomous_emergency_braking/package.xml
+++ b/control/autoware_autonomous_emergency_braking/package.xml
@@ -17,6 +17,7 @@
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_system_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>
@@ -34,7 +35,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp
index 9201131f9ae0a..16a451702f5e5 100644
--- a/control/autoware_autonomous_emergency_braking/src/node.cpp
+++ b/control/autoware_autonomous_emergency_braking/src/node.cpp
@@ -14,12 +14,12 @@
 
 #include "autoware/autonomous_emergency_braking/node.hpp"
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/ros/update_param.hpp>
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
-#include <tier4_autoware_utils/ros/update_param.hpp>
 
 #include <boost/geometry/algorithms/convex_hull.hpp>
 #include <boost/geometry/algorithms/within.hpp>
@@ -70,29 +70,33 @@ Polygon2d createPolygon(
 
   appendPointToPolygon(
     polygon,
-    tier4_autoware_utils::calcOffsetPose(base_pose, longitudinal_offset, width, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(base_pose, longitudinal_offset, width, 0.0).position);
   appendPointToPolygon(
     polygon,
-    tier4_autoware_utils::calcOffsetPose(base_pose, longitudinal_offset, -width, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(base_pose, longitudinal_offset, -width, 0.0).position);
   appendPointToPolygon(
-    polygon, tier4_autoware_utils::calcOffsetPose(base_pose, -rear_overhang, -width, 0.0).position);
+    polygon,
+    autoware_universe_utils::calcOffsetPose(base_pose, -rear_overhang, -width, 0.0).position);
   appendPointToPolygon(
-    polygon, tier4_autoware_utils::calcOffsetPose(base_pose, -rear_overhang, width, 0.0).position);
+    polygon,
+    autoware_universe_utils::calcOffsetPose(base_pose, -rear_overhang, width, 0.0).position);
 
   appendPointToPolygon(
     polygon,
-    tier4_autoware_utils::calcOffsetPose(next_pose, longitudinal_offset, width, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(next_pose, longitudinal_offset, width, 0.0).position);
   appendPointToPolygon(
     polygon,
-    tier4_autoware_utils::calcOffsetPose(next_pose, longitudinal_offset, -width, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(next_pose, longitudinal_offset, -width, 0.0).position);
   appendPointToPolygon(
-    polygon, tier4_autoware_utils::calcOffsetPose(next_pose, -rear_overhang, -width, 0.0).position);
+    polygon,
+    autoware_universe_utils::calcOffsetPose(next_pose, -rear_overhang, -width, 0.0).position);
   appendPointToPolygon(
-    polygon, tier4_autoware_utils::calcOffsetPose(next_pose, -rear_overhang, width, 0.0).position);
+    polygon,
+    autoware_universe_utils::calcOffsetPose(next_pose, -rear_overhang, width, 0.0).position);
 
-  polygon = tier4_autoware_utils::isClockwise(polygon)
+  polygon = autoware_universe_utils::isClockwise(polygon)
               ? polygon
-              : tier4_autoware_utils::inverseClockwise(polygon);
+              : autoware_universe_utils::inverseClockwise(polygon);
 
   Polygon2d hull_polygon;
   bg::convex_hull(polygon, hull_polygon);
@@ -164,7 +168,7 @@ AEB::AEB(const rclcpp::NodeOptions & node_options)
 rcl_interfaces::msg::SetParametersResult AEB::onParameter(
   const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
   updateParam<bool>(parameters, "publish_debug_pointcloud", publish_debug_pointcloud_);
   updateParam<bool>(parameters, "use_predicted_trajectory", use_predicted_trajectory_);
   updateParam<bool>(parameters, "use_imu_path", use_imu_path_);
@@ -490,8 +494,8 @@ Path AEB::generateEgoPath(const double curr_v, const double curr_w)
   double curr_y = 0.0;
   double curr_yaw = 0.0;
   geometry_msgs::msg::Pose ini_pose;
-  ini_pose.position = tier4_autoware_utils::createPoint(curr_x, curr_y, 0.0);
-  ini_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(curr_yaw);
+  ini_pose.position = autoware_universe_utils::createPoint(curr_x, curr_y, 0.0);
+  ini_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(curr_yaw);
   path.push_back(ini_pose);
 
   if (std::abs(curr_v) < 0.1) {
@@ -507,9 +511,9 @@ Path AEB::generateEgoPath(const double curr_v, const double curr_w)
     curr_y = curr_y + curr_v * std::sin(curr_yaw) * dt;
     curr_yaw = curr_yaw + curr_w * dt;
     geometry_msgs::msg::Pose current_pose;
-    current_pose.position = tier4_autoware_utils::createPoint(curr_x, curr_y, 0.0);
-    current_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(curr_yaw);
-    if (tier4_autoware_utils::calcDistance2d(path.back(), current_pose) < 1e-3) {
+    current_pose.position = autoware_universe_utils::createPoint(curr_x, curr_y, 0.0);
+    current_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(curr_yaw);
+    if (autoware_universe_utils::calcDistance2d(path.back(), current_pose) < 1e-3) {
       continue;
     }
     path.push_back(current_pose);
@@ -521,9 +525,9 @@ Path AEB::generateEgoPath(const double curr_v, const double curr_w)
     curr_y = curr_y + curr_v * std::sin(curr_yaw) * dt;
     curr_yaw = curr_yaw + curr_w * dt;
     geometry_msgs::msg::Pose current_pose;
-    current_pose.position = tier4_autoware_utils::createPoint(curr_x, curr_y, 0.0);
-    current_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(curr_yaw);
-    if (tier4_autoware_utils::calcDistance2d(path.back(), current_pose) < 1e-3) {
+    current_pose.position = autoware_universe_utils::createPoint(curr_x, curr_y, 0.0);
+    current_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(curr_yaw);
+    if (autoware_universe_utils::calcDistance2d(path.back(), current_pose) < 1e-3) {
       continue;
     }
     path.push_back(current_pose);
@@ -620,11 +624,11 @@ void AEB::createObjectDataUsingPointCloudClusters(
   const auto current_p = [&]() {
     const auto & first_point_of_path = ego_path.front();
     const auto & p = first_point_of_path.position;
-    return tier4_autoware_utils::createPoint(p.x, p.y, p.z);
+    return autoware_universe_utils::createPoint(p.x, p.y, p.z);
   }();
 
   for (const auto & p : *points_belonging_to_cluster_hulls) {
-    const auto obj_position = tier4_autoware_utils::createPoint(p.x, p.y, p.z);
+    const auto obj_position = autoware_universe_utils::createPoint(p.x, p.y, p.z);
     const double obj_arc_length =
       motion_utils::calcSignedArcLength(ego_path, current_p, obj_position);
     if (std::isnan(obj_arc_length)) continue;
@@ -688,36 +692,36 @@ void AEB::addMarker(
   const double color_r, const double color_g, const double color_b, const double color_a,
   const std::string & ns, MarkerArray & debug_markers)
 {
-  auto path_marker = tier4_autoware_utils::createDefaultMarker(
+  auto path_marker = autoware_universe_utils::createDefaultMarker(
     "base_link", current_time, ns + "_path", 0L, Marker::LINE_STRIP,
-    tier4_autoware_utils::createMarkerScale(0.2, 0.2, 0.2),
-    tier4_autoware_utils::createMarkerColor(color_r, color_g, color_b, color_a));
+    autoware_universe_utils::createMarkerScale(0.2, 0.2, 0.2),
+    autoware_universe_utils::createMarkerColor(color_r, color_g, color_b, color_a));
   path_marker.points.resize(path.size());
   for (size_t i = 0; i < path.size(); ++i) {
     path_marker.points.at(i) = path.at(i).position;
   }
   debug_markers.markers.push_back(path_marker);
 
-  auto polygon_marker = tier4_autoware_utils::createDefaultMarker(
+  auto polygon_marker = autoware_universe_utils::createDefaultMarker(
     "base_link", current_time, ns + "_polygon", 0, Marker::LINE_LIST,
-    tier4_autoware_utils::createMarkerScale(0.03, 0.0, 0.0),
-    tier4_autoware_utils::createMarkerColor(color_r, color_g, color_b, color_a));
+    autoware_universe_utils::createMarkerScale(0.03, 0.0, 0.0),
+    autoware_universe_utils::createMarkerColor(color_r, color_g, color_b, color_a));
   for (const auto & poly : polygons) {
     for (size_t dp_idx = 0; dp_idx < poly.outer().size(); ++dp_idx) {
       const auto & boost_cp = poly.outer().at(dp_idx);
       const auto & boost_np = poly.outer().at((dp_idx + 1) % poly.outer().size());
-      const auto curr_point = tier4_autoware_utils::createPoint(boost_cp.x(), boost_cp.y(), 0.0);
-      const auto next_point = tier4_autoware_utils::createPoint(boost_np.x(), boost_np.y(), 0.0);
+      const auto curr_point = autoware_universe_utils::createPoint(boost_cp.x(), boost_cp.y(), 0.0);
+      const auto next_point = autoware_universe_utils::createPoint(boost_np.x(), boost_np.y(), 0.0);
       polygon_marker.points.push_back(curr_point);
       polygon_marker.points.push_back(next_point);
     }
   }
   debug_markers.markers.push_back(polygon_marker);
 
-  auto object_data_marker = tier4_autoware_utils::createDefaultMarker(
+  auto object_data_marker = autoware_universe_utils::createDefaultMarker(
     "base_link", current_time, ns + "_objects", 0, Marker::SPHERE_LIST,
-    tier4_autoware_utils::createMarkerScale(0.5, 0.5, 0.5),
-    tier4_autoware_utils::createMarkerColor(color_r, color_g, color_b, color_a));
+    autoware_universe_utils::createMarkerScale(0.5, 0.5, 0.5),
+    autoware_universe_utils::createMarkerColor(color_r, color_g, color_b, color_a));
   for (const auto & e : objects) {
     object_data_marker.points.push_back(e.position);
   }
@@ -726,11 +730,11 @@ void AEB::addMarker(
   // Visualize planner type text
   if (closest_object.has_value()) {
     const auto & obj = closest_object.value();
-    const auto color = tier4_autoware_utils::createMarkerColor(0.95, 0.95, 0.95, 0.999);
-    auto closest_object_velocity_marker_array = tier4_autoware_utils::createDefaultMarker(
+    const auto color = autoware_universe_utils::createMarkerColor(0.95, 0.95, 0.95, 0.999);
+    auto closest_object_velocity_marker_array = autoware_universe_utils::createDefaultMarker(
       "base_link", obj.stamp, ns + "_closest_object_velocity", 0,
       visualization_msgs::msg::Marker::TEXT_VIEW_FACING,
-      tier4_autoware_utils::createMarkerScale(0.0, 0.0, 0.7), color);
+      autoware_universe_utils::createMarkerScale(0.0, 0.0, 0.7), color);
     closest_object_velocity_marker_array.pose.position = obj.position;
     const auto ego_velocity = current_velocity_ptr_->longitudinal_velocity;
     closest_object_velocity_marker_array.text =
@@ -744,10 +748,10 @@ void AEB::addMarker(
 
 void AEB::addCollisionMarker(const ObjectData & data, MarkerArray & debug_markers)
 {
-  auto point_marker = tier4_autoware_utils::createDefaultMarker(
+  auto point_marker = autoware_universe_utils::createDefaultMarker(
     "base_link", data.stamp, "collision_point", 0, Marker::SPHERE,
-    tier4_autoware_utils::createMarkerScale(0.3, 0.3, 0.3),
-    tier4_autoware_utils::createMarkerColor(1.0, 0.0, 0.0, 0.3));
+    autoware_universe_utils::createMarkerScale(0.3, 0.3, 0.3),
+    autoware_universe_utils::createMarkerColor(1.0, 0.0, 0.0, 0.3));
   point_marker.pose.position = data.position;
   debug_markers.markers.push_back(point_marker);
 }
diff --git a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp
index d64ae915d4dc6..4434dc23ebf96 100644
--- a/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp
+++ b/control/autoware_control_validator/include/autoware/control_validator/control_validator.hpp
@@ -16,9 +16,9 @@
 #define AUTOWARE__CONTROL_VALIDATOR__CONTROL_VALIDATOR_HPP_
 
 #include "autoware/control_validator/debug_marker.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
 #include "autoware_control_validator/msg/control_validator_status.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -69,9 +69,9 @@ class ControlValidator : public rclcpp::Node
   void setStatus(DiagnosticStatusWrapper & stat, const bool & is_ok, const std::string & msg);
 
   rclcpp::Subscription<Trajectory>::SharedPtr sub_predicted_traj_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> sub_kinematics_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Odometry> sub_kinematics_{
     this, "~/input/kinematics"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<Trajectory> sub_reference_traj_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Trajectory> sub_reference_traj_{
     this, "~/input/reference_trajectory"};
   rclcpp::Publisher<ControlValidatorStatus>::SharedPtr pub_status_;
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_markers_;
diff --git a/control/autoware_control_validator/package.xml b/control/autoware_control_validator/package.xml
index 2059308ef9029..0b461f7322f82 100644
--- a/control/autoware_control_validator/package.xml
+++ b/control/autoware_control_validator/package.xml
@@ -21,6 +21,7 @@
   <build_depend>rosidl_default_generators</build_depend>
 
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
@@ -28,7 +29,6 @@
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/control/autoware_control_validator/src/debug_marker.cpp b/control/autoware_control_validator/src/debug_marker.cpp
index 0020e0e8255ca..5a0d15b91a01e 100644
--- a/control/autoware_control_validator/src/debug_marker.cpp
+++ b/control/autoware_control_validator/src/debug_marker.cpp
@@ -14,8 +14,8 @@
 
 #include "autoware/control_validator/debug_marker.hpp"
 
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/marker_helper.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <memory>
 #include <string>
@@ -48,7 +48,7 @@ void ControlValidatorDebugMarkerPublisher::pushPoseMarker(
 void ControlValidatorDebugMarkerPublisher::pushPoseMarker(
   const geometry_msgs::msg::Pose & pose, const std::string & ns, int id)
 {
-  using tier4_autoware_utils::createMarkerColor;
+  using autoware_universe_utils::createMarkerColor;
 
   // append arrow marker
   std_msgs::msg::ColorRGBA color;
@@ -64,9 +64,9 @@ void ControlValidatorDebugMarkerPublisher::pushPoseMarker(
   {
     color = createMarkerColor(0.0, 0.0, 1.0, 0.999);
   }
-  Marker marker = tier4_autoware_utils::createDefaultMarker(
+  Marker marker = autoware_universe_utils::createDefaultMarker(
     "map", node_->get_clock()->now(), ns, getMarkerId(ns), Marker::ARROW,
-    tier4_autoware_utils::createMarkerScale(0.2, 0.1, 0.3), color);
+    autoware_universe_utils::createMarkerScale(0.2, 0.1, 0.3), color);
   marker.lifetime = rclcpp::Duration::from_seconds(0.2);
   marker.pose = pose;
 
@@ -76,10 +76,10 @@ void ControlValidatorDebugMarkerPublisher::pushPoseMarker(
 void ControlValidatorDebugMarkerPublisher::pushWarningMsg(
   const geometry_msgs::msg::Pose & pose, const std::string & msg)
 {
-  visualization_msgs::msg::Marker marker = tier4_autoware_utils::createDefaultMarker(
+  visualization_msgs::msg::Marker marker = autoware_universe_utils::createDefaultMarker(
     "map", node_->get_clock()->now(), "warning_msg", 0, Marker::TEXT_VIEW_FACING,
-    tier4_autoware_utils::createMarkerScale(0.0, 0.0, 1.0),
-    tier4_autoware_utils::createMarkerColor(1.0, 0.1, 0.1, 0.999));
+    autoware_universe_utils::createMarkerScale(0.0, 0.0, 1.0),
+    autoware_universe_utils::createMarkerColor(1.0, 0.1, 0.1, 0.999));
   marker.lifetime = rclcpp::Duration::from_seconds(0.2);
   marker.pose = pose;
   marker.text = msg;
@@ -91,7 +91,7 @@ void ControlValidatorDebugMarkerPublisher::pushVirtualWall(const geometry_msgs::
   const auto now = node_->get_clock()->now();
   const auto stop_wall_marker =
     motion_utils::createStopVirtualWallMarker(pose, "control_validator", now, 0);
-  tier4_autoware_utils::appendMarkerArray(stop_wall_marker, &marker_array_virtual_wall_, now);
+  autoware_universe_utils::appendMarkerArray(stop_wall_marker, &marker_array_virtual_wall_, now);
 }
 
 void ControlValidatorDebugMarkerPublisher::publish()
diff --git a/control/autoware_control_validator/src/utils.cpp b/control/autoware_control_validator/src/utils.cpp
index a42834f998fcf..3dbcd3c4f92ae 100644
--- a/control/autoware_control_validator/src/utils.cpp
+++ b/control/autoware_control_validator/src/utils.cpp
@@ -14,9 +14,9 @@
 
 #include "autoware/control_validator/utils.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <motion_utils/trajectory/interpolation.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <memory>
 #include <string>
@@ -149,7 +149,7 @@ double calcMaxLateralDistance(
     alignTrajectoryWithReferenceTrajectory(reference_trajectory, predicted_trajectory);
   double max_dist = 0;
   for (const auto & point : alined_predicted_trajectory.points) {
-    const auto p0 = tier4_autoware_utils::getPoint(point);
+    const auto p0 = autoware_universe_utils::getPoint(point);
     // find nearest segment
     const size_t nearest_segment_idx =
       motion_utils::findNearestSegmentIndex(reference_trajectory.points, p0);
diff --git a/control/autoware_joy_controller/include/autoware/joy_controller/joy_controller.hpp b/control/autoware_joy_controller/include/autoware/joy_controller/joy_controller.hpp
index ec52fe89409bd..cea29ad887121 100644
--- a/control/autoware_joy_controller/include/autoware/joy_controller/joy_controller.hpp
+++ b/control/autoware_joy_controller/include/autoware/joy_controller/joy_controller.hpp
@@ -17,8 +17,8 @@
 
 #include "autoware/joy_controller/joy_converter/joy_converter_base.hpp"
 
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
 
 #include <autoware_control_msgs/msg/control.hpp>
 #include <autoware_vehicle_msgs/msg/engage.hpp>
@@ -70,9 +70,9 @@ class AutowareJoyControllerNode : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr callback_group_services_;
 
   // Subscriber
-  tier4_autoware_utils::InterProcessPollingSubscriber<sensor_msgs::msg::Joy> sub_joy_{
+  autoware_universe_utils::InterProcessPollingSubscriber<sensor_msgs::msg::Joy> sub_joy_{
     this, "input/joy"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odom_{
+  autoware_universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odom_{
     this, "input/odometry"};
 
   rclcpp::Time last_joy_received_time_;
diff --git a/control/autoware_joy_controller/package.xml b/control/autoware_joy_controller/package.xml
index 10e33d5d6564a..3a9acf07a35bf 100644
--- a/control/autoware_joy_controller/package.xml
+++ b/control/autoware_joy_controller/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>joy</depend>
@@ -26,7 +27,6 @@
   <depend>sensor_msgs</depend>
   <depend>std_srvs</depend>
   <depend>tier4_api_utils</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_control_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
 
diff --git a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp
index 2ec514b3f49e1..b5df59a45038c 100644
--- a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp
+++ b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp
@@ -15,10 +15,10 @@
 #ifndef AUTOWARE__LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
 #define AUTOWARE__LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_HPP_
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <rosidl_runtime_cpp/message_initialization.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
-#include <tier4_autoware_utils/geometry/pose_deviation.hpp>
 
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
@@ -50,9 +50,9 @@ namespace autoware::lane_departure_checker
 using autoware_planning_msgs::msg::LaneletRoute;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_autoware_utils::LinearRing2d;
-using tier4_autoware_utils::PoseDeviation;
-using tier4_autoware_utils::Segment2d;
+using autoware_universe_utils::LinearRing2d;
+using autoware_universe_utils::PoseDeviation;
+using autoware_universe_utils::Segment2d;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
 typedef boost::geometry::index::rtree<Segment2d, boost::geometry::index::rstar<16>> SegmentRtree;
@@ -122,7 +122,7 @@ class LaneDepartureChecker
   std::vector<std::pair<double, lanelet::Lanelet>> getLaneletsFromPath(
     const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path) const;
 
-  std::optional<tier4_autoware_utils::Polygon2d> getFusedLaneletPolygonForPath(
+  std::optional<autoware_universe_utils::Polygon2d> getFusedLaneletPolygonForPath(
     const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path) const;
 
   bool checkPathWillLeaveLane(
diff --git a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker_node.hpp b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker_node.hpp
index 1bc9ae8eee177..7f3fad0be4d28 100644
--- a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker_node.hpp
+++ b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker_node.hpp
@@ -16,12 +16,12 @@
 #define AUTOWARE__LANE_DEPARTURE_CHECKER__LANE_DEPARTURE_CHECKER_NODE_HPP_
 
 #include "autoware/lane_departure_checker/lane_departure_checker.hpp"
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/processing_time_publisher.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/processing_time_publisher.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
@@ -67,15 +67,15 @@ class LaneDepartureCheckerNode : public rclcpp::Node
 
 private:
   // Subscriber
-  tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odom_{
+  autoware_universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odom_{
     this, "~/input/odometry"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<LaneletMapBin> sub_lanelet_map_bin_{
+  autoware_universe_utils::InterProcessPollingSubscriber<LaneletMapBin> sub_lanelet_map_bin_{
     this, "~/input/lanelet_map_bin", rclcpp::QoS{1}.transient_local()};
-  tier4_autoware_utils::InterProcessPollingSubscriber<LaneletRoute> sub_route_{
+  autoware_universe_utils::InterProcessPollingSubscriber<LaneletRoute> sub_route_{
     this, "~/input/route"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<Trajectory> sub_reference_trajectory_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Trajectory> sub_reference_trajectory_{
     this, "~/input/reference_trajectory"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<Trajectory> sub_predicted_trajectory_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Trajectory> sub_predicted_trajectory_{
     this, "~/input/predicted_trajectory"};
 
   // Data Buffer
@@ -99,8 +99,8 @@ class LaneDepartureCheckerNode : public rclcpp::Node
   void onPredictedTrajectory(const Trajectory::ConstSharedPtr msg);
 
   // Publisher
-  tier4_autoware_utils::DebugPublisher debug_publisher_{this, "~/debug"};
-  tier4_autoware_utils::ProcessingTimePublisher processing_time_publisher_{this};
+  autoware_universe_utils::DebugPublisher debug_publisher_{this, "~/debug"};
+  autoware_universe_utils::ProcessingTimePublisher processing_time_publisher_{this};
 
   // Timer
   rclcpp::TimerBase::SharedPtr timer_;
diff --git a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/util/create_vehicle_footprint.hpp b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/util/create_vehicle_footprint.hpp
index 9c8f955f555d7..4435f282054ad 100644
--- a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/util/create_vehicle_footprint.hpp
+++ b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/util/create_vehicle_footprint.hpp
@@ -29,8 +29,8 @@
 #define AUTOWARE__LANE_DEPARTURE_CHECKER__UTIL__CREATE_VEHICLE_FOOTPRINT_HPP_
 
 #include <Eigen/Dense>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <tf2/utils.h>
 
diff --git a/control/autoware_lane_departure_checker/package.xml b/control/autoware_lane_departure_checker/package.xml
index 7a08cd2907120..8901a1b4d5421 100644
--- a/control/autoware_lane_departure_checker/package.xml
+++ b/control/autoware_lane_departure_checker/package.xml
@@ -15,6 +15,7 @@
 
   <depend>autoware_map_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>boost</depend>
   <depend>diagnostic_updater</depend>
@@ -29,7 +30,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
index 570caedf2ea54..e1ef69e97fe0c 100644
--- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
+++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp
@@ -16,11 +16,11 @@
 
 #include "autoware/lane_departure_checker/util/create_vehicle_footprint.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <boost/geometry.hpp>
 
@@ -30,12 +30,12 @@
 #include <algorithm>
 #include <vector>
 
+using autoware_universe_utils::LinearRing2d;
+using autoware_universe_utils::LineString2d;
+using autoware_universe_utils::MultiPoint2d;
+using autoware_universe_utils::MultiPolygon2d;
+using autoware_universe_utils::Point2d;
 using motion_utils::calcArcLength;
-using tier4_autoware_utils::LinearRing2d;
-using tier4_autoware_utils::LineString2d;
-using tier4_autoware_utils::MultiPoint2d;
-using tier4_autoware_utils::MultiPolygon2d;
-using tier4_autoware_utils::Point2d;
 
 namespace
 {
@@ -102,7 +102,7 @@ Output LaneDepartureChecker::update(const Input & input)
 {
   Output output{};
 
-  tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch;
+  autoware_universe_utils::StopWatch<std::chrono::milliseconds> stop_watch;
 
   output.trajectory_deviation = calcTrajectoryDeviation(
     *input.reference_trajectory, input.current_odom->pose.pose, param_.ego_nearest_dist_threshold,
@@ -171,7 +171,7 @@ PoseDeviation LaneDepartureChecker::calcTrajectoryDeviation(
 {
   const auto nearest_idx = motion_utils::findFirstNearestIndexWithSoftConstraints(
     trajectory.points, pose, dist_threshold, yaw_threshold);
-  return tier4_autoware_utils::calcPoseDeviation(trajectory.points.at(nearest_idx).pose, pose);
+  return autoware_universe_utils::calcPoseDeviation(trajectory.points.at(nearest_idx).pose, pose);
 }
 
 TrajectoryPoints LaneDepartureChecker::resampleTrajectory(
@@ -183,8 +183,8 @@ TrajectoryPoints LaneDepartureChecker::resampleTrajectory(
   for (size_t i = 1; i < trajectory.points.size() - 1; ++i) {
     const auto & point = trajectory.points.at(i);
 
-    const auto p1 = tier4_autoware_utils::fromMsg(resampled.back().pose.position);
-    const auto p2 = tier4_autoware_utils::fromMsg(point.pose.position);
+    const auto p1 = autoware_universe_utils::fromMsg(resampled.back().pose.position);
+    const auto p2 = autoware_universe_utils::fromMsg(point.pose.position);
 
     if (boost::geometry::distance(p1.to_2d(), p2.to_2d()) > interval) {
       resampled.push_back(point);
@@ -205,8 +205,8 @@ TrajectoryPoints LaneDepartureChecker::cutTrajectory(
   for (size_t i = 1; i < trajectory.size(); ++i) {
     const auto & point = trajectory.at(i);
 
-    const auto p1 = tier4_autoware_utils::fromMsg(cut.back().pose.position);
-    const auto p2 = tier4_autoware_utils::fromMsg(point.pose.position);
+    const auto p1 = autoware_universe_utils::fromMsg(cut.back().pose.position);
+    const auto p2 = autoware_universe_utils::fromMsg(point.pose.position);
     const auto points_distance = boost::geometry::distance(p1.to_2d(), p2.to_2d());
 
     const auto remain_distance = length - total_length;
@@ -251,7 +251,7 @@ std::vector<LinearRing2d> LaneDepartureChecker::createVehicleFootprints(
   std::vector<LinearRing2d> vehicle_footprints;
   for (const auto & p : trajectory) {
     vehicle_footprints.push_back(
-      transformVector(local_vehicle_footprint, tier4_autoware_utils::pose2transform(p.pose)));
+      transformVector(local_vehicle_footprint, autoware_universe_utils::pose2transform(p.pose)));
   }
 
   return vehicle_footprints;
@@ -267,8 +267,8 @@ std::vector<LinearRing2d> LaneDepartureChecker::createVehicleFootprints(
   // Create vehicle footprint on each Path point
   std::vector<LinearRing2d> vehicle_footprints;
   for (const auto & p : path.points) {
-    vehicle_footprints.push_back(
-      transformVector(local_vehicle_footprint, tier4_autoware_utils::pose2transform(p.point.pose)));
+    vehicle_footprints.push_back(transformVector(
+      local_vehicle_footprint, autoware_universe_utils::pose2transform(p.point.pose)));
   }
 
   return vehicle_footprints;
@@ -322,16 +322,18 @@ std::vector<std::pair<double, lanelet::Lanelet>> LaneDepartureChecker::getLanele
     lanelet_map_ptr->laneletLayer, footprint_hull_basic_polygon, 0.0);
 }
 
-std::optional<tier4_autoware_utils::Polygon2d> LaneDepartureChecker::getFusedLaneletPolygonForPath(
+std::optional<autoware_universe_utils::Polygon2d>
+LaneDepartureChecker::getFusedLaneletPolygonForPath(
   const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path) const
 {
   const auto lanelets_distance_pair = getLaneletsFromPath(lanelet_map_ptr, path);
-  auto to_polygon2d = [](const lanelet::BasicPolygon2d & poly) -> tier4_autoware_utils::Polygon2d {
-    tier4_autoware_utils::Polygon2d p;
+  auto to_polygon2d =
+    [](const lanelet::BasicPolygon2d & poly) -> autoware_universe_utils::Polygon2d {
+    autoware_universe_utils::Polygon2d p;
     auto & outer = p.outer();
 
     for (const auto & p : poly) {
-      tier4_autoware_utils::Point2d p2d(p.x(), p.y());
+      autoware_universe_utils::Point2d p2d(p.x(), p.y());
       outer.push_back(p2d);
     }
     boost::geometry::correct(p);
@@ -339,15 +341,15 @@ std::optional<tier4_autoware_utils::Polygon2d> LaneDepartureChecker::getFusedLan
   };
 
   // Fuse lanelets into a single BasicPolygon2d
-  auto fused_lanelets = [&]() -> std::optional<tier4_autoware_utils::Polygon2d> {
+  auto fused_lanelets = [&]() -> std::optional<autoware_universe_utils::Polygon2d> {
     if (lanelets_distance_pair.empty()) return std::nullopt;
-    tier4_autoware_utils::MultiPolygon2d lanelet_unions;
-    tier4_autoware_utils::MultiPolygon2d result;
+    autoware_universe_utils::MultiPolygon2d lanelet_unions;
+    autoware_universe_utils::MultiPolygon2d result;
 
     for (size_t i = 0; i < lanelets_distance_pair.size(); ++i) {
       const auto & route_lanelet = lanelets_distance_pair.at(i).second;
       const auto & p = route_lanelet.polygon2d().basicPolygon();
-      tier4_autoware_utils::Polygon2d poly = to_polygon2d(p);
+      autoware_universe_utils::Polygon2d poly = to_polygon2d(p);
       boost::geometry::union_(lanelet_unions, poly, result);
       lanelet_unions = result;
       result.clear();
diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
index 41f07499a1996..84ab3877fe9f9 100644
--- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
+++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp
@@ -14,14 +14,14 @@
 
 #include "autoware/lane_departure_checker/lane_departure_checker_node.hpp"
 
+#include <autoware/universe_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/route_checker.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <lanelet2_extension/visualization/visualization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_planning_msgs/msg/lanelet_segment.hpp>
 
@@ -31,7 +31,7 @@
 #include <utility>
 #include <vector>
 
-using tier4_autoware_utils::rad2deg;
+using autoware_universe_utils::rad2deg;
 
 namespace
 {
@@ -251,7 +251,7 @@ bool LaneDepartureCheckerNode::isDataValid()
 void LaneDepartureCheckerNode::onTimer()
 {
   std::map<std::string, double> processing_time_map;
-  tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch;
+  autoware_universe_utils::StopWatch<std::chrono::milliseconds> stop_watch;
   stop_watch.tic("Total");
 
   current_odom_ = sub_odom_.takeData();
@@ -453,9 +453,9 @@ void LaneDepartureCheckerNode::checkTrajectoryDeviation(
 
 visualization_msgs::msg::MarkerArray LaneDepartureCheckerNode::createMarkerArray() const
 {
-  using tier4_autoware_utils::createDefaultMarker;
-  using tier4_autoware_utils::createMarkerColor;
-  using tier4_autoware_utils::createMarkerScale;
+  using autoware_universe_utils::createDefaultMarker;
+  using autoware_universe_utils::createMarkerColor;
+  using autoware_universe_utils::createMarkerScale;
 
   visualization_msgs::msg::MarkerArray marker_array;
 
diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_trajectory.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_trajectory.hpp
index aa257f327b8c9..2edbfdd3e1e90 100644
--- a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_trajectory.hpp
+++ b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_trajectory.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
 #define AUTOWARE__MPC_LATERAL_CONTROLLER__MPC_TRAJECTORY_HPP_
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include "geometry_msgs/msg/point.hpp"
 
@@ -117,7 +117,7 @@ class MPCTrajectory
       point.pose.position.x = x.at(i);
       point.pose.position.y = y.at(i);
       point.pose.position.z = z.at(i);
-      point.pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw.at(i));
+      point.pose.orientation = autoware_universe_utils::createQuaternionFromYaw(yaw.at(i));
       point.longitudinal_velocity_mps = vx.at(i);
       points.push_back(point);
     }
diff --git a/control/autoware_mpc_lateral_controller/package.xml b/control/autoware_mpc_lateral_controller/package.xml
index 1e250dd89ce3f..0f0778010e24e 100644
--- a/control/autoware_mpc_lateral_controller/package.xml
+++ b/control/autoware_mpc_lateral_controller/package.xml
@@ -20,6 +20,7 @@
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_trajectory_follower_base</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_msgs</depend>
@@ -34,7 +35,6 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/control/autoware_mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp
index f30e80dbba828..8db93efc127e2 100644
--- a/control/autoware_mpc_lateral_controller/src/mpc.cpp
+++ b/control/autoware_mpc_lateral_controller/src/mpc.cpp
@@ -15,19 +15,19 @@
 #include "autoware/mpc_lateral_controller/mpc.hpp"
 
 #include "autoware/mpc_lateral_controller/mpc_utils.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "interpolation/linear_interpolation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
 
 #include <algorithm>
 #include <limits>
 
 namespace autoware::motion::control::mpc_lateral_controller
 {
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::normalizeRadian;
-using tier4_autoware_utils::rad2deg;
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::normalizeRadian;
+using autoware_universe_utils::rad2deg;
 
 MPC::MPC(rclcpp::Node & node)
 {
@@ -499,7 +499,7 @@ MPCMatrix MPC::generateMPCMatrix(
     // get reference input (feed-forward)
     m_vehicle_model_ptr->setCurvature(ref_smooth_k);
     m_vehicle_model_ptr->calculateReferenceInput(Uref);
-    if (std::fabs(Uref(0, 0)) < tier4_autoware_utils::deg2rad(m_param.zero_ff_steer_deg)) {
+    if (std::fabs(Uref(0, 0)) < autoware_universe_utils::deg2rad(m_param.zero_ff_steer_deg)) {
       Uref(0, 0) = 0.0;  // ignore curvature noise
     }
     m.Uref_ex.block(i * DIM_U, 0, DIM_U, 1) = Uref;
diff --git a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
index 25637c62d4809..e6865db227d44 100644
--- a/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
+++ b/control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp
@@ -616,7 +616,7 @@ bool MpcLateralController::isTrajectoryShapeChanged() const
   // TODO(Horibe): update implementation to check trajectory shape around ego vehicle.
   // Now temporally check the goal position.
   for (const auto & trajectory : m_trajectory_buffer) {
-    const auto change_distance = tier4_autoware_utils::calcDistance2d(
+    const auto change_distance = autoware_universe_utils::calcDistance2d(
       trajectory.points.back().pose, m_current_trajectory.points.back().pose);
     if (change_distance > m_new_traj_end_dist) {
       return true;
diff --git a/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp
index 83c0ba13fb350..9d0102432023a 100644
--- a/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp
+++ b/control/autoware_mpc_lateral_controller/src/mpc_utils.cpp
@@ -14,11 +14,11 @@
 
 #include "autoware/mpc_lateral_controller/mpc_utils.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/normalization.hpp"
 #include "interpolation/linear_interpolation.hpp"
 #include "interpolation/spline_interpolation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/normalization.hpp"
 
 #include <algorithm>
 #include <limits>
@@ -42,9 +42,9 @@ double calcLongitudinalOffset(
 
 namespace MPCUtils
 {
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::createQuaternionFromYaw;
-using tier4_autoware_utils::normalizeRadian;
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::createQuaternionFromYaw;
+using autoware_universe_utils::normalizeRadian;
 
 double calcDistance2d(const MPCTrajectory & trajectory, const size_t idx1, const size_t idx2)
 {
@@ -240,7 +240,7 @@ std::vector<double> calcTrajectoryCurvature(
     p2.y = traj.y.at(curr_idx);
     p3.y = traj.y.at(next_idx);
     try {
-      curvature_vec.at(curr_idx) = tier4_autoware_utils::calcCurvature(p1, p2, p3);
+      curvature_vec.at(curr_idx) = autoware_universe_utils::calcCurvature(p1, p2, p3);
     } catch (...) {
       std::cerr << "[MPC] 2 points are too close to calculate curvature." << std::endl;
       curvature_vec.at(curr_idx) = 0.0;
@@ -281,7 +281,7 @@ Trajectory convertToAutowareTrajectory(const MPCTrajectory & input)
     p.pose.position.x = input.x.at(i);
     p.pose.position.y = input.y.at(i);
     p.pose.position.z = input.z.at(i);
-    p.pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(input.yaw.at(i));
+    p.pose.orientation = autoware_universe_utils::createQuaternionFromYaw(input.yaw.at(i));
     p.longitudinal_velocity_mps =
       static_cast<decltype(p.longitudinal_velocity_mps)>(input.vx.at(i));
     output.points.push_back(p);
@@ -389,7 +389,7 @@ bool calcNearestPoseInterp(
   prev_traj_point.x = traj.x.at(prev);
   prev_traj_point.y = traj.y.at(prev);
   const double traj_seg_length =
-    tier4_autoware_utils::calcDistance2d(prev_traj_point, next_traj_point);
+    autoware_universe_utils::calcDistance2d(prev_traj_point, next_traj_point);
   /* if distance between two points are too close */
   if (traj_seg_length < 1.0E-5) {
     nearest_pose->position.x = traj.x.at(*nearest_index);
@@ -460,7 +460,7 @@ void extendTrajectoryInYawDirection(
   const double dt = interval / extend_vel;
   const size_t num_extended_point = static_cast<size_t>(extend_dist / interval);
   for (size_t i = 0; i < num_extended_point; ++i) {
-    extended_pose = tier4_autoware_utils::calcOffsetPose(extended_pose, x_offset, 0.0, 0.0);
+    extended_pose = autoware_universe_utils::calcOffsetPose(extended_pose, x_offset, 0.0, 0.0);
     traj.push_back(
       extended_pose.position.x, extended_pose.position.y, extended_pose.position.z, traj.yaw.back(),
       extend_vel, traj.k.back(), traj.smooth_k.back(), traj.relative_time.back() + dt);
diff --git a/control/autoware_operation_mode_transition_manager/package.xml b/control/autoware_operation_mode_transition_manager/package.xml
index c93b38c537a73..9e188136484cd 100644
--- a/control/autoware_operation_mode_transition_manager/package.xml
+++ b/control/autoware_operation_mode_transition_manager/package.xml
@@ -13,6 +13,7 @@
   <build_depend>rosidl_default_generators</build_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>component_interface_specs</depend>
@@ -22,7 +23,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_srvs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_control_msgs</depend>
   <depend>tier4_system_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>
diff --git a/control/autoware_operation_mode_transition_manager/src/node.hpp b/control/autoware_operation_mode_transition_manager/src/node.hpp
index 0cacb083fc293..46cc360355e67 100644
--- a/control/autoware_operation_mode_transition_manager/src/node.hpp
+++ b/control/autoware_operation_mode_transition_manager/src/node.hpp
@@ -18,10 +18,10 @@
 #include "compatibility.hpp"
 #include "state.hpp"
 
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
 #include <component_interface_specs/system.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
 
 #include <memory>
 #include <unordered_map>
@@ -49,10 +49,10 @@ class OperationModeTransitionManager : public rclcpp::Node
     const ChangeOperationModeAPI::Service::Response::SharedPtr response);
 
   using ControlModeCommandType = ControlModeCommand::Request::_mode_type;
-  tier4_autoware_utils::InterProcessPollingSubscriber<ControlModeReport> sub_control_mode_report_{
-    this, "control_mode_report"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<OperationModeState> sub_gate_operation_mode_{
-    this, "gate_operation_mode"};
+  autoware_universe_utils::InterProcessPollingSubscriber<ControlModeReport>
+    sub_control_mode_report_{this, "control_mode_report"};
+  autoware_universe_utils::InterProcessPollingSubscriber<OperationModeState>
+    sub_gate_operation_mode_{this, "gate_operation_mode"};
   rclcpp::Client<ControlModeCommand>::SharedPtr cli_control_mode_;
   rclcpp::Publisher<ModeChangeBase::DebugInfo>::SharedPtr pub_debug_info_;
   rclcpp::TimerBase::SharedPtr timer_;
diff --git a/control/autoware_operation_mode_transition_manager/src/state.cpp b/control/autoware_operation_mode_transition_manager/src/state.cpp
index 4eaf0ddf8e764..5433611e1df13 100644
--- a/control/autoware_operation_mode_transition_manager/src/state.cpp
+++ b/control/autoware_operation_mode_transition_manager/src/state.cpp
@@ -16,9 +16,9 @@
 
 #include "util.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/geometry/pose_deviation.hpp>
 
 #include <algorithm>
 #include <cmath>
@@ -26,9 +26,9 @@
 namespace autoware::operation_mode_transition_manager
 {
 
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::calcYawDeviation;
 using motion_utils::findNearestIndex;
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::calcYawDeviation;
 
 AutonomousMode::AutonomousMode(rclcpp::Node * node)
 : logger_(node->get_logger()), clock_(node->get_clock())
diff --git a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp
index a12beb6637b04..ed9fcb3974c83 100644
--- a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp
+++ b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp
@@ -21,13 +21,13 @@
 #include "autoware/pid_longitudinal_controller/pid.hpp"
 #include "autoware/pid_longitudinal_controller/smooth_stop.hpp"
 #include "autoware/trajectory_follower_base/longitudinal_controller_base.hpp"
+#include "autoware/universe_utils/ros/marker_helper.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 #include "diagnostic_updater/diagnostic_updater.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -51,9 +51,9 @@
 namespace autoware::motion::control::pid_longitudinal_controller
 {
 using autoware_adapi_v1_msgs::msg::OperationModeState;
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerScale;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
 using visualization_msgs::msg::Marker;
 
 namespace trajectory_follower = ::autoware::motion::control::trajectory_follower;
diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml
index a84083eae2725..fe5678aee93cd 100644
--- a/control/autoware_pid_longitudinal_controller/package.xml
+++ b/control/autoware_pid_longitudinal_controller/package.xml
@@ -22,6 +22,7 @@
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_trajectory_follower_base</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_msgs</depend>
@@ -35,7 +36,6 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp b/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
index 8fb6528dc431e..8ebf483d108b1 100644
--- a/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
+++ b/control/autoware_pid_longitudinal_controller/src/longitudinal_controller_utils.cpp
@@ -93,7 +93,7 @@ double getPitchByTraj(
 
   const auto [prev_idx, next_idx] = [&]() {
     for (size_t i = start_idx + 1; i < trajectory.points.size(); ++i) {
-      const double dist = tier4_autoware_utils::calcDistance3d(
+      const double dist = autoware_universe_utils::calcDistance3d(
         trajectory.points.at(start_idx), trajectory.points.at(i));
       if (dist > wheel_base) {
         // calculate pitch from trajectory between rear wheel (nearest) and front center (i)
@@ -105,7 +105,7 @@ double getPitchByTraj(
       std::min(start_idx, trajectory.points.size() - 2), trajectory.points.size() - 1);
   }();
 
-  return tier4_autoware_utils::calcElevationAngle(
+  return autoware_universe_utils::calcElevationAngle(
     trajectory.points.at(prev_idx).pose.position, trajectory.points.at(next_idx).pose.position);
 }
 
@@ -166,7 +166,7 @@ geometry_msgs::msg::Pose findTrajectoryPoseAfterDistance(
   double remain_dist = distance;
   geometry_msgs::msg::Pose p = trajectory.points.back().pose;
   for (size_t i = src_idx; i < trajectory.points.size() - 1; ++i) {
-    const double dist = tier4_autoware_utils::calcDistance3d(
+    const double dist = autoware_universe_utils::calcDistance3d(
       trajectory.points.at(i).pose, trajectory.points.at(i + 1).pose);
     if (remain_dist < dist) {
       if (remain_dist <= 0.0) {
diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
index 0ff93b1564fec..6effe8d13dbdc 100644
--- a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
+++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -14,9 +14,9 @@
 
 #include "autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/normalization.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/normalization.hpp"
 
 #include <algorithm>
 #include <limits>
@@ -465,10 +465,10 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData
 
   // check if the deviation is worth emergency
   m_diagnostic_data.trans_deviation =
-    tier4_autoware_utils::calcDistance2d(current_interpolated_pose.first, current_pose);
+    autoware_universe_utils::calcDistance2d(current_interpolated_pose.first, current_pose);
   const bool is_dist_deviation_large =
     m_state_transition_params.emergency_state_traj_trans_dev < m_diagnostic_data.trans_deviation;
-  m_diagnostic_data.rot_deviation = std::abs(tier4_autoware_utils::normalizeRadian(
+  m_diagnostic_data.rot_deviation = std::abs(autoware_universe_utils::normalizeRadian(
     tf2::getYaw(current_interpolated_pose.first.pose.orientation) -
     tf2::getYaw(current_pose.orientation)));
   const bool is_yaw_deviation_large =
@@ -605,7 +605,7 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d
     auto marker = createDefaultMarker(
       "map", clock_->now(), "stop_reason", 0, Marker::TEXT_VIEW_FACING,
       createMarkerScale(0.0, 0.0, 1.0), createMarkerColor(1.0, 1.0, 1.0, 0.999));
-    marker.pose = tier4_autoware_utils::calcOffsetPose(
+    marker.pose = autoware_universe_utils::calcOffsetPose(
       m_current_kinematic_state.pose.pose, m_wheel_base + m_front_overhang,
       m_vehicle_width / 2 + 2.0, 1.5);
     marker.text = "steering not\nconverged";
diff --git a/control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_node.hpp b/control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_node.hpp
index 72cab0a10d890..1030b58e0f979 100644
--- a/control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_node.hpp
+++ b/control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_node.hpp
@@ -33,9 +33,9 @@
 #include "autoware/pure_pursuit/autoware_pure_pursuit.hpp"
 #include "autoware/pure_pursuit/autoware_pure_pursuit_viz.hpp"
 
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
+#include <autoware/universe_utils/ros/self_pose_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
-#include <tier4_autoware_utils/ros/self_pose_listener.hpp>
 
 #include <autoware_control_msgs/msg/lateral.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
@@ -78,10 +78,10 @@ class PurePursuitNode : public rclcpp::Node
 
 private:
   // Subscriber
-  tier4_autoware_utils::SelfPoseListener self_pose_listener_{this};
-  tier4_autoware_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::Trajectory>
+  autoware_universe_utils::SelfPoseListener self_pose_listener_{this};
+  autoware_universe_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::Trajectory>
     sub_trajectory_{this, "input/reference_trajectory"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry>
+  autoware_universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry>
     sub_current_odometry_{this, "input/current_odometry"};
 
   autoware_planning_msgs::msg::Trajectory::ConstSharedPtr trajectory_;
diff --git a/control/autoware_pure_pursuit/package.xml b/control/autoware_pure_pursuit/package.xml
index 138eda06926b5..64468eb7ce1b5 100644
--- a/control/autoware_pure_pursuit/package.xml
+++ b/control/autoware_pure_pursuit/package.xml
@@ -17,6 +17,7 @@
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_trajectory_follower_base</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>boost</depend>
   <depend>geometry_msgs</depend>
@@ -31,7 +32,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
index eee22621e68ef..71fc315c92df4 100644
--- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
+++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
@@ -141,7 +141,7 @@ TrajectoryPoint PurePursuitLateralController::calcNextPose(
   const double ds, TrajectoryPoint & point, Lateral cmd) const
 {
   geometry_msgs::msg::Transform transform;
-  transform.translation = tier4_autoware_utils::createTranslation(ds, 0.0, 0.0);
+  transform.translation = autoware_universe_utils::createTranslation(ds, 0.0, 0.0);
   transform.rotation =
     planning_utils::getQuaternionFromYaw(((tan(cmd.steering_tire_angle) * ds) / param_.wheel_base));
   TrajectoryPoint output_p;
@@ -202,10 +202,10 @@ double PurePursuitLateralController::calcCurvature(const size_t closest_idx)
   double current_curvature = 0.0;
 
   try {
-    current_curvature = tier4_autoware_utils::calcCurvature(
-      tier4_autoware_utils::getPoint(trajectory_resampled_->points.at(prev_idx)),
-      tier4_autoware_utils::getPoint(trajectory_resampled_->points.at(closest_idx)),
-      tier4_autoware_utils::getPoint(trajectory_resampled_->points.at(next_idx)));
+    current_curvature = autoware_universe_utils::calcCurvature(
+      autoware_universe_utils::getPoint(trajectory_resampled_->points.at(prev_idx)),
+      autoware_universe_utils::getPoint(trajectory_resampled_->points.at(closest_idx)),
+      autoware_universe_utils::getPoint(trajectory_resampled_->points.at(next_idx)));
   } catch (std::exception const & e) {
     // ...code that handles the error...
     RCLCPP_WARN(rclcpp::get_logger("pure_pursuit"), "%s", e.what());
diff --git a/control/autoware_shift_decider/include/autoware/shift_decider/autoware_shift_decider.hpp b/control/autoware_shift_decider/include/autoware/shift_decider/autoware_shift_decider.hpp
index c9c23146baf1a..cffdbf2cdf2ab 100644
--- a/control/autoware_shift_decider/include/autoware/shift_decider/autoware_shift_decider.hpp
+++ b/control/autoware_shift_decider/include/autoware/shift_decider/autoware_shift_decider.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__SHIFT_DECIDER__AUTOWARE_SHIFT_DECIDER_HPP_
 #define AUTOWARE__SHIFT_DECIDER__AUTOWARE_SHIFT_DECIDER_HPP_
 
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -43,11 +43,11 @@ class ShiftDecider : public rclcpp::Node
   void initTimer(double period_s);
 
   rclcpp::Publisher<autoware_vehicle_msgs::msg::GearCommand>::SharedPtr pub_shift_cmd_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<autoware_control_msgs::msg::Control>
+  autoware_universe_utils::InterProcessPollingSubscriber<autoware_control_msgs::msg::Control>
     sub_control_cmd_{this, "input/control_cmd"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<autoware_system_msgs::msg::AutowareState>
+  autoware_universe_utils::InterProcessPollingSubscriber<autoware_system_msgs::msg::AutowareState>
     sub_autoware_state_{this, "input/state"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<autoware_vehicle_msgs::msg::GearReport>
+  autoware_universe_utils::InterProcessPollingSubscriber<autoware_vehicle_msgs::msg::GearReport>
     sub_current_gear_{this, "input/current_gear"};
 
   rclcpp::TimerBase::SharedPtr timer_;
diff --git a/control/autoware_shift_decider/package.xml b/control/autoware_shift_decider/package.xml
index 40708c2c73cf1..ebe86ddaac6d6 100644
--- a/control/autoware_shift_decider/package.xml
+++ b/control/autoware_shift_decider/package.xml
@@ -15,10 +15,10 @@
 
   <depend>autoware_control_msgs</depend>
   <depend>autoware_system_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_cppcheck</test_depend>
   <test_depend>ament_cmake_cpplint</test_depend>
diff --git a/control/autoware_smart_mpc_trajectory_follower/package.xml b/control/autoware_smart_mpc_trajectory_follower/package.xml
index a05f06cd865ff..12601504dd23a 100644
--- a/control/autoware_smart_mpc_trajectory_follower/package.xml
+++ b/control/autoware_smart_mpc_trajectory_follower/package.xml
@@ -23,13 +23,13 @@
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_system_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>motion_utils</depend>
   <depend>pybind11_vendor</depend>
   <depend>python3-scipy</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <exec_depend>ros2launch</exec_depend>
 
diff --git a/control/autoware_trajectory_follower_base/package.xml b/control/autoware_trajectory_follower_base/package.xml
index 283ab791c1ef9..5925fbebb1e7e 100644
--- a/control/autoware_trajectory_follower_base/package.xml
+++ b/control/autoware_trajectory_follower_base/package.xml
@@ -22,6 +22,7 @@
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_msgs</depend>
@@ -36,7 +37,6 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp b/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp
index 6be9e5e8a6480..06873c31cc6cc 100644
--- a/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp
+++ b/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp
@@ -18,18 +18,18 @@
 #include "autoware/trajectory_follower_base/lateral_controller_base.hpp"
 #include "autoware/trajectory_follower_base/longitudinal_controller_base.hpp"
 #include "autoware/trajectory_follower_node/visibility_control.hpp"
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 
 #include "autoware_control_msgs/msg/control.hpp"
 #include "autoware_control_msgs/msg/longitudinal.hpp"
@@ -55,7 +55,7 @@ namespace trajectory_follower_node
 {
 
 using autoware_adapi_v1_msgs::msg::OperationModeState;
-using tier4_autoware_utils::StopWatch;
+using autoware_universe_utils::StopWatch;
 using tier4_debug_msgs::msg::Float64Stamped;
 
 namespace trajectory_follower = ::autoware::motion::control::trajectory_follower;
@@ -77,20 +77,20 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node
   std::shared_ptr<trajectory_follower::LateralControllerBase> lateral_controller_;
 
   // Subscribers
-  tier4_autoware_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::Trajectory>
+  autoware_universe_utils::InterProcessPollingSubscriber<autoware_planning_msgs::msg::Trajectory>
     sub_ref_path_{this, "~/input/reference_trajectory"};
 
-  tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odometry_{
+  autoware_universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odometry_{
     this, "~/input/current_odometry"};
 
-  tier4_autoware_utils::InterProcessPollingSubscriber<autoware_vehicle_msgs::msg::SteeringReport>
+  autoware_universe_utils::InterProcessPollingSubscriber<autoware_vehicle_msgs::msg::SteeringReport>
     sub_steering_{this, "~/input/current_steering"};
 
-  tier4_autoware_utils::InterProcessPollingSubscriber<
+  autoware_universe_utils::InterProcessPollingSubscriber<
     geometry_msgs::msg::AccelWithCovarianceStamped>
     sub_accel_{this, "~/input/current_accel"};
 
-  tier4_autoware_utils::InterProcessPollingSubscriber<OperationModeState> sub_operation_mode_{
+  autoware_universe_utils::InterProcessPollingSubscriber<OperationModeState> sub_operation_mode_{
     this, "~/input/current_operation_mode"};
 
   // Publishers
@@ -129,9 +129,9 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node
     const trajectory_follower::InputData & input_data,
     const trajectory_follower::LateralOutput & lat_out) const;
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 
   void publishProcessingTime(
     const double t_ms, const rclcpp::Publisher<Float64Stamped>::SharedPtr pub);
diff --git a/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/simple_trajectory_follower.hpp b/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/simple_trajectory_follower.hpp
index bce0c88e3aa28..0c179ad1996f4 100644
--- a/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/simple_trajectory_follower.hpp
+++ b/control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/simple_trajectory_follower.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__TRAJECTORY_FOLLOWER_NODE__SIMPLE_TRAJECTORY_FOLLOWER_HPP_
 #define AUTOWARE__TRAJECTORY_FOLLOWER_NODE__SIMPLE_TRAJECTORY_FOLLOWER_HPP_
 
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -44,9 +44,9 @@ class SimpleTrajectoryFollower : public rclcpp::Node
   ~SimpleTrajectoryFollower() = default;
 
 private:
-  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> sub_kinematics_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Odometry> sub_kinematics_{
     this, "~/input/kinematics"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<Trajectory> sub_trajectory_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Trajectory> sub_trajectory_{
     this, "~/input/trajectory"};
   rclcpp::Publisher<Control>::SharedPtr pub_cmd_;
   rclcpp::TimerBase::SharedPtr timer_;
diff --git a/control/autoware_trajectory_follower_node/package.xml b/control/autoware_trajectory_follower_node/package.xml
index 0726b919d387e..3aeb3a814421f 100644
--- a/control/autoware_trajectory_follower_node/package.xml
+++ b/control/autoware_trajectory_follower_node/package.xml
@@ -26,12 +26,12 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_pure_pursuit</depend>
   <depend>autoware_trajectory_follower_base</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>motion_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <exec_depend>ros2launch</exec_depend>
diff --git a/control/autoware_trajectory_follower_node/src/controller_node.cpp b/control/autoware_trajectory_follower_node/src/controller_node.cpp
index ff7827ea252a1..7876a38247bc9 100644
--- a/control/autoware_trajectory_follower_node/src/controller_node.cpp
+++ b/control/autoware_trajectory_follower_node/src/controller_node.cpp
@@ -17,7 +17,7 @@
 #include "autoware/mpc_lateral_controller/mpc_lateral_controller.hpp"
 #include "autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp"
 #include "autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp"
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
+#include "autoware/universe_utils/ros/marker_helper.hpp"
 
 #include <algorithm>
 #include <limits>
@@ -80,9 +80,10 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control
       this, get_clock(), period_ns, std::bind(&Controller::callbackTimerControl, this));
   }
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
 
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 Controller::LateralControllerMode Controller::getLateralControllerMode(
@@ -222,10 +223,10 @@ void Controller::publishDebugMarker(
 
   // steer converged marker
   {
-    auto marker = tier4_autoware_utils::createDefaultMarker(
+    auto marker = autoware_universe_utils::createDefaultMarker(
       "map", this->now(), "steer_converged", 0, visualization_msgs::msg::Marker::TEXT_VIEW_FACING,
-      tier4_autoware_utils::createMarkerScale(0.0, 0.0, 1.0),
-      tier4_autoware_utils::createMarkerColor(1.0, 1.0, 1.0, 0.99));
+      autoware_universe_utils::createMarkerScale(0.0, 0.0, 1.0),
+      autoware_universe_utils::createMarkerColor(1.0, 1.0, 1.0, 0.99));
     marker.pose = input_data.current_odometry.pose.pose;
 
     std::stringstream ss;
diff --git a/control/autoware_trajectory_follower_node/src/simple_trajectory_follower.cpp b/control/autoware_trajectory_follower_node/src/simple_trajectory_follower.cpp
index 0b638ccda1bc2..0bd917b9abf7f 100644
--- a/control/autoware_trajectory_follower_node/src/simple_trajectory_follower.cpp
+++ b/control/autoware_trajectory_follower_node/src/simple_trajectory_follower.cpp
@@ -14,17 +14,17 @@
 
 #include "autoware/trajectory_follower_node/simple_trajectory_follower.hpp"
 
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/pose_deviation.hpp>
 
 #include <algorithm>
 
 namespace simple_trajectory_follower
 {
 
+using autoware_universe_utils::calcLateralDeviation;
+using autoware_universe_utils::calcYawDeviation;
 using motion_utils::findNearestIndex;
-using tier4_autoware_utils::calcLateralDeviation;
-using tier4_autoware_utils::calcYawDeviation;
 
 SimpleTrajectoryFollower::SimpleTrajectoryFollower(const rclcpp::NodeOptions & options)
 : Node("simple_trajectory_follower", options)
diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml
index f67d01a5593ae..6c10d98505947 100644
--- a/control/autoware_vehicle_cmd_gate/package.xml
+++ b/control/autoware_vehicle_cmd_gate/package.xml
@@ -17,6 +17,7 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>component_interface_specs</depend>
@@ -28,7 +29,6 @@
   <depend>rclcpp_components</depend>
   <depend>std_srvs</depend>
   <depend>tier4_api_utils</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_control_msgs</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
index 79b43ebe299ba..7295032ae3cb7 100644
--- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
@@ -14,8 +14,8 @@
 
 #include "vehicle_cmd_gate.hpp"
 
+#include "autoware/universe_utils/ros/update_param.hpp"
 #include "marker_helper.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
 
 #include <rclcpp/logging.hpp>
 #include <tier4_api_utils/tier4_api_utils.hpp>
@@ -210,9 +210,10 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
   timer_pub_status_ = rclcpp::create_timer(
     this, get_clock(), period_ns, std::bind(&VehicleCmdGate::publishStatus, this));
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
 
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 
   // Parameter Callback
   set_param_res_ =
@@ -222,7 +223,7 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
 rcl_interfaces::msg::SetParametersResult VehicleCmdGate::onParameter(
   const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
   // Parameter
   updateParam<bool>(parameters, "use_emergency_handling", use_emergency_handling_);
   updateParam<bool>(
diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
index f69ac24d2a6f8..19e91d863e8f8 100644
--- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
+++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
@@ -16,17 +16,17 @@
 #define VEHICLE_CMD_GATE_HPP_
 
 #include "adapi_pause_interface.hpp"
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
 #include "moderate_stop_interface.hpp"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 #include "vehicle_cmd_filter.hpp"
 
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <autoware_vehicle_cmd_gate/msg/is_filter_activated.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <motion_utils/vehicle/vehicle_state_checker.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
@@ -155,31 +155,31 @@ class VehicleCmdGate : public rclcpp::Node
   // Subscriber for auto
   Commands auto_commands_;
   rclcpp::Subscription<Control>::SharedPtr auto_control_cmd_sub_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<TurnIndicatorsCommand>
+  autoware_universe_utils::InterProcessPollingSubscriber<TurnIndicatorsCommand>
     auto_turn_indicator_cmd_sub_{this, "input/auto/turn_indicators_cmd"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<HazardLightsCommand>
+  autoware_universe_utils::InterProcessPollingSubscriber<HazardLightsCommand>
     auto_hazard_light_cmd_sub_{this, "input/auto/hazard_lights_cmd"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<GearCommand> auto_gear_cmd_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<GearCommand> auto_gear_cmd_sub_{
     this, "input/auto/gear_cmd"};
   void onAutoCtrlCmd(Control::ConstSharedPtr msg);
 
   // Subscription for external
   Commands remote_commands_;
   rclcpp::Subscription<Control>::SharedPtr remote_control_cmd_sub_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<TurnIndicatorsCommand>
+  autoware_universe_utils::InterProcessPollingSubscriber<TurnIndicatorsCommand>
     remote_turn_indicator_cmd_sub_{this, "input/external/turn_indicators_cmd"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<HazardLightsCommand>
+  autoware_universe_utils::InterProcessPollingSubscriber<HazardLightsCommand>
     remote_hazard_light_cmd_sub_{this, "input/external/hazard_lights_cmd"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<GearCommand> remote_gear_cmd_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<GearCommand> remote_gear_cmd_sub_{
     this, "input/external/gear_cmd"};
   void onRemoteCtrlCmd(Control::ConstSharedPtr msg);
 
   // Subscription for emergency
   Commands emergency_commands_;
   rclcpp::Subscription<Control>::SharedPtr emergency_control_cmd_sub_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<HazardLightsCommand>
+  autoware_universe_utils::InterProcessPollingSubscriber<HazardLightsCommand>
     emergency_hazard_light_cmd_sub_{this, "input/emergency/hazard_lights_cmd"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<GearCommand> emergency_gear_cmd_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<GearCommand> emergency_gear_cmd_sub_{
     this, "input/emergency/gear_cmd"};
   void onEmergencyCtrlCmd(Control::ConstSharedPtr msg);
 
@@ -261,9 +261,9 @@ class VehicleCmdGate : public rclcpp::Node
   MarkerArray createMarkerArray(const IsFilterActivated & filter_activated);
   void publishMarkers(const IsFilterActivated & filter_activated);
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
 
 }  // namespace autoware::vehicle_cmd_gate
diff --git a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp
index 73d48db6400a5..b359eb16387db 100644
--- a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp
+++ b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp
@@ -19,9 +19,9 @@
 #include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
 #include "control_performance_analysis/msg/error_stamped.hpp"
 
+#include <autoware/universe_utils/ros/self_pose_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <signal_processing/lowpass_filter_1d.hpp>
-#include <tier4_autoware_utils/ros/self_pose_listener.hpp>
 
 #include <autoware_control_msgs/msg/control.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml
index b18fb8c98ccdc..64c775d66e794 100644
--- a/control/control_performance_analysis/package.xml
+++ b/control/control_performance_analysis/package.xml
@@ -26,6 +26,7 @@
 
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
@@ -40,7 +41,6 @@
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>global_parameter_loader</exec_depend>
diff --git a/control/control_performance_analysis/src/control_performance_analysis_core.cpp b/control/control_performance_analysis/src/control_performance_analysis_core.cpp
index 51c818205e047..a4cca2e2a64d0 100644
--- a/control/control_performance_analysis/src/control_performance_analysis_core.cpp
+++ b/control/control_performance_analysis/src/control_performance_analysis_core.cpp
@@ -14,8 +14,8 @@
 
 #include "control_performance_analysis/control_performance_analysis_core.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "motion_utils/trajectory/interpolation.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <algorithm>
 #include <limits>
@@ -158,7 +158,7 @@ bool ControlPerformanceAnalysisCore::calculateErrorVars()
 
   // Compute the yaw angle error.
   const double heading_yaw_error =
-    tier4_autoware_utils::calcYawDeviation(pose_interp_wp, *current_vec_pose_ptr_);
+    autoware_universe_utils::calcYawDeviation(pose_interp_wp, *current_vec_pose_ptr_);
 
   // Set the values of ErrorMsgVars.
 
@@ -174,7 +174,7 @@ bool ControlPerformanceAnalysisCore::calculateErrorVars()
   const double Vx = odom_history_ptr_->at(odom_size - 2).twist.twist.linear.x;
 
   // Current acceleration calculation
-  const auto ds = tier4_autoware_utils::calcDistance2d(
+  const auto ds = autoware_universe_utils::calcDistance2d(
     odom_history_ptr_->at(odom_size - 1).pose.pose, odom_history_ptr_->at(odom_size - 2).pose.pose);
 
   const double vel_mean = (odom_history_ptr_->at(odom_size - 1).twist.twist.linear.x +
@@ -371,7 +371,8 @@ std::optional<int32_t> ControlPerformanceAnalysisCore::findCurveRefIdx()
   }
 
   auto fun_distance_cond = [this](auto point_t) {
-    const double dist = tier4_autoware_utils::calcDistance2d(point_t.pose, *interpolated_pose_ptr_);
+    const double dist =
+      autoware_universe_utils::calcDistance2d(point_t.pose, *interpolated_pose_ptr_);
     return dist > p_.wheelbase_;
   };
 
@@ -442,7 +443,7 @@ double ControlPerformanceAnalysisCore::estimateCurvature()
 
   // Compute arc-length ds between 2 points.
   const double ds_arc_length =
-    tier4_autoware_utils::calcDistance2d(front_axleWP_pose_prev, front_axleWP_pose);
+    autoware_universe_utils::calcDistance2d(front_axleWP_pose_prev, front_axleWP_pose);
 
   // Define waypoints 10 meters behind the rear axle if exist.
   // If not exist, we will take the first point of the
@@ -461,7 +462,7 @@ double ControlPerformanceAnalysisCore::estimateCurvature()
   // We compute a curvature estimate from these points.
   double estimated_curvature = 0.0;
   try {
-    estimated_curvature = tier4_autoware_utils::calcCurvature(
+    estimated_curvature = autoware_universe_utils::calcCurvature(
       points.at(loc_of_back_idx).pose.position, points.at(idx_curve_ref_wp).pose.position,
       points.at(loc_of_forward_idx).pose.position);
   } catch (...) {
@@ -486,7 +487,7 @@ double ControlPerformanceAnalysisCore::estimatePurePursuitCurvature()
   const double look_ahead_distance_pp = std::max(p_.wheelbase_, 2 * Vx);
 
   auto fun_distance_cond = [this, &look_ahead_distance_pp](auto point_t) {
-    const double dist = tier4_autoware_utils::calcDistance2d(point_t, *interpolated_pose_ptr_);
+    const double dist = autoware_universe_utils::calcDistance2d(point_t, *interpolated_pose_ptr_);
     return dist > look_ahead_distance_pp;
   };
 
diff --git a/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp b/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp
index efaefd765e793..27f4405e26f6c 100644
--- a/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp
+++ b/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker.hpp
@@ -15,8 +15,8 @@
 #ifndef OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_HPP_
 #define OBSTACLE_COLLISION_CHECKER__OBSTACLE_COLLISION_CHECKER_HPP_
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -35,7 +35,7 @@
 
 namespace obstacle_collision_checker
 {
-using tier4_autoware_utils::LinearRing2d;
+using autoware_universe_utils::LinearRing2d;
 
 struct Param
 {
diff --git a/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker_node.hpp b/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker_node.hpp
index 9d79a0facac95..85b3e3d25c2eb 100644
--- a/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker_node.hpp
+++ b/control/obstacle_collision_checker/include/obstacle_collision_checker/obstacle_collision_checker_node.hpp
@@ -17,13 +17,13 @@
 
 #include "obstacle_collision_checker/obstacle_collision_checker.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/processing_time_publisher.hpp>
+#include <autoware/universe_utils/ros/self_pose_listener.hpp>
+#include <autoware/universe_utils/ros/transform_listener.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/processing_time_publisher.hpp>
-#include <tier4_autoware_utils/ros/self_pose_listener.hpp>
-#include <tier4_autoware_utils/ros/transform_listener.hpp>
 
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -48,8 +48,8 @@ class ObstacleCollisionCheckerNode : public rclcpp::Node
 
 private:
   // Subscriber
-  std::shared_ptr<tier4_autoware_utils::SelfPoseListener> self_pose_listener_;
-  std::shared_ptr<tier4_autoware_utils::TransformListener> transform_listener_;
+  std::shared_ptr<autoware_universe_utils::SelfPoseListener> self_pose_listener_;
+  std::shared_ptr<autoware_universe_utils::TransformListener> transform_listener_;
   rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_obstacle_pointcloud_;
   rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr
     sub_reference_trajectory_;
@@ -72,8 +72,8 @@ class ObstacleCollisionCheckerNode : public rclcpp::Node
   void onOdom(const nav_msgs::msg::Odometry::SharedPtr msg);
 
   // Publisher
-  std::shared_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
-  std::shared_ptr<tier4_autoware_utils::ProcessingTimePublisher> time_publisher_;
+  std::shared_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_;
+  std::shared_ptr<autoware_universe_utils::ProcessingTimePublisher> time_publisher_;
 
   // Timer
   rclcpp::TimerBase::SharedPtr timer_;
diff --git a/control/obstacle_collision_checker/package.xml b/control/obstacle_collision_checker/package.xml
index 795302abe75f4..45b142fe601fe 100644
--- a/control/obstacle_collision_checker/package.xml
+++ b/control/obstacle_collision_checker/package.xml
@@ -19,6 +19,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>boost</depend>
   <depend>diagnostic_updater</depend>
@@ -33,7 +34,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker.cpp b/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker.cpp
index a844fe6a50cbf..e6c3aff83ee10 100644
--- a/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker.cpp
+++ b/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker.cpp
@@ -14,12 +14,12 @@
 
 #include "obstacle_collision_checker/obstacle_collision_checker.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <boost/geometry.hpp>
 
@@ -90,7 +90,7 @@ ObstacleCollisionChecker::ObstacleCollisionChecker(rclcpp::Node & node)
 Output ObstacleCollisionChecker::update(const Input & input)
 {
   Output output;
-  tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch;
+  autoware_universe_utils::StopWatch<std::chrono::milliseconds> stop_watch;
 
   // resample trajectory by braking distance
   constexpr double min_velocity = 0.01;
@@ -131,8 +131,8 @@ autoware_planning_msgs::msg::Trajectory ObstacleCollisionChecker::resampleTrajec
   for (size_t i = 1; i < trajectory.points.size() - 1; ++i) {
     const auto & point = trajectory.points.at(i);
 
-    const auto p1 = tier4_autoware_utils::fromMsg(resampled.points.back().pose.position).to_2d();
-    const auto p2 = tier4_autoware_utils::fromMsg(point.pose.position).to_2d();
+    const auto p1 = autoware_universe_utils::fromMsg(resampled.points.back().pose.position).to_2d();
+    const auto p2 = autoware_universe_utils::fromMsg(point.pose.position).to_2d();
 
     if (boost::geometry::distance(p1, p2) > interval) {
       resampled.points.push_back(point);
@@ -154,8 +154,8 @@ autoware_planning_msgs::msg::Trajectory ObstacleCollisionChecker::cutTrajectory(
   for (size_t i = 1; i < trajectory.points.size(); ++i) {
     const auto & point = trajectory.points.at(i);
 
-    const auto p1 = tier4_autoware_utils::fromMsg(cut.points.back().pose.position);
-    const auto p2 = tier4_autoware_utils::fromMsg(point.pose.position);
+    const auto p1 = autoware_universe_utils::fromMsg(cut.points.back().pose.position);
+    const auto p2 = autoware_universe_utils::fromMsg(point.pose.position);
     const auto points_distance = boost::geometry::distance(p1.to_2d(), p2.to_2d());
 
     const auto remain_distance = length - total_length;
@@ -197,8 +197,8 @@ std::vector<LinearRing2d> ObstacleCollisionChecker::createVehicleFootprints(
   std::vector<LinearRing2d> vehicle_footprints;
   for (const auto & p : trajectory.points) {
     vehicle_footprints.push_back(
-      tier4_autoware_utils::transformVector<tier4_autoware_utils::LinearRing2d>(
-        local_vehicle_footprint, tier4_autoware_utils::pose2transform(p.pose)));
+      autoware_universe_utils::transformVector<autoware_universe_utils::LinearRing2d>(
+        local_vehicle_footprint, autoware_universe_utils::pose2transform(p.pose)));
   }
 
   return vehicle_footprints;
@@ -221,7 +221,7 @@ std::vector<LinearRing2d> ObstacleCollisionChecker::createVehiclePassingAreas(
 LinearRing2d ObstacleCollisionChecker::createHullFromFootprints(
   const LinearRing2d & area1, const LinearRing2d & area2)
 {
-  tier4_autoware_utils::MultiPoint2d combined;
+  autoware_universe_utils::MultiPoint2d combined;
   for (const auto & p : area1) {
     combined.push_back(p);
   }
@@ -256,7 +256,7 @@ bool ObstacleCollisionChecker::hasCollision(
 {
   for (const auto & point : obstacle_pointcloud.points) {
     if (boost::geometry::within(
-          tier4_autoware_utils::Point2d{point.x, point.y}, vehicle_footprint)) {
+          autoware_universe_utils::Point2d{point.x, point.y}, vehicle_footprint)) {
       RCLCPP_WARN(
         rclcpp::get_logger("obstacle_collision_checker"),
         "[ObstacleCollisionChecker] Collide to Point x: %f y: %f", point.x, point.y);
diff --git a/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp b/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp
index 402123c81d361..9bd95a985e2de 100644
--- a/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp
+++ b/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp
@@ -14,10 +14,10 @@
 
 #include "obstacle_collision_checker/obstacle_collision_checker_node.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <memory>
 #include <string>
@@ -70,8 +70,8 @@ ObstacleCollisionCheckerNode::ObstacleCollisionCheckerNode(const rclcpp::NodeOpt
   obstacle_collision_checker_->setParam(param_);
 
   // Subscriber
-  self_pose_listener_ = std::make_shared<tier4_autoware_utils::SelfPoseListener>(this);
-  transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
+  self_pose_listener_ = std::make_shared<autoware_universe_utils::SelfPoseListener>(this);
+  transform_listener_ = std::make_shared<autoware_universe_utils::TransformListener>(this);
 
   sub_obstacle_pointcloud_ = create_subscription<sensor_msgs::msg::PointCloud2>(
     "input/obstacle_pointcloud", rclcpp::SensorDataQoS(),
@@ -86,8 +86,9 @@ ObstacleCollisionCheckerNode::ObstacleCollisionCheckerNode(const rclcpp::NodeOpt
     "input/odometry", 1, std::bind(&ObstacleCollisionCheckerNode::onOdom, this, _1));
 
   // Publisher
-  debug_publisher_ = std::make_shared<tier4_autoware_utils::DebugPublisher>(this, "debug/marker");
-  time_publisher_ = std::make_shared<tier4_autoware_utils::ProcessingTimePublisher>(this);
+  debug_publisher_ =
+    std::make_shared<autoware_universe_utils::DebugPublisher>(this, "debug/marker");
+  time_publisher_ = std::make_shared<autoware_universe_utils::ProcessingTimePublisher>(this);
 
   // Diagnostic Updater
   updater_.setHardwareID("obstacle_collision_checker");
@@ -282,9 +283,9 @@ void ObstacleCollisionCheckerNode::checkLaneDeparture(
 
 visualization_msgs::msg::MarkerArray ObstacleCollisionCheckerNode::createMarkerArray() const
 {
-  using tier4_autoware_utils::createDefaultMarker;
-  using tier4_autoware_utils::createMarkerColor;
-  using tier4_autoware_utils::createMarkerScale;
+  using autoware_universe_utils::createDefaultMarker;
+  using autoware_universe_utils::createMarkerColor;
+  using autoware_universe_utils::createMarkerScale;
 
   visualization_msgs::msg::MarkerArray marker_array;
 
diff --git a/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp b/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp
index 2a7a552c1973d..bcc5f7dd4542a 100644
--- a/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp
+++ b/control/predicted_path_checker/include/predicted_path_checker/collision_checker.hpp
@@ -15,15 +15,15 @@
 #ifndef PREDICTED_PATH_CHECKER__COLLISION_CHECKER_HPP_
 #define PREDICTED_PATH_CHECKER__COLLISION_CHECKER_HPP_
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/transform_listener.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info.hpp>
 #include <motion_utils/trajectory/conversion.hpp>
 #include <motion_utils/trajectory/interpolation.hpp>
 #include <predicted_path_checker/debug_marker.hpp>
 #include <predicted_path_checker/utils.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/transform_listener.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
@@ -47,10 +47,10 @@ using autoware_planning_msgs::msg::TrajectoryPoint;
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::TransformStamped;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
 using PointArray = std::vector<geometry_msgs::msg::Point>;
 
 namespace bg = boost::geometry;
diff --git a/control/predicted_path_checker/include/predicted_path_checker/debug_marker.hpp b/control/predicted_path_checker/include/predicted_path_checker/debug_marker.hpp
index 02ade624d630c..84ccbad32202c 100644
--- a/control/predicted_path_checker/include/predicted_path_checker/debug_marker.hpp
+++ b/control/predicted_path_checker/include/predicted_path_checker/debug_marker.hpp
@@ -31,9 +31,9 @@
 
 #define EIGEN_MPL2_ONLY
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <eigen3/Eigen/Core>
 #include <eigen3/Eigen/Geometry>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 namespace autoware::motion::control::predicted_path_checker
 {
@@ -52,12 +52,12 @@ class PredictedPathCheckerDebugNode
   ~PredictedPathCheckerDebugNode() {}
 
   bool pushPolygon(
-    const tier4_autoware_utils::Polygon2d & polygon, const double z, const PolygonType & type);
+    const autoware_universe_utils::Polygon2d & polygon, const double z, const PolygonType & type);
 
   bool pushPolygon(const std::vector<Eigen::Vector3d> & polygon, const PolygonType & type);
 
   bool pushPolyhedron(
-    const tier4_autoware_utils::Polygon2d & polyhedron, const double z_min, const double z_max,
+    const autoware_universe_utils::Polygon2d & polyhedron, const double z_min, const double z_max,
     const PolygonType & type);
 
   bool pushPolyhedron(const std::vector<Eigen::Vector3d> & polyhedron, const PolygonType & type);
diff --git a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp
index 6c4832a0dac3e..48ff15b89389d 100644
--- a/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp
+++ b/control/predicted_path_checker/include/predicted_path_checker/predicted_path_checker_node.hpp
@@ -15,6 +15,8 @@
 #ifndef PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_
 #define PREDICTED_PATH_CHECKER__PREDICTED_PATH_CHECKER_NODE_HPP_
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/self_pose_listener.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <component_interface_specs/control.hpp>
@@ -24,8 +26,6 @@
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <predicted_path_checker/collision_checker.hpp>
 #include <predicted_path_checker/utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/self_pose_listener.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
@@ -51,10 +51,10 @@ using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
 using autoware_perception_msgs::msg::PredictedObjects;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::TransformStamped;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
 
 struct NodeParam
 {
@@ -88,7 +88,7 @@ class PredictedPathCheckerNode : public rclcpp::Node
   rclcpp::CallbackGroup::SharedPtr group_cli_;
 
   // Subscriber
-  std::shared_ptr<tier4_autoware_utils::SelfPoseListener> self_pose_listener_;
+  std::shared_ptr<autoware_universe_utils::SelfPoseListener> self_pose_listener_;
   rclcpp::Subscription<PredictedObjects>::SharedPtr sub_dynamic_objects_;
   rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr
     sub_reference_trajectory_;
diff --git a/control/predicted_path_checker/include/predicted_path_checker/utils.hpp b/control/predicted_path_checker/include/predicted_path_checker/utils.hpp
index d9299f09dfb6b..a6ad488950c09 100644
--- a/control/predicted_path_checker/include/predicted_path_checker/utils.hpp
+++ b/control/predicted_path_checker/include/predicted_path_checker/utils.hpp
@@ -15,10 +15,10 @@
 #ifndef PREDICTED_PATH_CHECKER__UTILS_HPP_
 #define PREDICTED_PATH_CHECKER__UTILS_HPP_
 
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <interpolation/linear_interpolation.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
@@ -43,12 +43,12 @@ using autoware::vehicle_info_utils::VehicleInfo;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_planning_msgs::msg::TrajectoryPoint;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::TransformStamped;
 using std_msgs::msg::Header;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
 using PointArray = std::vector<geometry_msgs::msg::Point>;
 
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
diff --git a/control/predicted_path_checker/package.xml b/control/predicted_path_checker/package.xml
index 911344c578414..6c888e1e7d189 100644
--- a/control/predicted_path_checker/package.xml
+++ b/control/predicted_path_checker/package.xml
@@ -14,6 +14,7 @@
 
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>boost</depend>
   <depend>component_interface_specs</depend>
@@ -31,7 +32,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_control_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
   <depend>tier4_planning_msgs</depend>
diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp
index 7d392571546b4..fb2eda3d04c33 100644
--- a/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp
+++ b/control/predicted_path_checker/src/predicted_path_checker_node/collision_checker.cpp
@@ -14,8 +14,8 @@
 
 #include "predicted_path_checker/collision_checker.hpp"
 
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <rclcpp/logging.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <memory>
 #include <utility>
@@ -80,12 +80,12 @@ CollisionChecker::checkTrajectoryForCollision(
       double distance_to_current = std::numeric_limits<double>::max();
       double distance_to_history = std::numeric_limits<double>::max();
       if (found_collision_at_dynamic_objects) {
-        distance_to_current = tier4_autoware_utils::calcDistance2d(
+        distance_to_current = autoware_universe_utils::calcDistance2d(
           p_front, found_collision_at_dynamic_objects.get().first);
       }
       if (found_collision_at_history) {
         distance_to_history =
-          tier4_autoware_utils::calcDistance2d(p_front, found_collision_at_history.get().first);
+          autoware_universe_utils::calcDistance2d(p_front, found_collision_at_history.get().first);
       } else {
         predicted_object_history_.clear();
       }
@@ -140,7 +140,7 @@ CollisionChecker::checkObstacleHistory(
     bool is_init = false;
     std::pair<geometry_msgs::msg::Point, PredictedObject> nearest_collision_object_with_point;
     for (const auto & p : collision_points_in_history) {
-      double norm = tier4_autoware_utils::calcDistance2d(p.first, base_pose);
+      double norm = autoware_universe_utils::calcDistance2d(p.first, base_pose);
       if (norm < min_norm || !is_init) {
         min_norm = norm;
         nearest_collision_object_with_point = p;
diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp
index 3fb7b69d531c0..e5a17ace712ae 100644
--- a/control/predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp
+++ b/control/predicted_path_checker/src/predicted_path_checker_node/debug_marker.cpp
@@ -14,29 +14,29 @@
 
 #include "predicted_path_checker/debug_marker.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/marker_helper.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #else
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 
 #include <memory>
 #include <vector>
 
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerOrientation;
+using autoware_universe_utils::createMarkerScale;
+using autoware_universe_utils::createPoint;
 using motion_utils::createDeletedStopVirtualWallMarker;
 using motion_utils::createStopVirtualWallMarker;
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerOrientation;
-using tier4_autoware_utils::createMarkerScale;
-using tier4_autoware_utils::createPoint;
 
 namespace autoware::motion::control::predicted_path_checker
 {
@@ -51,7 +51,7 @@ PredictedPathCheckerDebugNode::PredictedPathCheckerDebugNode(
 }
 
 bool PredictedPathCheckerDebugNode::pushPolygon(
-  const tier4_autoware_utils::Polygon2d & polygon, const double z, const PolygonType & type)
+  const autoware_universe_utils::Polygon2d & polygon, const double z, const PolygonType & type)
 {
   std::vector<Eigen::Vector3d> eigen_polygon;
   for (const auto & point : polygon.outer()) {
@@ -82,7 +82,7 @@ bool PredictedPathCheckerDebugNode::pushPolygon(
 }
 
 bool PredictedPathCheckerDebugNode::pushPolyhedron(
-  const tier4_autoware_utils::Polygon2d & polyhedron, const double z_min, const double z_max,
+  const autoware_universe_utils::Polygon2d & polyhedron, const double z_min, const double z_max,
   const PolygonType & type)
 {
   std::vector<Eigen::Vector3d> eigen_polyhedron;
diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
index 38717a1849ad9..505911dbc5b72 100644
--- a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
+++ b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp
@@ -14,11 +14,11 @@
 
 #include "predicted_path_checker/predicted_path_checker_node.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <motion_utils/marker/marker_helper.hpp>
 #include <motion_utils/resample/resample.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <algorithm>
 #include <memory>
@@ -67,7 +67,7 @@ PredictedPathCheckerNode::PredictedPathCheckerNode(const rclcpp::NodeOptions & n
     declare_parameter("collision_checker_params.chattering_threshold", 0.2);
 
   // Subscriber
-  self_pose_listener_ = std::make_shared<tier4_autoware_utils::SelfPoseListener>(this);
+  self_pose_listener_ = std::make_shared<autoware_universe_utils::SelfPoseListener>(this);
 
   sub_dynamic_objects_ = create_subscription<PredictedObjects>(
     "~/input/objects", rclcpp::SensorDataQoS(),
@@ -430,13 +430,13 @@ bool PredictedPathCheckerNode::isItDiscretePoint(
   const auto nearest_point = utils::calcInterpolatedPoint(
     reference_trajectory, collision_point.pose.position, *nearest_segment, false);
 
-  const auto distance = tier4_autoware_utils::calcDistance2d(
+  const auto distance = autoware_universe_utils::calcDistance2d(
     nearest_point.pose.position, collision_point.pose.position);
 
   const auto yaw_diff =
-    std::abs(tier4_autoware_utils::calcYawDeviation(nearest_point.pose, collision_point.pose));
+    std::abs(autoware_universe_utils::calcYawDeviation(nearest_point.pose, collision_point.pose));
   return distance >= node_param_.distinct_point_distance_threshold ||
-         yaw_diff >= tier4_autoware_utils::deg2rad(node_param_.distinct_point_yaw_threshold);
+         yaw_diff >= autoware_universe_utils::deg2rad(node_param_.distinct_point_yaw_threshold);
 }
 
 Trajectory PredictedPathCheckerNode::cutTrajectory(
@@ -452,8 +452,8 @@ Trajectory PredictedPathCheckerNode::cutTrajectory(
   for (size_t i = 1; i < trajectory.points.size(); ++i) {
     const auto & point = trajectory.points.at(i);
 
-    const auto p1 = tier4_autoware_utils::fromMsg(cut.points.back().pose.position);
-    const auto p2 = tier4_autoware_utils::fromMsg(point.pose.position);
+    const auto p1 = autoware_universe_utils::fromMsg(cut.points.back().pose.position);
+    const auto p2 = autoware_universe_utils::fromMsg(point.pose.position);
     const auto points_distance = boost::geometry::distance(p1.to_2d(), p2.to_2d());
 
     const auto remain_distance = length - total_length;
@@ -526,7 +526,7 @@ std::pair<double, double> PredictedPathCheckerNode::calculateProjectedVelAndAcc(
   const auto velocity_obj = object.kinematics.initial_twist_with_covariance.twist.linear.x;
   const auto acceleration_obj =
     object.kinematics.initial_acceleration_with_covariance.accel.linear.x;
-  const auto k = std::cos(tier4_autoware_utils::normalizeRadian(
+  const auto k = std::cos(autoware_universe_utils::normalizeRadian(
     tf2::getYaw(orientation_obj) - tf2::getYaw(orientation_stop_point)));
   const auto projected_velocity = velocity_obj * k;
   const auto projected_acceleration = acceleration_obj * k;
@@ -555,8 +555,8 @@ void PredictedPathCheckerNode::filterObstacles(
     const double max_length = utils::calcObstacleMaxLength(object.shape);
     const size_t seg_idx = motion_utils::findNearestSegmentIndex(
       traj, object.kinematics.initial_pose_with_covariance.pose.position);
-    const auto p_front = tier4_autoware_utils::getPoint(traj.at(seg_idx));
-    const auto p_back = tier4_autoware_utils::getPoint(traj.at(seg_idx + 1));
+    const auto p_front = autoware_universe_utils::getPoint(traj.at(seg_idx));
+    const auto p_back = autoware_universe_utils::getPoint(traj.at(seg_idx + 1));
     const auto & p_target = object.kinematics.initial_pose_with_covariance.pose.position;
     const Eigen::Vector3d segment_vec{p_back.x - p_front.x, p_back.y - p_front.y, 0.0};
     const Eigen::Vector3d target_vec{p_target.x - p_front.x, p_target.y - p_front.y, 0.0};
diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp
index a9c3e2b24f9a5..1321f1d5af50a 100644
--- a/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp
+++ b/control/predicted_path_checker/src/predicted_path_checker_node/utils.cpp
@@ -21,10 +21,10 @@
 namespace utils
 {
 
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::getRPY;
 using motion_utils::findFirstNearestIndexWithSoftConstraints;
 using motion_utils::findFirstNearestSegmentIndexWithSoftConstraints;
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::getRPY;
 
 // Utils Functions
 Polygon2d createOneStepPolygon(
@@ -38,40 +38,42 @@ Polygon2d createOneStepPolygon(
   const double rear_overhang = vehicle_info.rear_overhang_m;
 
   {  // base step
-    appendPointToPolygon(
-      polygon, tier4_autoware_utils::calcOffsetPose(base_step_pose, longitudinal_offset, width, 0.0)
-                 .position);
     appendPointToPolygon(
       polygon,
-      tier4_autoware_utils::calcOffsetPose(base_step_pose, longitudinal_offset, -width, 0.0)
+      autoware_universe_utils::calcOffsetPose(base_step_pose, longitudinal_offset, width, 0.0)
         .position);
     appendPointToPolygon(
       polygon,
-      tier4_autoware_utils::calcOffsetPose(base_step_pose, -rear_overhang, -width, 0.0).position);
+      autoware_universe_utils::calcOffsetPose(base_step_pose, longitudinal_offset, -width, 0.0)
+        .position);
+    appendPointToPolygon(
+      polygon, autoware_universe_utils::calcOffsetPose(base_step_pose, -rear_overhang, -width, 0.0)
+                 .position);
     appendPointToPolygon(
       polygon,
-      tier4_autoware_utils::calcOffsetPose(base_step_pose, -rear_overhang, width, 0.0).position);
+      autoware_universe_utils::calcOffsetPose(base_step_pose, -rear_overhang, width, 0.0).position);
   }
 
   {  // next step
-    appendPointToPolygon(
-      polygon, tier4_autoware_utils::calcOffsetPose(next_step_pose, longitudinal_offset, width, 0.0)
-                 .position);
     appendPointToPolygon(
       polygon,
-      tier4_autoware_utils::calcOffsetPose(next_step_pose, longitudinal_offset, -width, 0.0)
+      autoware_universe_utils::calcOffsetPose(next_step_pose, longitudinal_offset, width, 0.0)
         .position);
     appendPointToPolygon(
       polygon,
-      tier4_autoware_utils::calcOffsetPose(next_step_pose, -rear_overhang, -width, 0.0).position);
+      autoware_universe_utils::calcOffsetPose(next_step_pose, longitudinal_offset, -width, 0.0)
+        .position);
+    appendPointToPolygon(
+      polygon, autoware_universe_utils::calcOffsetPose(next_step_pose, -rear_overhang, -width, 0.0)
+                 .position);
     appendPointToPolygon(
       polygon,
-      tier4_autoware_utils::calcOffsetPose(next_step_pose, -rear_overhang, width, 0.0).position);
+      autoware_universe_utils::calcOffsetPose(next_step_pose, -rear_overhang, width, 0.0).position);
   }
 
-  polygon = tier4_autoware_utils::isClockwise(polygon)
+  polygon = autoware_universe_utils::isClockwise(polygon)
               ? polygon
-              : tier4_autoware_utils::inverseClockwise(polygon);
+              : autoware_universe_utils::inverseClockwise(polygon);
 
   Polygon2d hull_polygon;
   boost::geometry::convex_hull(polygon, hull_polygon);
@@ -95,8 +97,8 @@ TrajectoryPoint calcInterpolatedPoint(
   // Calculate interpolation ratio
   const auto & curr_pt = trajectory.at(segment_idx);
   const auto & next_pt = trajectory.at(segment_idx + 1);
-  const auto v1 = tier4_autoware_utils::point2tfVector(curr_pt, next_pt);
-  const auto v2 = tier4_autoware_utils::point2tfVector(curr_pt, target_point);
+  const auto v1 = autoware_universe_utils::point2tfVector(curr_pt, next_pt);
+  const auto v2 = autoware_universe_utils::point2tfVector(curr_pt, target_point);
   if (v1.length2() < 1e-3) {
     return curr_pt;
   }
@@ -109,7 +111,7 @@ TrajectoryPoint calcInterpolatedPoint(
 
   // pose interpolation
   interpolated_point.pose =
-    tier4_autoware_utils::calcInterpolatedPose(curr_pt, next_pt, clamped_ratio);
+    autoware_universe_utils::calcInterpolatedPose(curr_pt, next_pt, clamped_ratio);
 
   // twist interpolation
   if (use_zero_order_hold_for_twist) {
@@ -175,7 +177,7 @@ std::pair<size_t, TrajectoryPoint> findStopPoint(
                      base_point.pose.position.y - next_point.pose.position.y));
 
     geometry_msgs::msg::Pose interpolated_pose =
-      tier4_autoware_utils::calcInterpolatedPose(base_point.pose, next_point.pose, ratio, false);
+      autoware_universe_utils::calcInterpolatedPose(base_point.pose, next_point.pose, ratio, false);
     TrajectoryPoint output;
     output.set__pose(interpolated_pose);
     return std::make_pair(stop_segment_idx, output);
@@ -247,7 +249,7 @@ double getNearestPointAndDistanceForPredictedObject(
   bool is_init = false;
 
   for (const auto & p : points) {
-    double norm = tier4_autoware_utils::calcDistance2d(p, base_pose);
+    double norm = autoware_universe_utils::calcDistance2d(p, base_pose);
     if (norm < min_norm || !is_init) {
       min_norm = norm;
       *nearest_collision_point = p;
@@ -369,7 +371,7 @@ Polygon2d convertObjToPolygon(const PredictedObject & obj)
 
 bool isFrontObstacle(const Pose & ego_pose, const geometry_msgs::msg::Point & obstacle_pos)
 {
-  const auto yaw = tier4_autoware_utils::getRPY(ego_pose).z;
+  const auto yaw = autoware_universe_utils::getRPY(ego_pose).z;
   const Eigen::Vector2d base_pose_vec(std::cos(yaw), std::sin(yaw));
   const Eigen::Vector2d obstacle_vec(
     obstacle_pos.x - ego_pose.position.x, obstacle_pos.y - ego_pose.position.y);
@@ -401,7 +403,7 @@ void getCurrentObjectPose(
   PredictedObject & predicted_object, const rclcpp::Time & obj_base_time,
   const rclcpp::Time & current_time)
 {
-  const double yaw = tier4_autoware_utils::getRPY(
+  const double yaw = autoware_universe_utils::getRPY(
                        predicted_object.kinematics.initial_pose_with_covariance.pose.orientation)
                        .z;
   const double vx = predicted_object.kinematics.initial_twist_with_covariance.twist.linear.x;
@@ -412,8 +414,8 @@ void getCurrentObjectPose(
   const double delta_yaw =
     predicted_object.kinematics.initial_twist_with_covariance.twist.angular.z * dt;
   geometry_msgs::msg::Transform transform;
-  transform.translation = tier4_autoware_utils::createTranslation(ds, 0.0, 0.0);
-  transform.rotation = tier4_autoware_utils::createQuaternionFromRPY(0.0, 0.0, yaw);
+  transform.translation = autoware_universe_utils::createTranslation(ds, 0.0, 0.0);
+  transform.rotation = autoware_universe_utils::createQuaternionFromRPY(0.0, 0.0, yaw);
 
   tf2::Transform tf_pose;
   tf2::Transform tf_offset;
@@ -422,8 +424,8 @@ void getCurrentObjectPose(
   tf2::toMsg(tf_pose * tf_offset, predicted_object.kinematics.initial_pose_with_covariance.pose);
   predicted_object.kinematics.initial_twist_with_covariance.twist.linear.x += ax * dt;
   predicted_object.kinematics.initial_pose_with_covariance.pose.orientation =
-    tier4_autoware_utils::createQuaternionFromRPY(
-      0.0, 0.0, tier4_autoware_utils::normalizeRadian(yaw + delta_yaw));
+    autoware_universe_utils::createQuaternionFromRPY(
+      0.0, 0.0, autoware_universe_utils::normalizeRadian(yaw + delta_yaw));
 }
 
 }  // namespace utils
diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp
index 1cfb3e12d2a06..efeb068fca115 100644
--- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp
+++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp
@@ -17,8 +17,8 @@
 
 #include "autoware/control_evaluator/metrics/deviation_metrics.hpp"
 
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
 
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <nav_msgs/msg/odometry.hpp>
@@ -72,9 +72,9 @@ class controlEvaluatorNode : public rclcpp::Node
   // onDiagnostics().
   rclcpp::Subscription<DiagnosticArray>::SharedPtr control_diag_sub_;
 
-  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> odometry_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Odometry> odometry_sub_{
     this, "~/input/odometry"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<Trajectory> traj_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Trajectory> traj_sub_{
     this, "~/input/trajectory"};
 
   rclcpp::Publisher<DiagnosticArray>::SharedPtr metrics_pub_;
diff --git a/evaluator/autoware_control_evaluator/package.xml b/evaluator/autoware_control_evaluator/package.xml
index 176537867c600..c76b27b006342 100644
--- a/evaluator/autoware_control_evaluator/package.xml
+++ b/evaluator/autoware_control_evaluator/package.xml
@@ -15,12 +15,12 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
   <!-- <depend>nav_msgs</depend> -->
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/evaluator/autoware_control_evaluator/src/metrics/deviation_metrics.cpp b/evaluator/autoware_control_evaluator/src/metrics/deviation_metrics.cpp
index c5eb73978d30b..d7c9bbb1308f9 100644
--- a/evaluator/autoware_control_evaluator/src/metrics/deviation_metrics.cpp
+++ b/evaluator/autoware_control_evaluator/src/metrics/deviation_metrics.cpp
@@ -14,9 +14,9 @@
 
 #include "autoware/control_evaluator/metrics/deviation_metrics.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/pose_deviation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/geometry/pose_deviation.hpp"
 
 namespace control_diagnostics
 {
@@ -28,13 +28,13 @@ double calcLateralDeviation(const Trajectory & traj, const Point & point)
 {
   const size_t nearest_index = motion_utils::findNearestIndex(traj.points, point);
   return std::abs(
-    tier4_autoware_utils::calcLateralDeviation(traj.points[nearest_index].pose, point));
+    autoware_universe_utils::calcLateralDeviation(traj.points[nearest_index].pose, point));
 }
 
 double calcYawDeviation(const Trajectory & traj, const Pose & pose)
 {
   const size_t nearest_index = motion_utils::findNearestIndex(traj.points, pose.position);
-  return std::abs(tier4_autoware_utils::calcYawDeviation(traj.points[nearest_index].pose, pose));
+  return std::abs(autoware_universe_utils::calcYawDeviation(traj.points[nearest_index].pose, pose));
 }
 
 }  // namespace metrics
diff --git a/evaluator/autoware_planning_evaluator/package.xml b/evaluator/autoware_planning_evaluator/package.xml
index 0743a5e9d1086..53502b5353956 100644
--- a/evaluator/autoware_planning_evaluator/package.xml
+++ b/evaluator/autoware_planning_evaluator/package.xml
@@ -15,6 +15,7 @@
 
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
@@ -25,7 +26,6 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/evaluator/autoware_planning_evaluator/src/metrics/deviation_metrics.cpp b/evaluator/autoware_planning_evaluator/src/metrics/deviation_metrics.cpp
index 280d8f085df96..8935b41aa5bc6 100644
--- a/evaluator/autoware_planning_evaluator/src/metrics/deviation_metrics.cpp
+++ b/evaluator/autoware_planning_evaluator/src/metrics/deviation_metrics.cpp
@@ -14,9 +14,9 @@
 
 #include "autoware/planning_evaluator/metrics/deviation_metrics.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/pose_deviation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/geometry/pose_deviation.hpp"
 
 namespace planning_diagnostics
 {
@@ -38,8 +38,8 @@ Stat<double> calcLateralDeviation(const Trajectory & ref, const Trajectory & tra
    */
   for (TrajectoryPoint p : traj.points) {
     const size_t nearest_index = motion_utils::findNearestIndex(ref.points, p.pose.position);
-    stat.add(
-      tier4_autoware_utils::calcLateralDeviation(ref.points[nearest_index].pose, p.pose.position));
+    stat.add(autoware_universe_utils::calcLateralDeviation(
+      ref.points[nearest_index].pose, p.pose.position));
   }
   return stat;
 }
@@ -57,7 +57,7 @@ Stat<double> calcYawDeviation(const Trajectory & ref, const Trajectory & traj)
    */
   for (TrajectoryPoint p : traj.points) {
     const size_t nearest_index = motion_utils::findNearestIndex(ref.points, p.pose.position);
-    stat.add(tier4_autoware_utils::calcYawDeviation(ref.points[nearest_index].pose, p.pose));
+    stat.add(autoware_universe_utils::calcYawDeviation(ref.points[nearest_index].pose, p.pose));
   }
   return stat;
 }
@@ -81,21 +81,21 @@ Stat<double> calcVelocityDeviation(const Trajectory & ref, const Trajectory & tr
 Stat<double> calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point)
 {
   Stat<double> stat;
-  stat.add(std::abs(tier4_autoware_utils::calcLongitudinalDeviation(base_pose, target_point)));
+  stat.add(std::abs(autoware_universe_utils::calcLongitudinalDeviation(base_pose, target_point)));
   return stat;
 }
 
 Stat<double> calcLateralDeviation(const Pose & base_pose, const Point & target_point)
 {
   Stat<double> stat;
-  stat.add(std::abs(tier4_autoware_utils::calcLateralDeviation(base_pose, target_point)));
+  stat.add(std::abs(autoware_universe_utils::calcLateralDeviation(base_pose, target_point)));
   return stat;
 }
 
 Stat<double> calcYawDeviation(const Pose & base_pose, const Pose & target_pose)
 {
   Stat<double> stat;
-  stat.add(std::abs(tier4_autoware_utils::calcYawDeviation(base_pose, target_pose)));
+  stat.add(std::abs(autoware_universe_utils::calcYawDeviation(base_pose, target_pose)));
   return stat;
 }
 }  // namespace metrics
diff --git a/evaluator/autoware_planning_evaluator/src/metrics/metrics_utils.cpp b/evaluator/autoware_planning_evaluator/src/metrics/metrics_utils.cpp
index 75744a4ca3cb8..906501b05e171 100644
--- a/evaluator/autoware_planning_evaluator/src/metrics/metrics_utils.cpp
+++ b/evaluator/autoware_planning_evaluator/src/metrics/metrics_utils.cpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include "autoware/planning_evaluator/metrics/trajectory_metrics.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 namespace planning_diagnostics
 {
 namespace metrics
@@ -22,7 +22,7 @@ namespace utils
 {
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_autoware_utils::calcDistance2d;
+using autoware_universe_utils::calcDistance2d;
 
 size_t getIndexAfterDistance(const Trajectory & traj, const size_t curr_id, const double distance)
 {
diff --git a/evaluator/autoware_planning_evaluator/src/metrics/obstacle_metrics.cpp b/evaluator/autoware_planning_evaluator/src/metrics/obstacle_metrics.cpp
index 3303848f11e3f..7836b0b6d694a 100644
--- a/evaluator/autoware_planning_evaluator/src/metrics/obstacle_metrics.cpp
+++ b/evaluator/autoware_planning_evaluator/src/metrics/obstacle_metrics.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/planning_evaluator/metrics/obstacle_metrics.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <Eigen/Core>
 
@@ -28,7 +28,7 @@ namespace planning_diagnostics
 namespace metrics
 {
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_autoware_utils::calcDistance2d;
+using autoware_universe_utils::calcDistance2d;
 
 Stat<double> calcDistanceToObstacle(const PredictedObjects & obstacles, const Trajectory & traj)
 {
diff --git a/evaluator/autoware_planning_evaluator/src/metrics/stability_metrics.cpp b/evaluator/autoware_planning_evaluator/src/metrics/stability_metrics.cpp
index cea2a1c29228d..8be0280bb38f5 100644
--- a/evaluator/autoware_planning_evaluator/src/metrics/stability_metrics.cpp
+++ b/evaluator/autoware_planning_evaluator/src/metrics/stability_metrics.cpp
@@ -14,8 +14,8 @@
 
 #include "autoware/planning_evaluator/metrics/stability_metrics.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <Eigen/Core>
 
@@ -41,7 +41,7 @@ Stat<double> calcFrechetDistance(const Trajectory & traj1, const Trajectory & tr
 
   for (size_t i = 0; i < traj1.points.size(); ++i) {
     for (size_t j = 0; j < traj2.points.size(); ++j) {
-      const double dist = tier4_autoware_utils::calcDistance2d(traj1.points[i], traj2.points[j]);
+      const double dist = autoware_universe_utils::calcDistance2d(traj1.points[i], traj2.points[j]);
       if (i > 0 && j > 0) {
         ca(i, j) = std::max(std::min(ca(i - 1, j), std::min(ca(i - 1, j - 1), ca(i, j - 1))), dist);
       } else if (i > 0 /*&& j == 0*/) {
@@ -64,7 +64,7 @@ Stat<double> calcLateralDistance(const Trajectory & traj1, const Trajectory & tr
     return stat;
   }
   for (const auto & point : traj2.points) {
-    const auto p0 = tier4_autoware_utils::getPoint(point);
+    const auto p0 = autoware_universe_utils::getPoint(point);
     // find nearest segment
     const size_t nearest_segment_idx = motion_utils::findNearestSegmentIndex(traj1.points, p0);
     double dist;
@@ -72,19 +72,19 @@ Stat<double> calcLateralDistance(const Trajectory & traj1, const Trajectory & tr
     if (
       nearest_segment_idx == traj1.points.size() - 2 &&
       motion_utils::calcLongitudinalOffsetToSegment(traj1.points, nearest_segment_idx, p0) >
-        tier4_autoware_utils::calcDistance2d(
+        autoware_universe_utils::calcDistance2d(
           traj1.points[nearest_segment_idx], traj1.points[nearest_segment_idx + 1])) {
       // distance to last point
-      dist = tier4_autoware_utils::calcDistance2d(traj1.points.back(), p0);
+      dist = autoware_universe_utils::calcDistance2d(traj1.points.back(), p0);
     } else if (  // NOLINT
       nearest_segment_idx == 0 &&
       motion_utils::calcLongitudinalOffsetToSegment(traj1.points, nearest_segment_idx, p0) <= 0) {
       // distance to first point
-      dist = tier4_autoware_utils::calcDistance2d(traj1.points.front(), p0);
+      dist = autoware_universe_utils::calcDistance2d(traj1.points.front(), p0);
     } else {
       // orthogonal distance
-      const auto p1 = tier4_autoware_utils::getPoint(traj1.points[nearest_segment_idx]);
-      const auto p2 = tier4_autoware_utils::getPoint(traj1.points[nearest_segment_idx + 1]);
+      const auto p1 = autoware_universe_utils::getPoint(traj1.points[nearest_segment_idx]);
+      const auto p2 = autoware_universe_utils::getPoint(traj1.points[nearest_segment_idx + 1]);
       dist = std::abs((p2.x - p1.x) * (p1.y - p0.y) - (p1.x - p0.x) * (p2.y - p1.y)) /
              std::sqrt((p2.x - p1.x) * (p2.x - p1.x) + (p2.y - p1.y) * (p2.y - p1.y));
     }
diff --git a/evaluator/autoware_planning_evaluator/src/metrics/trajectory_metrics.cpp b/evaluator/autoware_planning_evaluator/src/metrics/trajectory_metrics.cpp
index c7e0fc5f44cd9..3f33447c1ce6b 100644
--- a/evaluator/autoware_planning_evaluator/src/metrics/trajectory_metrics.cpp
+++ b/evaluator/autoware_planning_evaluator/src/metrics/trajectory_metrics.cpp
@@ -15,13 +15,13 @@
 #include "autoware/planning_evaluator/metrics/trajectory_metrics.hpp"
 
 #include "autoware/planning_evaluator/metrics/metrics_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 namespace planning_diagnostics
 {
 namespace metrics
 {
-using tier4_autoware_utils::calcCurvature;
-using tier4_autoware_utils::calcDistance2d;
+using autoware_universe_utils::calcCurvature;
+using autoware_universe_utils::calcDistance2d;
 
 Stat<double> calcTrajectoryInterval(const Trajectory & traj)
 {
diff --git a/evaluator/autoware_planning_evaluator/src/metrics_calculator.cpp b/evaluator/autoware_planning_evaluator/src/metrics_calculator.cpp
index 1f689d9fe251a..7d2a82f7bc526 100644
--- a/evaluator/autoware_planning_evaluator/src/metrics_calculator.cpp
+++ b/evaluator/autoware_planning_evaluator/src/metrics_calculator.cpp
@@ -18,8 +18,8 @@
 #include "autoware/planning_evaluator/metrics/obstacle_metrics.hpp"
 #include "autoware/planning_evaluator/metrics/stability_metrics.hpp"
 #include "autoware/planning_evaluator/metrics/trajectory_metrics.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 namespace planning_diagnostics
 {
 std::optional<Stat<double>> MetricsCalculator::calculate(
@@ -131,7 +131,7 @@ Trajectory MetricsCalculator::getLookaheadTrajectory(
   auto prev_point_it = curr_point_it;
   while (curr_point_it != traj.points.end() && dist <= max_dist_m && time <= max_time_s) {
     lookahead_traj.points.push_back(*curr_point_it);
-    const auto d = tier4_autoware_utils::calcDistance2d(
+    const auto d = autoware_universe_utils::calcDistance2d(
       prev_point_it->pose.position, curr_point_it->pose.position);
     dist += d;
     if (prev_point_it->longitudinal_velocity_mps != 0.0) {
diff --git a/evaluator/kinematic_evaluator/package.xml b/evaluator/kinematic_evaluator/package.xml
index 1b62b06e57c9f..3642e0cf94604 100644
--- a/evaluator/kinematic_evaluator/package.xml
+++ b/evaluator/kinematic_evaluator/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
@@ -26,7 +27,6 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/evaluator/localization_evaluator/package.xml b/evaluator/localization_evaluator/package.xml
index ac52f9fe94d5e..8d3b788a2b8d9 100644
--- a/evaluator/localization_evaluator/package.xml
+++ b/evaluator/localization_evaluator/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
@@ -22,7 +23,6 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp
index b05bb5e1d8ad3..2d60ef826a5e9 100644
--- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp
+++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp
@@ -31,10 +31,10 @@ namespace marker_utils
 {
 
 using autoware_perception_msgs::msg::PredictedObject;
+using autoware_universe_utils::Polygon2d;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using std_msgs::msg::ColorRGBA;
-using tier4_autoware_utils::Polygon2d;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 
diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/perception_online_evaluator/package.xml
index d64d3a5ec4957..ac8a8d215862d 100644
--- a/evaluator/perception_online_evaluator/package.xml
+++ b/evaluator/perception_online_evaluator/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
@@ -32,7 +33,6 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp b/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp
index 047d278334eb1..437e53dbbf1e4 100644
--- a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp
+++ b/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp
@@ -14,17 +14,17 @@
 
 #include "perception_online_evaluator/metrics/detection_count.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
 #include "perception_online_evaluator/utils/objects_filtering.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 
 namespace perception_diagnostics
 {
 namespace metrics
 {
-using tier4_autoware_utils::toHexString;
+using autoware_universe_utils::toHexString;
 
 bool isCountObject(
   const std::uint8_t classification, const std::unordered_map<uint8_t, ObjectParameter> & params)
diff --git a/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp b/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp
index 7a9435444c065..ed3f74658594d 100644
--- a/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp
+++ b/evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp
@@ -14,8 +14,8 @@
 
 #include "perception_online_evaluator/metrics/deviation_metrics.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/geometry/pose_deviation.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/pose_deviation.hpp"
 
 #include <motion_utils/trajectory/trajectory.hpp>
 
@@ -32,7 +32,7 @@ double calcLateralDeviation(const std::vector<Pose> & ref_path, const Pose & tar
 
   const size_t nearest_index = motion_utils::findNearestIndex(ref_path, target_pose.position);
   return std::abs(
-    tier4_autoware_utils::calcLateralDeviation(ref_path[nearest_index], target_pose.position));
+    autoware_universe_utils::calcLateralDeviation(ref_path[nearest_index], target_pose.position));
 }
 
 double calcYawDeviation(const std::vector<Pose> & ref_path, const Pose & target_pose)
@@ -42,7 +42,7 @@ double calcYawDeviation(const std::vector<Pose> & ref_path, const Pose & target_
   }
 
   const size_t nearest_index = motion_utils::findNearestIndex(ref_path, target_pose.position);
-  return std::abs(tier4_autoware_utils::calcYawDeviation(ref_path[nearest_index], target_pose));
+  return std::abs(autoware_universe_utils::calcYawDeviation(ref_path[nearest_index], target_pose));
 }
 
 std::vector<double> calcPredictedPathDeviation(
@@ -56,7 +56,7 @@ std::vector<double> calcPredictedPathDeviation(
   for (const Pose & p : pred_path.path) {
     const size_t nearest_index = motion_utils::findNearestIndex(ref_path, p.position);
     deviations.push_back(
-      tier4_autoware_utils::calcDistance2d(ref_path[nearest_index].position, p.position));
+      autoware_universe_utils::calcDistance2d(ref_path[nearest_index].position, p.position));
   }
 
   return deviations;
diff --git a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp
index cc455445ca9f8..55f459582a25d 100644
--- a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp
+++ b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp
@@ -14,17 +14,17 @@
 
 #include "perception_online_evaluator/metrics_calculator.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "object_recognition_utils/object_classification.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 
 namespace perception_diagnostics
 {
+using autoware_universe_utils::inverseTransformPoint;
 using object_recognition_utils::convertLabelToString;
-using tier4_autoware_utils::inverseTransformPoint;
 
 std::optional<MetricsMap> MetricsCalculator::calculate(const Metric & metric) const
 {
@@ -238,7 +238,7 @@ MetricStatMap MetricsCalculator::calcLateralDeviationMetrics(
     Stat<double> stat{};
     const auto stamp = rclcpp::Time(objects.header.stamp);
     for (const auto & object : objects.objects) {
-      const auto uuid = tier4_autoware_utils::toHexString(object.object_id);
+      const auto uuid = autoware_universe_utils::toHexString(object.object_id);
       if (!hasPassedTime(uuid, stamp)) {
         continue;
       }
@@ -267,7 +267,7 @@ MetricStatMap MetricsCalculator::calcYawDeviationMetrics(
     Stat<double> stat{};
     const auto stamp = rclcpp::Time(objects.header.stamp);
     for (const auto & object : objects.objects) {
-      const auto uuid = tier4_autoware_utils::toHexString(object.object_id);
+      const auto uuid = autoware_universe_utils::toHexString(object.object_id);
       if (!hasPassedTime(uuid, stamp)) {
         continue;
       }
@@ -326,7 +326,7 @@ PredictedPathDeviationMetrics MetricsCalculator::calcPredictedPathDeviationMetri
 
   const auto stamp = objects.header.stamp;
   for (const auto & object : objects.objects) {
-    const auto uuid = tier4_autoware_utils::toHexString(object.object_id);
+    const auto uuid = autoware_universe_utils::toHexString(object.object_id);
     const auto predicted_paths = object.kinematics.predicted_paths;
     for (size_t i = 0; i < predicted_paths.size(); i++) {
       const auto predicted_path = predicted_paths[i];
@@ -350,7 +350,7 @@ PredictedPathDeviationMetrics MetricsCalculator::calcPredictedPathDeviationMetri
         const auto history_pose = history_object.kinematics.initial_pose_with_covariance.pose;
         const Pose & p = predicted_path.path[j];
         const double distance =
-          tier4_autoware_utils::calcDistance2d(p.position, history_pose.position);
+          autoware_universe_utils::calcDistance2d(p.position, history_pose.position);
         deviation_map_for_paths[uuid][i].push_back(distance);
 
         // Save debug information
@@ -424,7 +424,7 @@ MetricStatMap MetricsCalculator::calcYawRateMetrics(const ClassObjectsMap & clas
     const auto stamp = rclcpp::Time(objects.header.stamp);
 
     for (const auto & object : objects.objects) {
-      const auto uuid = tier4_autoware_utils::toHexString(object.object_id);
+      const auto uuid = autoware_universe_utils::toHexString(object.object_id);
       if (!hasPassedTime(uuid, stamp)) {
         continue;
       }
@@ -444,7 +444,7 @@ MetricStatMap MetricsCalculator::calcYawRateMetrics(const ClassObjectsMap & clas
         tf2::getYaw(previous_object.kinematics.initial_pose_with_covariance.pose.orientation);
       // Calculate the absolute difference between current_yaw and previous_yaw
       const double yaw_diff =
-        std::abs(tier4_autoware_utils::normalizeRadian(current_yaw - previous_yaw));
+        std::abs(autoware_universe_utils::normalizeRadian(current_yaw - previous_yaw));
       // The yaw difference is flipped if the angle is larger than 90 degrees
       const double yaw_diff_flip_fixed = std::min(yaw_diff, M_PI - yaw_diff);
       const double yaw_rate = yaw_diff_flip_fixed / time_diff;
@@ -494,7 +494,7 @@ void MetricsCalculator::setPredictedObjects(
 
   // store objects to check deviation
   {
-    using tier4_autoware_utils::toHexString;
+    using autoware_universe_utils::toHexString;
     for (const auto & object : objects.objects) {
       std::string uuid = toHexString(object.object_id);
       updateObjects(uuid, current_stamp_, object);
@@ -557,7 +557,7 @@ void MetricsCalculator::updateHistoryPath()
         const auto current_pose = object.kinematics.initial_pose_with_covariance.pose;
         const auto prev_pose = prev_object.kinematics.initial_pose_with_covariance.pose;
         const auto velocity =
-          tier4_autoware_utils::calcDistance2d(current_pose.position, prev_pose.position) /
+          autoware_universe_utils::calcDistance2d(current_pose.position, prev_pose.position) /
           time_diff;
         if (velocity < parameters_->stopped_velocity_threshold) {
           continue;
@@ -603,9 +603,9 @@ std::vector<Pose> MetricsCalculator::generateHistoryPathWithPrev(
 std::vector<Pose> MetricsCalculator::averageFilterPath(
   const std::vector<Pose> & path, const size_t window_size) const
 {
-  using tier4_autoware_utils::calcAzimuthAngle;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::createQuaternionFromYaw;
+  using autoware_universe_utils::calcAzimuthAngle;
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::createQuaternionFromYaw;
 
   std::vector<Pose> filtered_path;
   filtered_path.reserve(path.size());  // Reserve space to avoid reallocations
@@ -645,7 +645,7 @@ std::vector<Pose> MetricsCalculator::averageFilterPath(
     if (i > 0) {
       const double azimuth = calcAzimuthAngle(path.at(i - 1).position, path.at(i).position);
       const double yaw = tf2::getYaw(path.at(i).orientation);
-      if (tier4_autoware_utils::normalizeRadian(yaw - azimuth) > M_PI_2) {
+      if (autoware_universe_utils::normalizeRadian(yaw - azimuth) > M_PI_2) {
         continue;
       }
     }
@@ -662,7 +662,7 @@ std::vector<Pose> MetricsCalculator::averageFilterPath(
       const double azimuth_to_prev = calcAzimuthAngle((it - 2)->position, (it - 1)->position);
       const double azimuth_to_current = calcAzimuthAngle((it - 1)->position, it->position);
       if (
-        std::abs(tier4_autoware_utils::normalizeRadian(azimuth_to_prev - azimuth_to_current)) >
+        std::abs(autoware_universe_utils::normalizeRadian(azimuth_to_prev - azimuth_to_current)) >
         M_PI_2) {
         it = filtered_path.erase(it);
         continue;
diff --git a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp
index 2933afdab3d08..56b79eb3acf62 100644
--- a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp
+++ b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp
@@ -14,12 +14,12 @@
 
 #include "perception_online_evaluator/perception_online_evaluator_node.hpp"
 
+#include "autoware/universe_utils/ros/marker_helper.hpp"
+#include "autoware/universe_utils/ros/parameter.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 #include "perception_online_evaluator/utils/marker_utils.hpp"
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
-#include "tier4_autoware_utils/ros/parameter.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
 
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 
 #include "boost/lexical_cast.hpp"
 
@@ -156,7 +156,7 @@ void PerceptionOnlineEvaluatorNode::publishDebugMarker()
     for (auto & marker : added.markers) {
       marker.lifetime = rclcpp::Duration::from_seconds(1.5);
     }
-    tier4_autoware_utils::appendMarkerArray(added, &marker);
+    autoware_universe_utils::appendMarkerArray(added, &marker);
   };
 
   const auto & p = parameters_->debug_marker_parameters;
@@ -236,7 +236,7 @@ void PerceptionOnlineEvaluatorNode::publishDebugMarker()
 rcl_interfaces::msg::SetParametersResult PerceptionOnlineEvaluatorNode::onParameter(
   const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   auto & p = parameters_;
 
@@ -305,8 +305,8 @@ rcl_interfaces::msg::SetParametersResult PerceptionOnlineEvaluatorNode::onParame
 
 void PerceptionOnlineEvaluatorNode::initParameter()
 {
-  using tier4_autoware_utils::getOrDeclareParameter;
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::getOrDeclareParameter;
+  using autoware_universe_utils::updateParam;
 
   auto & p = parameters_;
 
diff --git a/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp b/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp
index eddeadc331101..6085ea0b6ef49 100644
--- a/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp
+++ b/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp
@@ -14,11 +14,11 @@
 
 #include "perception_online_evaluator/utils/marker_utils.hpp"
 
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 
 #include <lanelet2_core/primitives/CompoundPolygon.h>
 #include <lanelet2_core/primitives/Lanelet.h>
@@ -28,13 +28,13 @@
 
 namespace marker_utils
 {
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerOrientation;
+using autoware_universe_utils::createMarkerScale;
+using autoware_universe_utils::createPoint;
 using std_msgs::msg::ColorRGBA;
-using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerOrientation;
-using tier4_autoware_utils::createMarkerScale;
-using tier4_autoware_utils::createPoint;
 using visualization_msgs::msg::Marker;
 
 void addFootprintMarker(
@@ -46,13 +46,13 @@ void addFootprintMarker(
   const double base_to_rear = vehicle_info.rear_overhang_m;
 
   marker.points.push_back(
-    tier4_autoware_utils::calcOffsetPose(pose, base_to_front, -half_width, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(pose, base_to_front, -half_width, 0.0).position);
   marker.points.push_back(
-    tier4_autoware_utils::calcOffsetPose(pose, base_to_front, half_width, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(pose, base_to_front, half_width, 0.0).position);
   marker.points.push_back(
-    tier4_autoware_utils::calcOffsetPose(pose, -base_to_rear, half_width, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(pose, -base_to_rear, half_width, 0.0).position);
   marker.points.push_back(
-    tier4_autoware_utils::calcOffsetPose(pose, -base_to_rear, -half_width, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(pose, -base_to_rear, -half_width, 0.0).position);
   marker.points.push_back(marker.points.front());
 }
 
@@ -167,7 +167,7 @@ std_msgs::msg::ColorRGBA createColorFromString(const std::string & str)
   const auto r = (hash & 0xFF) / 255.0;
   const auto g = ((hash >> 8) & 0xFF) / 255.0;
   const auto b = ((hash >> 16) & 0xFF) / 255.0;
-  return tier4_autoware_utils::createMarkerColor(r, g, b, 0.5);
+  return autoware_universe_utils::createMarkerColor(r, g, b, 0.5);
 }
 
 MarkerArray createObjectPolygonMarkerArray(
@@ -182,7 +182,7 @@ MarkerArray createObjectPolygonMarkerArray(
 
   const double z = object.kinematics.initial_pose_with_covariance.pose.position.z;
   const double height = object.shape.dimensions.z;
-  const auto polygon = tier4_autoware_utils::toPolygon2d(
+  const auto polygon = autoware_universe_utils::toPolygon2d(
     object.kinematics.initial_pose_with_covariance.pose, object.shape);
   for (const auto & p : polygon.outer()) {
     marker.points.push_back(createPoint(p.x(), p.y(), z - height / 2));
diff --git a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp
index 3db487f3167ae..a369d36882c9d 100644
--- a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp
+++ b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp
@@ -16,8 +16,8 @@
 #include "rclcpp/time.hpp"
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 #include <perception_online_evaluator/perception_online_evaluator_node.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <autoware_perception_msgs/msg/object_classification.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
@@ -43,7 +43,7 @@ using ObjectClassification = autoware_perception_msgs::msg::ObjectClassification
 using nav_msgs::msg::Odometry;
 using TFMessage = tf2_msgs::msg::TFMessage;
 
-using tier4_autoware_utils::generateUUID;
+using autoware_universe_utils::generateUUID;
 
 constexpr double epsilon = 1e-6;
 
diff --git a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
index 0ea40690d9f4d..f8781ada3d38d 100644
--- a/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
+++ b/localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/src/ar_tag_based_localizer.cpp
@@ -62,7 +62,7 @@
 #include <tf2_eigen/tf2_eigen.hpp>
 #endif
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 ArTagBasedLocalizer::ArTagBasedLocalizer(const rclcpp::NodeOptions & options)
 : rclcpp::Node("ar_tag_based_localizer", options), cam_info_received_(false)
@@ -185,7 +185,7 @@ void ArTagBasedLocalizer::image_callback(const Image::ConstSharedPtr & msg)
     pose_array_msg.header.frame_id = "map";
     for (const Landmark & landmark : landmarks) {
       const Pose detected_marker_on_map =
-        tier4_autoware_utils::transformPose(landmark.pose, self_pose);
+        autoware_universe_utils::transformPose(landmark.pose, self_pose);
       pose_array_msg.poses.push_back(detected_marker_on_map);
     }
     detected_tag_pose_pub_->publish(pose_array_msg);
@@ -194,7 +194,7 @@ void ArTagBasedLocalizer::image_callback(const Image::ConstSharedPtr & msg)
   // calc new_self_pose
   const Pose new_self_pose =
     landmark_manager_.calculate_new_self_pose(landmarks, self_pose, consider_orientation_);
-  const Pose diff_pose = tier4_autoware_utils::inverseTransformPose(new_self_pose, self_pose);
+  const Pose diff_pose = autoware_universe_utils::inverseTransformPose(new_self_pose, self_pose);
   const double distance =
     std::hypot(diff_pose.position.x, diff_pose.position.y, diff_pose.position.z);
 
diff --git a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp
index 3953b3ba130d9..b2c4a7dd6298a 100644
--- a/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp
+++ b/localization/autoware_landmark_based_localizer/autoware_landmark_manager/src/landmark_manager.cpp
@@ -14,9 +14,9 @@
 
 #include "autoware/landmark_manager/landmark_manager.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "lanelet2_extension/utility/message_conversion.hpp"
 #include "localization_util/util_func.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <Eigen/Core>
 #include <tf2_eigen/tf2_eigen.hpp>
@@ -161,7 +161,7 @@ geometry_msgs::msg::Pose LandmarkManager::calculate_new_self_pose(
 
     // convert base_link to map
     const Pose detected_landmark_on_map =
-      tier4_autoware_utils::transformPose(detected_landmark_on_base_link, self_pose);
+      autoware_universe_utils::transformPose(detected_landmark_on_base_link, self_pose);
 
     // match to map
     if (landmarks_map_.count(landmark.id) == 0) {
@@ -171,7 +171,7 @@ geometry_msgs::msg::Pose LandmarkManager::calculate_new_self_pose(
     // check all poses
     for (const Pose mapped_landmark_on_map : landmarks_map_.at(landmark.id)) {
       // check distance
-      const double curr_distance = tier4_autoware_utils::calcDistance3d(
+      const double curr_distance = autoware_universe_utils::calcDistance3d(
         mapped_landmark_on_map.position, detected_landmark_on_map.position);
       if (curr_distance > min_distance) {
         continue;
diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp
index b78e9b1ee0469..ce1d7a95178ee 100644
--- a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp
+++ b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp
@@ -20,10 +20,10 @@
 #include "ekf_localizer/hyper_parameters.hpp"
 #include "ekf_localizer/warning.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/logger_level_configure.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/logger_level_configure.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <geometry_msgs/msg/pose_array.hpp>
@@ -142,7 +142,7 @@ class EKFLocalizer : public rclcpp::Node
   std::shared_ptr<tf2_ros::TransformBroadcaster> tf_br_;
 
   //!< @brief logger configure module
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
   //!< @brief  extended kalman filter instance.
   std::unique_ptr<EKFModule> ekf_module_;
@@ -236,7 +236,7 @@ class EKFLocalizer : public rclcpp::Node
     const std_srvs::srv::SetBool::Request::SharedPtr req,
     std_srvs::srv::SetBool::Response::SharedPtr res);
 
-  tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch_;
+  autoware_universe_utils::StopWatch<std::chrono::milliseconds> stop_watch_;
 
   friend class EKFLocalizerTestSuite;  // for test code
 };
diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml
index dad1b0e730711..07efca6339b98 100644
--- a/localization/ekf_localizer/package.xml
+++ b/localization/ekf_localizer/package.xml
@@ -23,6 +23,7 @@
 
   <build_depend>eigen</build_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
@@ -33,7 +34,6 @@
   <depend>std_srvs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/localization/ekf_localizer/src/covariance.cpp b/localization/ekf_localizer/src/covariance.cpp
index fc16abf429d93..4e68de981e196 100644
--- a/localization/ekf_localizer/src/covariance.cpp
+++ b/localization/ekf_localizer/src/covariance.cpp
@@ -14,10 +14,10 @@
 
 #include "ekf_localizer/covariance.hpp"
 
+#include "autoware/universe_utils/ros/msg_covariance.hpp"
 #include "ekf_localizer/state_index.hpp"
-#include "tier4_autoware_utils/ros/msg_covariance.hpp"
 
-using COV_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+using COV_IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
 
 std::array<double, 36> ekf_covariance_to_pose_message_covariance(const Matrix6d & P)
 {
diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp
index 8e7121ec73a12..5400c0a70b6f3 100644
--- a/localization/ekf_localizer/src/ekf_localizer.cpp
+++ b/localization/ekf_localizer/src/ekf_localizer.cpp
@@ -18,11 +18,11 @@
 #include "ekf_localizer/string.hpp"
 #include "ekf_localizer/warning_message.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/ros/msg_covariance.hpp>
 #include <rclcpp/duration.hpp>
 #include <rclcpp/logging.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
-#include <tier4_autoware_utils/ros/msg_covariance.hpp>
 
 #include <fmt/core.h>
 
@@ -96,7 +96,7 @@ EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options)
     std::shared_ptr<rclcpp::Node>(this, [](auto) {}));
 
   ekf_module_ = std::make_unique<EKFModule>(warning_, params_);
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
 
   z_filter_.set_proc_dev(params_.z_filter_proc_dev);
   roll_filter_.set_proc_dev(params_.roll_filter_proc_dev);
@@ -264,7 +264,7 @@ void EKFLocalizer::timer_tf_callback()
   const rclcpp::Time current_time = this->now();
 
   geometry_msgs::msg::TransformStamped transform_stamped;
-  transform_stamped = tier4_autoware_utils::pose2transform(
+  transform_stamped = autoware_universe_utils::pose2transform(
     ekf_module_->get_current_pose(current_time, z, roll, pitch, false), "base_link");
   transform_stamped.header.stamp = current_time;
   tf_br_->sendTransform(transform_stamped);
@@ -436,9 +436,9 @@ void EKFLocalizer::update_simple_1d_filters(
 {
   double z = pose.pose.pose.position.z;
 
-  const auto rpy = tier4_autoware_utils::getRPY(pose.pose.pose.orientation);
+  const auto rpy = autoware_universe_utils::getRPY(pose.pose.pose.orientation);
 
-  using COV_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using COV_IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   double z_dev = pose.pose.covariance[COV_IDX::Z_Z] * static_cast<double>(smoothing_step);
   double roll_dev = pose.pose.covariance[COV_IDX::ROLL_ROLL] * static_cast<double>(smoothing_step);
   double pitch_dev =
@@ -454,9 +454,9 @@ void EKFLocalizer::init_simple_1d_filters(
 {
   double z = pose.pose.pose.position.z;
 
-  const auto rpy = tier4_autoware_utils::getRPY(pose.pose.pose.orientation);
+  const auto rpy = autoware_universe_utils::getRPY(pose.pose.pose.orientation);
 
-  using COV_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using COV_IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   double z_dev = pose.pose.covariance[COV_IDX::Z_Z];
   double roll_dev = pose.pose.covariance[COV_IDX::ROLL_ROLL];
   double pitch_dev = pose.pose.covariance[COV_IDX::PITCH_PITCH];
diff --git a/localization/ekf_localizer/src/ekf_module.cpp b/localization/ekf_localizer/src/ekf_module.cpp
index 8703d8754eaaf..82e01f6b81065 100644
--- a/localization/ekf_localizer/src/ekf_module.cpp
+++ b/localization/ekf_localizer/src/ekf_module.cpp
@@ -22,8 +22,8 @@
 #include "ekf_localizer/state_transition.hpp"
 #include "ekf_localizer/warning_message.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/msg_covariance.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/msg_covariance.hpp>
 
 #include <fmt/core.h>
 #include <tf2/LinearMath/Quaternion.h>
@@ -65,7 +65,7 @@ void EKFModule::initialize(
   x(IDX::VX) = 0.0;
   x(IDX::WZ) = 0.0;
 
-  using COV_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using COV_IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   p(IDX::X, IDX::X) = initial_pose.pose.covariance[COV_IDX::X_X];
   p(IDX::Y, IDX::Y) = initial_pose.pose.covariance[COV_IDX::Y_Y];
   p(IDX::YAW, IDX::YAW) = initial_pose.pose.covariance[COV_IDX::YAW_YAW];
@@ -97,13 +97,13 @@ geometry_msgs::msg::PoseStamped EKFModule::get_current_pose(
   Pose current_ekf_pose;
   current_ekf_pose.header.frame_id = params_.pose_frame_id;
   current_ekf_pose.header.stamp = current_time;
-  current_ekf_pose.pose.position = tier4_autoware_utils::createPoint(x, y, z);
+  current_ekf_pose.pose.position = autoware_universe_utils::createPoint(x, y, z);
   if (get_biased_yaw) {
     current_ekf_pose.pose.orientation =
-      tier4_autoware_utils::createQuaternionFromRPY(roll, pitch, biased_yaw);
+      autoware_universe_utils::createQuaternionFromRPY(roll, pitch, biased_yaw);
   } else {
     current_ekf_pose.pose.orientation =
-      tier4_autoware_utils::createQuaternionFromRPY(roll, pitch, yaw);
+      autoware_universe_utils::createQuaternionFromRPY(roll, pitch, yaw);
   }
   return current_ekf_pose;
 }
@@ -285,7 +285,7 @@ bool EKFModule::measurement_update_pose(
 geometry_msgs::msg::PoseWithCovarianceStamped EKFModule::compensate_pose_with_z_delay(
   const PoseWithCovariance & pose, const double delay_time)
 {
-  const auto rpy = tier4_autoware_utils::getRPY(pose.pose.pose.orientation);
+  const auto rpy = autoware_universe_utils::getRPY(pose.pose.pose.orientation);
   const double dz_delay = kalman_filter_.getXelement(IDX::VX) * delay_time * std::sin(-rpy.y);
   PoseWithCovariance pose_with_z_delay;
   pose_with_z_delay = pose;
diff --git a/localization/ekf_localizer/src/measurement.cpp b/localization/ekf_localizer/src/measurement.cpp
index 4533bacbee991..fbc177d602ff0 100644
--- a/localization/ekf_localizer/src/measurement.cpp
+++ b/localization/ekf_localizer/src/measurement.cpp
@@ -14,8 +14,8 @@
 
 #include "ekf_localizer/measurement.hpp"
 
+#include "autoware/universe_utils/ros/msg_covariance.hpp"
 #include "ekf_localizer/state_index.hpp"
-#include "tier4_autoware_utils/ros/msg_covariance.hpp"
 
 Eigen::Matrix<double, 3, 6> pose_measurement_matrix()
 {
@@ -38,7 +38,7 @@ Eigen::Matrix3d pose_measurement_covariance(
   const std::array<double, 36ul> & covariance, const size_t smoothing_step)
 {
   Eigen::Matrix3d r;
-  using COV_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using COV_IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   r << covariance.at(COV_IDX::X_X), covariance.at(COV_IDX::X_Y), covariance.at(COV_IDX::X_YAW),
     covariance.at(COV_IDX::Y_X), covariance.at(COV_IDX::Y_Y), covariance.at(COV_IDX::Y_YAW),
     covariance.at(COV_IDX::YAW_X), covariance.at(COV_IDX::YAW_Y), covariance.at(COV_IDX::YAW_YAW);
@@ -49,7 +49,7 @@ Eigen::Matrix2d twist_measurement_covariance(
   const std::array<double, 36ul> & covariance, const size_t smoothing_step)
 {
   Eigen::Matrix2d r;
-  using COV_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using COV_IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   r << covariance.at(COV_IDX::X_X), covariance.at(COV_IDX::X_YAW), covariance.at(COV_IDX::YAW_X),
     covariance.at(COV_IDX::YAW_YAW);
   return r * static_cast<double>(smoothing_step);
diff --git a/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp b/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp
index f85640ab2c523..eb1db06b72998 100644
--- a/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp
+++ b/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp
@@ -15,10 +15,10 @@
 #ifndef GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_
 #define GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_
 
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/msg_covariance.hpp"
+#include "autoware/universe_utils/ros/transform_listener.hpp"
 #include "gyro_odometer/diagnostics_module.hpp"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
-#include "tier4_autoware_utils/ros/msg_covariance.hpp"
-#include "tier4_autoware_utils/ros/transform_listener.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -43,7 +43,7 @@ namespace autoware::gyro_odometer
 class GyroOdometerNode : public rclcpp::Node
 {
 private:
-  using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX;
+  using COV_IDX = autoware_universe_utils::xyz_covariance_index::XYZ_COV_IDX;
 
 public:
   explicit GyroOdometerNode(const rclcpp::NodeOptions & node_options);
@@ -67,8 +67,8 @@ class GyroOdometerNode : public rclcpp::Node
   rclcpp::Publisher<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr
     twist_with_covariance_pub_;
 
-  std::shared_ptr<tier4_autoware_utils::TransformListener> transform_listener_;
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::shared_ptr<autoware_universe_utils::TransformListener> transform_listener_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
   std::string output_frame_;
   double message_timeout_sec_;
diff --git a/localization/gyro_odometer/package.xml b/localization/gyro_odometer/package.xml
index 575f6a2d74837..faa64a1313ebb 100644
--- a/localization/gyro_odometer/package.xml
+++ b/localization/gyro_odometer/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
@@ -25,7 +26,6 @@
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/localization/gyro_odometer/src/gyro_odometer_core.cpp b/localization/gyro_odometer/src/gyro_odometer_core.cpp
index 0ec479770740f..0878c44ffa2cb 100644
--- a/localization/gyro_odometer/src/gyro_odometer_core.cpp
+++ b/localization/gyro_odometer/src/gyro_odometer_core.cpp
@@ -33,7 +33,7 @@ namespace autoware::gyro_odometer
 
 std::array<double, 9> transform_covariance(const std::array<double, 9> & cov)
 {
-  using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX;
+  using COV_IDX = autoware_universe_utils::xyz_covariance_index::XYZ_COV_IDX;
 
   double max_cov = std::max({cov[COV_IDX::X_X], cov[COV_IDX::Y_Y], cov[COV_IDX::Z_Z]});
 
@@ -52,8 +52,8 @@ GyroOdometerNode::GyroOdometerNode(const rclcpp::NodeOptions & node_options)
   vehicle_twist_arrived_(false),
   imu_arrived_(false)
 {
-  transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+  transform_listener_ = std::make_shared<autoware_universe_utils::TransformListener>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
 
   vehicle_twist_sub_ = create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>(
     "vehicle/twist_with_covariance", rclcpp::QoS{100},
@@ -208,8 +208,8 @@ void GyroOdometerNode::concat_gyro_and_odometer()
     gyro.angular_velocity_covariance = transform_covariance(gyro.angular_velocity_covariance);
   }
 
-  using COV_IDX_XYZ = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX;
-  using COV_IDX_XYZRPY = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using COV_IDX_XYZ = autoware_universe_utils::xyz_covariance_index::XYZ_COV_IDX;
+  using COV_IDX_XYZRPY = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
 
   // calc mean, covariance
   double vx_mean = 0;
diff --git a/localization/localization_error_monitor/include/localization_error_monitor/localization_error_monitor.hpp b/localization/localization_error_monitor/include/localization_error_monitor/localization_error_monitor.hpp
index 53f243520742f..12f0a1141d199 100644
--- a/localization/localization_error_monitor/include/localization_error_monitor/localization_error_monitor.hpp
+++ b/localization/localization_error_monitor/include/localization_error_monitor/localization_error_monitor.hpp
@@ -16,8 +16,8 @@
 #define LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_
 
 #include <Eigen/Dense>
+#include <autoware/universe_utils/ros/logger_level_configure.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/logger_level_configure.hpp>
 
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <nav_msgs/msg/odometry.hpp>
@@ -43,7 +43,7 @@ class LocalizationErrorMonitor : public rclcpp::Node
 
   rclcpp::TimerBase::SharedPtr timer_;
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
   double scale_;
   double error_ellipse_size_;
diff --git a/localization/localization_error_monitor/package.xml b/localization/localization_error_monitor/package.xml
index 0138451b069e4..681da7e57c6c5 100644
--- a/localization/localization_error_monitor/package.xml
+++ b/localization/localization_error_monitor/package.xml
@@ -20,13 +20,13 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/localization/localization_error_monitor/src/localization_error_monitor.cpp b/localization/localization_error_monitor/src/localization_error_monitor.cpp
index 04bb37a85e41b..51fc1607d048a 100644
--- a/localization/localization_error_monitor/src/localization_error_monitor.cpp
+++ b/localization/localization_error_monitor/src/localization_error_monitor.cpp
@@ -55,7 +55,7 @@ LocalizationErrorMonitor::LocalizationErrorMonitor(const rclcpp::NodeOptions & o
 
   diag_pub_ = this->create_publisher<diagnostic_msgs::msg::DiagnosticArray>("/diagnostics", 10);
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
 }
 
 visualization_msgs::msg::Marker LocalizationErrorMonitor::create_ellipse_marker(
diff --git a/localization/localization_util/package.xml b/localization/localization_util/package.xml
index fa8da2aa1231a..bb1ca3123ad27 100644
--- a/localization/localization_util/package.xml
+++ b/localization/localization_util/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
@@ -29,7 +30,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_sensor_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_localization_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp
index 2bcb6f4cf6fb8..ac913b128b5f1 100644
--- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp
+++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp
@@ -20,9 +20,9 @@
 #include "ndt_scan_matcher/hyper_parameters.hpp"
 #include "ndt_scan_matcher/particle.hpp"
 
+#include <autoware/universe_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/transform/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
-#include <tier4_autoware_utils/transform/transforms.hpp>
 
 #include <autoware_map_msgs/srv/get_differential_point_cloud_map.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
index cbd2797c57922..5a28ed7eb8a5e 100644
--- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
+++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
@@ -22,8 +22,8 @@
 #include "ndt_scan_matcher/hyper_parameters.hpp"
 #include "ndt_scan_matcher/map_update_module.hpp"
 
+#include <autoware/universe_utils/ros/logger_level_configure.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/logger_level_configure.hpp>
 
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <geometry_msgs/msg/pose_array.hpp>
@@ -203,7 +203,7 @@ class NDTScanMatcher : public rclcpp::Node
   std::unique_ptr<DiagnosticsModule> diagnostics_ndt_align_;
   std::unique_ptr<DiagnosticsModule> diagnostics_trigger_node_;
   std::unique_ptr<MapUpdateModule> map_update_module_;
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
   HyperParameters param_;
 };
diff --git a/localization/ndt_scan_matcher/package.xml b/localization/ndt_scan_matcher/package.xml
index 6b0a44bdf1c55..c69836d77c825 100644
--- a/localization/ndt_scan_matcher/package.xml
+++ b/localization/ndt_scan_matcher/package.xml
@@ -19,6 +19,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_map_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
@@ -37,7 +38,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_sensor_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_localization_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
index 31f58f94ed6e8..f392ba4b3c19f 100644
--- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
+++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
@@ -19,8 +19,8 @@
 #include "localization_util/util_func.hpp"
 #include "ndt_scan_matcher/particle.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/transform/transforms.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/transform/transforms.hpp>
 
 #include <pcl_conversions/pcl_conversions.h>
 
@@ -210,7 +210,7 @@ NDTScanMatcher::NDTScanMatcher(const rclcpp::NodeOptions & options)
   diagnostics_trigger_node_ =
     std::make_unique<DiagnosticsModule>(this, "trigger_node_service_status");
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
 }
 
 void NDTScanMatcher::callback_timer()
@@ -615,7 +615,7 @@ bool NDTScanMatcher::callback_sensor_points_main(
 
   pcl::shared_ptr<pcl::PointCloud<PointSource>> sensor_points_in_map_ptr(
     new pcl::PointCloud<PointSource>);
-  tier4_autoware_utils::transformPointCloud(
+  autoware_universe_utils::transformPointCloud(
     *sensor_points_in_baselink_frame, *sensor_points_in_map_ptr, ndt_result.pose);
   publish_point_cloud(sensor_ros_time, param_.frame.map_frame, sensor_points_in_map_ptr);
 
@@ -671,10 +671,10 @@ void NDTScanMatcher::transform_sensor_measurement(
   }
 
   const geometry_msgs::msg::PoseStamped target_to_source_pose_stamped =
-    tier4_autoware_utils::transform2pose(transform);
+    autoware_universe_utils::transform2pose(transform);
   const Eigen::Matrix4f base_to_sensor_matrix =
     pose_to_matrix4f(target_to_source_pose_stamped.pose);
-  tier4_autoware_utils::transformPointCloud(
+  autoware_universe_utils::transformPointCloud(
     *sensor_points_input_ptr, *sensor_points_output_ptr, base_to_sensor_matrix);
 }
 
@@ -686,7 +686,7 @@ void NDTScanMatcher::publish_tf(
   result_pose_stamped_msg.header.frame_id = param_.frame.map_frame;
   result_pose_stamped_msg.pose = result_pose_msg;
   tf2_broadcaster_.sendTransform(
-    tier4_autoware_utils::pose2transform(result_pose_stamped_msg, param_.frame.ndt_base_frame));
+    autoware_universe_utils::pose2transform(result_pose_stamped_msg, param_.frame.ndt_base_frame));
 }
 
 void NDTScanMatcher::publish_pose(
@@ -730,7 +730,7 @@ void NDTScanMatcher::publish_marker(
   marker.header.frame_id = param_.frame.map_frame;
   marker.type = visualization_msgs::msg::Marker::ARROW;
   marker.action = visualization_msgs::msg::Marker::ADD;
-  marker.scale = tier4_autoware_utils::createMarkerScale(0.3, 0.1, 0.1);
+  marker.scale = autoware_universe_utils::createMarkerScale(0.3, 0.1, 0.1);
   int i = 0;
   marker.ns = "result_pose_matrix_array";
   marker.action = visualization_msgs::msg::Marker::ADD;
@@ -759,7 +759,7 @@ void NDTScanMatcher::publish_initial_to_result(
 {
   geometry_msgs::msg::PoseStamped initial_to_result_relative_pose_stamped;
   initial_to_result_relative_pose_stamped.pose =
-    tier4_autoware_utils::inverseTransformPose(result_pose_msg, initial_pose_cov_msg.pose.pose);
+    autoware_universe_utils::inverseTransformPose(result_pose_msg, initial_pose_cov_msg.pose.pose);
   initial_to_result_relative_pose_stamped.header.stamp = sensor_ros_time;
   initial_to_result_relative_pose_stamped.header.frame_id = param_.frame.map_frame;
   initial_to_result_relative_pose_pub_->publish(initial_to_result_relative_pose_stamped);
@@ -1091,7 +1091,7 @@ geometry_msgs::msg::PoseWithCovarianceStamped NDTScanMatcher::align_pose(
     tpe.add_trial(TreeStructuredParzenEstimator::Trial{result, ndt_result.transform_probability});
 
     auto sensor_points_in_map_ptr = std::make_shared<pcl::PointCloud<PointSource>>();
-    tier4_autoware_utils::transformPointCloud(
+    autoware_universe_utils::transformPointCloud(
       *ndt_ptr_->getInputSource(), *sensor_points_in_map_ptr, ndt_result.pose);
     publish_point_cloud(
       initial_pose_with_cov.header.stamp, param_.frame.map_frame, sensor_points_in_map_ptr);
diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp
index 0d8880d5c4d16..0866234383727 100644
--- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp
+++ b/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp
@@ -14,7 +14,7 @@
 
 #include "pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp"
 
-#include <tier4_autoware_utils/ros/parameter.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
 
 #include <utility>
 
@@ -28,9 +28,9 @@ PcdMapBasedRule::PcdMapBasedRule(
   shared_data_(std::move(shared_data))
 {
   const int pcd_density_upper_threshold =
-    tier4_autoware_utils::getOrDeclareParameter<int>(node, "pcd_density_upper_threshold");
+    autoware_universe_utils::getOrDeclareParameter<int>(node, "pcd_density_upper_threshold");
   const int pcd_density_lower_threshold =
-    tier4_autoware_utils::getOrDeclareParameter<int>(node, "pcd_density_lower_threshold");
+    autoware_universe_utils::getOrDeclareParameter<int>(node, "pcd_density_lower_threshold");
 
   pcd_occupancy_ = std::make_unique<rule_helper::PcdOccupancy>(
     pcd_density_upper_threshold, pcd_density_lower_threshold);
diff --git a/localization/pose_estimator_arbiter/package.xml b/localization/pose_estimator_arbiter/package.xml
index 134cad7534502..4880e048ea392 100644
--- a/localization/pose_estimator_arbiter/package.xml
+++ b/localization/pose_estimator_arbiter/package.xml
@@ -19,6 +19,7 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_map_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
@@ -30,7 +31,6 @@
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>ublox_msgs</depend>
   <depend>visualization_msgs</depend>
   <depend>yabloc_particle_filter</depend>
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp
index fda77ec877482..4228ade6be701 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp
@@ -19,8 +19,8 @@
 #include "pose_estimator_arbiter/stopper/base_stopper.hpp"
 #include "pose_estimator_arbiter/switch_rule/base_switch_rule.hpp"
 
+#include <autoware/universe_utils/ros/logger_level_configure.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/logger_level_configure.hpp>
 
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
@@ -53,7 +53,7 @@ class PoseEstimatorArbiter : public rclcpp::Node
   // Set of running pose estimators specified by ros param `pose_sources`
   const std::unordered_set<PoseEstimatorType> running_estimator_list_;
   // Configuration to allow changing the log level by service
-  const std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  const std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
   // This is passed to several modules (stoppers & rule) so that all modules can access common data
   // without passing them as arguments. Also, modules can register subscriber callbacks through
diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp
index 67c555227976d..4d655875ba325 100644
--- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp
+++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp
@@ -46,7 +46,7 @@ PoseEstimatorArbiter::PoseEstimatorArbiter(const rclcpp::NodeOptions & options)
 : rclcpp::Node("pose_estimator_arbiter", options),
   running_estimator_list_(parse_estimator_name_args(
     declare_parameter<std::vector<std::string>>("pose_sources"), get_logger())),
-  logger_configure_(std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this))
+  logger_configure_(std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this))
 {
   // Shared data
   shared_data_ = std::make_shared<SharedData>();
diff --git a/localization/pose_initializer/package.xml b/localization/pose_initializer/package.xml
index 58968828bc2fa..8de8a8ac9a1e1 100644
--- a/localization/pose_initializer/package.xml
+++ b/localization/pose_initializer/package.xml
@@ -19,6 +19,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
   <depend>geometry_msgs</depend>
@@ -27,7 +28,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_srvs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_localization_msgs</depend>
 
   <test_depend>ament_cmake_cppcheck</test_depend>
diff --git a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp b/localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp
index 1111547b393e7..1e351f8a90d7b 100644
--- a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp
+++ b/localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp
@@ -56,7 +56,7 @@ PoseInitializer::PoseInitializer(const rclcpp::NodeOptions & options)
     stop_check_duration_ = declare_parameter<double>("stop_check_duration");
     stop_check_ = std::make_unique<StopCheckModule>(this, stop_check_duration_ + 1.0);
   }
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
 
   change_state(State::Message::UNINITIALIZED);
 
diff --git a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp b/localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp
index d80fb26fdd41f..3a0896a07ba98 100644
--- a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp
+++ b/localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp
@@ -15,10 +15,10 @@
 #ifndef POSE_INITIALIZER__POSE_INITIALIZER_CORE_HPP_
 #define POSE_INITIALIZER__POSE_INITIALIZER_CORE_HPP_
 
+#include <autoware/universe_utils/ros/logger_level_configure.hpp>
 #include <component_interface_specs/localization.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/logger_level_configure.hpp>
 
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 
@@ -55,7 +55,7 @@ class PoseInitializer : public rclcpp::Node
   std::unique_ptr<StopCheckModule> stop_check_;
   std::unique_ptr<EkfLocalizationTriggerModule> ekf_localization_trigger_;
   std::unique_ptr<NdtLocalizationTriggerModule> ndt_localization_trigger_;
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
   double stop_check_duration_;
 
   void change_node_trigger(bool flag, bool need_spin = false);
diff --git a/localization/pose_instability_detector/package.xml b/localization/pose_instability_detector/package.xml
index d658d1c2d437f..04e9747d3723b 100644
--- a/localization/pose_instability_detector/package.xml
+++ b/localization/pose_instability_detector/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>ament_index_cpp</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
@@ -25,7 +26,6 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_cmake_cppcheck</test_depend>
diff --git a/localization/pose_instability_detector/src/pose_instability_detector.cpp b/localization/pose_instability_detector/src/pose_instability_detector.cpp
index 797f18bba3ea9..436fd4eee7692 100644
--- a/localization/pose_instability_detector/src/pose_instability_detector.cpp
+++ b/localization/pose_instability_detector/src/pose_instability_detector.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/pose_instability_detector/pose_instability_detector.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
@@ -123,7 +123,7 @@ void PoseInstabilityDetector::callback_timer()
 
   // compare dead reckoning pose and latest_odometry_
   const Pose latest_ekf_pose = latest_odometry_->pose.pose;
-  const Pose ekf_to_dr = tier4_autoware_utils::inverseTransformPose(*dr_pose, latest_ekf_pose);
+  const Pose ekf_to_dr = autoware_universe_utils::inverseTransformPose(*dr_pose, latest_ekf_pose);
   const geometry_msgs::msg::Point pos = ekf_to_dr.position;
   const auto [ang_x, ang_y, ang_z] = quat_to_rpy(ekf_to_dr.orientation);
   const std::vector<double> values = {pos.x, pos.y, pos.z, ang_x, ang_y, ang_z};
diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml
index d4c8b71fa6b66..18038d80fbfca 100644
--- a/localization/yabloc/yabloc_common/package.xml
+++ b/localization/yabloc/yabloc_common/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>autoware_map_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>cv_bridge</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_core</depend>
@@ -29,7 +30,6 @@
   <depend>sophus</depend>
   <depend>std_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp b/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp
index fb7bc53c05e5e..aa0244e5d7e90 100644
--- a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp
+++ b/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp
@@ -14,8 +14,8 @@
 
 #include "yabloc_common/ll2_decomposer/ll2_decomposer.hpp"
 
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 #include <yabloc_common/pub_sub.hpp>
 
 #include <geometry_msgs/msg/polygon.hpp>
@@ -198,7 +198,7 @@ Ll2Decomposer::MarkerArray Ll2Decomposer::make_sign_marker_msg(
     marker.header.frame_id = "map";
     marker.header.stamp = get_clock()->now();
     marker.type = Marker::LINE_STRIP;
-    marker.color = tier4_autoware_utils::createMarkerColor(0.6f, 0.6f, 0.6f, 0.999f);
+    marker.color = autoware_universe_utils::createMarkerColor(0.6f, 0.6f, 0.6f, 0.999f);
     marker.scale.x = 0.1;
     marker.ns = ns;
     marker.id = id++;
@@ -228,7 +228,7 @@ Ll2Decomposer::MarkerArray Ll2Decomposer::make_polygon_marker_msg(
     marker.header.frame_id = "map";
     marker.header.stamp = get_clock()->now();
     marker.type = Marker::LINE_STRIP;
-    marker.color = tier4_autoware_utils::createMarkerColor(0.4f, 0.4f, 0.8f, 0.999f);
+    marker.color = autoware_universe_utils::createMarkerColor(0.4f, 0.4f, 0.8f, 0.999f);
     marker.scale.x = 0.2;
     marker.ns = ns;
     marker.id = id++;
diff --git a/localization/yabloc/yabloc_image_processing/package.xml b/localization/yabloc/yabloc_image_processing/package.xml
index 416acfdc76a16..453ae58b9b33b 100644
--- a/localization/yabloc/yabloc_image_processing/package.xml
+++ b/localization/yabloc/yabloc_image_processing/package.xml
@@ -16,13 +16,13 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>cv_bridge</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
   <depend>yabloc_common</depend>
 
diff --git a/localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp b/localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp
index 4cc2a9de4acc7..f319fcc9fd77a 100644
--- a/localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp
+++ b/localization/yabloc/yabloc_image_processing/src/graph_segment/graph_segment_core.cpp
@@ -15,9 +15,9 @@
 #include "yabloc_image_processing/graph_segment/graph_segment.hpp"
 #include "yabloc_image_processing/graph_segment/histogram.hpp"
 
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <opencv4/opencv2/highgui.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 #include <yabloc_common/cv_decompress.hpp>
 #include <yabloc_common/pub_sub.hpp>
 
@@ -98,7 +98,7 @@ void GraphSegment::on_image(const Image & msg)
   cv::resize(image, resized, cv::Size(), 0.5, 0.5);
 
   // Execute graph-based segmentation
-  tier4_autoware_utils::StopWatch stop_watch;
+  autoware_universe_utils::StopWatch stop_watch;
   cv::Mat segmented;
   segmentation_->processImage(resized, segmented);
   RCLCPP_INFO_STREAM(get_logger(), "segmentation time: " << stop_watch.toc() * 1000 << "[ms]");
diff --git a/localization/yabloc/yabloc_image_processing/src/line_segment_detector/line_segment_detector_core.cpp b/localization/yabloc/yabloc_image_processing/src/line_segment_detector/line_segment_detector_core.cpp
index 9854fa9ab7106..f0f451834c66e 100644
--- a/localization/yabloc/yabloc_image_processing/src/line_segment_detector/line_segment_detector_core.cpp
+++ b/localization/yabloc/yabloc_image_processing/src/line_segment_detector/line_segment_detector_core.cpp
@@ -14,8 +14,8 @@
 
 #include "yabloc_image_processing/line_segment_detector/line_segment_detector.hpp"
 
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 #include <yabloc_common/cv_decompress.hpp>
 #include <yabloc_common/pub_sub.hpp>
 
@@ -53,7 +53,7 @@ void LineSegmentDetector::execute(const cv::Mat & image, const rclcpp::Time & st
 
   cv::Mat lines;
   {
-    tier4_autoware_utils::StopWatch stop_watch;
+    autoware_universe_utils::StopWatch stop_watch;
     line_segment_detector_->detect(gray_image, lines);
     if (lines.size().width != 0) {
       line_segment_detector_->drawSegments(gray_image, lines);
diff --git a/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp b/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp
index c4b868289eb16..ad38c320fc510 100644
--- a/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp
+++ b/localization/yabloc/yabloc_image_processing/src/undistort/undistort_node.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <opencv4/opencv2/calib3d.hpp>
 #include <opencv4/opencv2/core.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 #include <yabloc_common/cv_decompress.hpp>
 #include <yabloc_common/pub_sub.hpp>
 
@@ -147,7 +147,7 @@ class UndistortNode : public rclcpp::Node
       sub_compressed_image_.reset();
     }
 
-    tier4_autoware_utils::StopWatch stop_watch;
+    autoware_universe_utils::StopWatch stop_watch;
     remap_and_publish(common::decompress_to_cv_mat(msg), msg.header);
     RCLCPP_INFO_STREAM(get_logger(), "image undistort: " << stop_watch.toc() << "[ms]");
   }
@@ -161,7 +161,7 @@ class UndistortNode : public rclcpp::Node
       make_remap_lut();
     }
 
-    tier4_autoware_utils::StopWatch stop_watch;
+    autoware_universe_utils::StopWatch stop_watch;
     remap_and_publish(common::decompress_to_cv_mat(msg), msg.header);
     RCLCPP_INFO_STREAM(get_logger(), "image undistort: " << stop_watch.toc() << "[ms]");
   }
diff --git a/localization/yabloc/yabloc_particle_filter/package.xml b/localization/yabloc/yabloc_particle_filter/package.xml
index bec77403f231a..8e2b98d10931b 100644
--- a/localization/yabloc/yabloc_particle_filter/package.xml
+++ b/localization/yabloc/yabloc_particle_filter/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
@@ -27,7 +28,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
   <depend>yabloc_common</depend>
 
diff --git a/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp
index e4c3065fd3efb..35113b4c5af36 100644
--- a/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_core.cpp
@@ -15,9 +15,9 @@
 #include "yabloc_particle_filter/camera_corrector/camera_particle_corrector.hpp"
 #include "yabloc_particle_filter/camera_corrector/logit.hpp"
 
+#include <autoware/universe_utils/math/trigonometry.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
-#include <tier4_autoware_utils/math/trigonometry.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 #include <yabloc_common/color.hpp>
 #include <yabloc_common/pose_conversions.hpp>
 #include <yabloc_common/pub_sub.hpp>
@@ -130,7 +130,7 @@ CameraParticleCorrector::split_line_segments(const PointCloud2 & msg)
 
 void CameraParticleCorrector::on_line_segments(const PointCloud2 & line_segments_msg)
 {
-  tier4_autoware_utils::StopWatch stop_watch;
+  autoware_universe_utils::StopWatch stop_watch;
   const rclcpp::Time stamp = line_segments_msg.header.stamp;
   std::optional<ParticleArray> opt_array = this->get_synchronized_particle_array(stamp);
   if (!opt_array.has_value()) {
@@ -258,7 +258,7 @@ float abs_cos(const Eigen::Vector3f & t, float deg)
 {
   const float radian = deg * M_PI / 180.0;
   Eigen::Vector2f x(t.x(), t.y());
-  Eigen::Vector2f y(tier4_autoware_utils::cos(radian), tier4_autoware_utils::sin(radian));
+  Eigen::Vector2f y(autoware_universe_utils::cos(radian), autoware_universe_utils::sin(radian));
   x.normalize();
   return std::abs(x.dot(y));
 }
diff --git a/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp
index 62d8ed826b373..69f3642c8eff6 100644
--- a/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp
+++ b/localization/yabloc/yabloc_particle_filter/src/ll2_cost_map/hierarchical_cost_map.cpp
@@ -16,9 +16,9 @@
 
 #include "yabloc_particle_filter/ll2_cost_map/direct_cost_map.hpp"
 
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <opencv4/opencv2/highgui.hpp>
 #include <opencv4/opencv2/imgproc.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <boost/geometry/geometry.hpp>
 
@@ -169,7 +169,7 @@ HierarchicalCostMap::MarkerArray HierarchicalCostMap::show_map_range() const
     marker.header.frame_id = "map";
     marker.id = id++;
     marker.type = Marker::LINE_STRIP;
-    marker.color = tier4_autoware_utils::createMarkerColor(0, 0, 1.0f, 1.0f);
+    marker.color = autoware_universe_utils::createMarkerColor(0, 0, 1.0f, 1.0f);
     marker.scale.x = 0.1;
     Eigen::Vector2f xy = area.real_scale();
     marker.points.push_back(point_msg(xy.x(), xy.y()));
diff --git a/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp b/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp
index de53d78d7f782..452805803ffa6 100644
--- a/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp
+++ b/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp
@@ -15,9 +15,9 @@
 #ifndef AUTOWARE_CROSSWALK_TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_
 #define AUTOWARE_CROSSWALK_TRAFFIC_LIGHT_ESTIMATOR__NODE_HPP_
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_perception_msgs/msg/traffic_light_group_array.hpp>
@@ -41,8 +41,8 @@ namespace autoware::crosswalk_traffic_light_estimator
 
 using autoware_map_msgs::msg::LaneletMapBin;
 using autoware_planning_msgs::msg::LaneletRoute;
-using tier4_autoware_utils::DebugPublisher;
-using tier4_autoware_utils::StopWatch;
+using autoware_universe_utils::DebugPublisher;
+using autoware_universe_utils::StopWatch;
 using tier4_debug_msgs::msg::Float64Stamped;
 using TrafficSignal = autoware_perception_msgs::msg::TrafficLightGroup;
 using TrafficSignalArray = autoware_perception_msgs::msg::TrafficLightGroupArray;
diff --git a/perception/autoware_crosswalk_traffic_light_estimator/package.xml b/perception/autoware_crosswalk_traffic_light_estimator/package.xml
index d844ea27b52b5..18b0b8a41264f 100644
--- a/perception/autoware_crosswalk_traffic_light_estimator/package.xml
+++ b/perception/autoware_crosswalk_traffic_light_estimator/package.xml
@@ -15,10 +15,10 @@
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp b/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp
index 27c2a5079f441..86633721c936b 100644
--- a/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp
+++ b/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp
@@ -15,18 +15,18 @@
 #ifndef MAP_BASED_PREDICTION__MAP_BASED_PREDICTION_NODE_HPP_
 #define MAP_BASED_PREDICTION__MAP_BASED_PREDICTION_NODE_HPP_
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 #include "map_based_prediction/path_generator.hpp"
 #include "tf2/LinearMath/Quaternion.h"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
+#include <autoware/universe_utils/ros/transform_listener.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
-#include <tier4_autoware_utils/ros/transform_listener.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
@@ -129,7 +129,7 @@ using autoware_perception_msgs::msg::TrafficLightElement;
 using autoware_perception_msgs::msg::TrafficLightGroup;
 using autoware_perception_msgs::msg::TrafficLightGroupArray;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_autoware_utils::StopWatch;
+using autoware_universe_utils::StopWatch;
 using tier4_debug_msgs::msg::StringStamped;
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
 class MapBasedPredictionNode : public rclcpp::Node
@@ -143,12 +143,12 @@ class MapBasedPredictionNode : public rclcpp::Node
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_debug_markers_;
   rclcpp::Subscription<TrackedObjects>::SharedPtr sub_objects_;
   rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_map_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<TrafficLightGroupArray> sub_traffic_signals_{
-    this, "/traffic_signals"};
+  autoware_universe_utils::InterProcessPollingSubscriber<TrafficLightGroupArray>
+    sub_traffic_signals_{this, "/traffic_signals"};
 
   // debug publisher
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> processing_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> processing_time_publisher_;
 
   // Object History
   std::unordered_map<std::string, std::deque<ObjectData>> road_users_history;
@@ -169,7 +169,7 @@ class MapBasedPredictionNode : public rclcpp::Node
     const std::vector<rclcpp::Parameter> & parameters);
 
   // Pose Transform Listener
-  tier4_autoware_utils::TransformListener transform_listener_{this};
+  autoware_universe_utils::TransformListener transform_listener_{this};
 
   // Path Generator
   std::shared_ptr<PathGenerator> path_generator_;
@@ -221,7 +221,7 @@ class MapBasedPredictionNode : public rclcpp::Node
   bool match_lost_and_appeared_crosswalk_users_;
   bool remember_lost_crosswalk_users_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 
   // Member Functions
   void mapCallback(const LaneletMapBin::ConstSharedPtr msg);
@@ -314,8 +314,8 @@ class MapBasedPredictionNode : public rclcpp::Node
   inline std::vector<double> calcTrajectoryCurvatureFrom3Points(
     const TrajectoryPoints & trajectory, size_t idx_dist)
   {
-    using tier4_autoware_utils::calcCurvature;
-    using tier4_autoware_utils::getPoint;
+    using autoware_universe_utils::calcCurvature;
+    using autoware_universe_utils::getPoint;
 
     if (trajectory.size() < 3) {
       const std::vector<double> k_arr(trajectory.size(), 0.0);
diff --git a/perception/autoware_map_based_prediction/package.xml b/perception/autoware_map_based_prediction/package.xml
index 3671c1a01b0a2..caf6b83936faf 100644
--- a/perception/autoware_map_based_prediction/package.xml
+++ b/perception/autoware_map_based_prediction/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>glog</depend>
   <depend>interpolation</depend>
   <depend>lanelet2_extension</depend>
@@ -24,7 +25,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>unique_identifier_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/perception/autoware_map_based_prediction/src/debug.cpp b/perception/autoware_map_based_prediction/src/debug.cpp
index 0c58d4aae1638..638c10c1a3b1a 100644
--- a/perception/autoware_map_based_prediction/src/debug.cpp
+++ b/perception/autoware_map_based_prediction/src/debug.cpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/universe_utils/ros/marker_helper.hpp"
 #include "map_based_prediction/map_based_prediction_node.hpp"
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
 
 namespace autoware::map_based_prediction
 {
@@ -29,7 +29,7 @@ visualization_msgs::msg::Marker MapBasedPredictionNode::getDebugMarker(
   marker.type = visualization_msgs::msg::Marker::CUBE;
   marker.action = visualization_msgs::msg::Marker::ADD;
   marker.pose = object.kinematics.pose_with_covariance.pose;
-  marker.scale = tier4_autoware_utils::createMarkerScale(3.0, 1.0, 1.0);
+  marker.scale = autoware_universe_utils::createMarkerScale(3.0, 1.0, 1.0);
 
   // Color by maneuver
   double r = 0.0;
@@ -42,7 +42,7 @@ visualization_msgs::msg::Marker MapBasedPredictionNode::getDebugMarker(
   } else {
     b = 1.0;
   }
-  marker.color = tier4_autoware_utils::createMarkerColor(r, g, b, 0.8);
+  marker.color = autoware_universe_utils::createMarkerColor(r, g, b, 0.8);
 
   return marker;
 }
diff --git a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp
index 20d532d7127d7..a350873321ce9 100644
--- a/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp
+++ b/perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp
@@ -14,16 +14,16 @@
 
 #include "map_based_prediction/map_based_prediction_node.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/constants.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <interpolation/linear_interpolation.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <motion_utils/resample/resample.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/constants.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 
@@ -92,7 +92,7 @@ double calcAbsLateralOffset(
   for (size_t i = 0; i < boundary_path.size(); ++i) {
     const double x = boundary_line[i].x();
     const double y = boundary_line[i].y();
-    boundary_path[i] = tier4_autoware_utils::createPoint(x, y, 0.0);
+    boundary_path[i] = autoware_universe_utils::createPoint(x, y, 0.0);
   }
 
   return std::fabs(motion_utils::calcLateralOffset(boundary_path, search_pose.position));
@@ -218,7 +218,7 @@ double calcAbsYawDiffBetweenLaneletAndObject(
   const double lane_yaw =
     lanelet::utils::getLaneletAngle(lanelet, object.kinematics.pose_with_covariance.pose.position);
   const double delta_yaw = object_yaw - lane_yaw;
-  const double normalized_delta_yaw = tier4_autoware_utils::normalizeRadian(delta_yaw);
+  const double normalized_delta_yaw = autoware_universe_utils::normalizeRadian(delta_yaw);
   const double abs_norm_delta = std::fabs(normalized_delta_yaw);
   return abs_norm_delta;
 }
@@ -418,7 +418,7 @@ boost::optional<CrosswalkEdgePoints> isReachableCrosswalkEdgePoints(
 
   const auto & obj_pos = object.kinematics.pose_with_covariance.pose.position;
   const auto & obj_vel = object.kinematics.twist_with_covariance.twist.linear;
-  const auto yaw = tier4_autoware_utils::getRPY(object.kinematics.pose_with_covariance.pose).z;
+  const auto yaw = autoware_universe_utils::getRPY(object.kinematics.pose_with_covariance.pose).z;
 
   lanelet::BasicPoint2d obj_pos_as_lanelet(obj_pos.x, obj_pos.y);
   if (boost::geometry::within(obj_pos_as_lanelet, target_crosswalk.polygon2d().basicPolygon())) {
@@ -529,7 +529,7 @@ bool hasPotentialToReach(
 {
   const auto & obj_pos = object.kinematics.pose_with_covariance.pose.position;
   const auto & obj_vel = object.kinematics.twist_with_covariance.twist.linear;
-  const auto yaw = tier4_autoware_utils::getRPY(object.kinematics.pose_with_covariance.pose).z;
+  const auto yaw = autoware_universe_utils::getRPY(object.kinematics.pose_with_covariance.pose).z;
 
   constexpr double stop_velocity_th = 0.14;  // [m/s]
   const auto estimated_velocity = std::hypot(obj_vel.x, obj_vel.y);
@@ -547,16 +547,16 @@ bool hasPotentialToReach(
         const double pedestrian_to_crosswalk_left_direction =
           std::atan2(left_point.y() - obj_pos.y, left_point.x() - obj_pos.x);
         return std::make_pair(
-          tier4_autoware_utils::normalizeRadian(
+          autoware_universe_utils::normalizeRadian(
             pedestrian_to_crosswalk_right_direction - pedestrian_to_crosswalk_center_direction),
-          tier4_autoware_utils::normalizeRadian(
+          autoware_universe_utils::normalizeRadian(
             pedestrian_to_crosswalk_left_direction - pedestrian_to_crosswalk_center_direction));
       }();
 
   const double pedestrian_heading_rel_direction = [&]() {
     const double pedestrian_heading_direction =
       std::atan2(obj_vel.x * std::sin(yaw), obj_vel.x * std::cos(yaw));
-    return tier4_autoware_utils::normalizeRadian(
+    return autoware_universe_utils::normalizeRadian(
       pedestrian_heading_direction - pedestrian_to_crosswalk_center_direction);
   }();
 
@@ -658,7 +658,7 @@ ObjectClassification::_label_type changeLabelForPrediction(
       if (within_road_lanelet) return ObjectClassification::MOTORCYCLE;
 
       constexpr float high_speed_threshold =
-        tier4_autoware_utils::kmph2mps(25.0);  // High speed bicycle 25 km/h
+        autoware_universe_utils::kmph2mps(25.0);  // High speed bicycle 25 km/h
       // calc abs speed from x and y velocity
       const double abs_speed = std::hypot(
         object.kinematics.twist_with_covariance.twist.linear.x,
@@ -673,7 +673,7 @@ ObjectClassification::_label_type changeLabelForPrediction(
     case ObjectClassification::PEDESTRIAN: {
       const bool within_road_lanelet = withinRoadLanelet(object, lanelet_map_ptr_, true);
       const float max_velocity_for_human_mps =
-        tier4_autoware_utils::kmph2mps(25.0);  // Max human being motion speed is 25km/h
+        autoware_universe_utils::kmph2mps(25.0);  // Max human being motion speed is 25km/h
       const double abs_speed = std::hypot(
         object.kinematics.twist_with_covariance.twist.linear.x,
         object.kinematics.twist_with_covariance.twist.linear.y);
@@ -859,13 +859,15 @@ MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_
   pub_debug_markers_ =
     this->create_publisher<visualization_msgs::msg::MarkerArray>("maneuver", rclcpp::QoS{1});
   processing_time_publisher_ =
-    std::make_unique<tier4_autoware_utils::DebugPublisher>(this, "map_based_prediction");
+    std::make_unique<autoware_universe_utils::DebugPublisher>(this, "map_based_prediction");
 
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&MapBasedPredictionNode::onParam, this, std::placeholders::_1));
 
-  stop_watch_ptr_ = std::make_unique<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>>();
+  stop_watch_ptr_ =
+    std::make_unique<autoware_universe_utils::StopWatch<std::chrono::milliseconds>>();
   stop_watch_ptr_->tic("cyclic_time");
   stop_watch_ptr_->tic("processing_time");
 }
@@ -873,7 +875,7 @@ MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_
 rcl_interfaces::msg::SetParametersResult MapBasedPredictionNode::onParam(
   const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   updateParam(parameters, "max_lateral_accel", max_lateral_accel_);
   updateParam(parameters, "min_acceleration_before_curve", min_acceleration_before_curve_);
@@ -1008,14 +1010,14 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt
     if (
       label_for_prediction == ObjectClassification::PEDESTRIAN ||
       label_for_prediction == ObjectClassification::BICYCLE) {
-      const std::string object_id = tier4_autoware_utils::toHexString(object.object_id);
+      const std::string object_id = autoware_universe_utils::toHexString(object.object_id);
       current_crosswalk_users.emplace(object_id, object);
     }
   }
   std::unordered_set<std::string> predicted_crosswalk_users_ids;
 
   for (const auto & object : in_objects->objects) {
-    std::string object_id = tier4_autoware_utils::toHexString(object.object_id);
+    std::string object_id = autoware_universe_utils::toHexString(object.object_id);
     TrackedObject transformed_object = object;
 
     // transform object frame if it's based on map frame
@@ -1034,7 +1036,7 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt
     switch (label) {
       case ObjectClassification::PEDESTRIAN:
       case ObjectClassification::BICYCLE: {
-        std::string object_id = tier4_autoware_utils::toHexString(object.object_id);
+        std::string object_id = autoware_universe_utils::toHexString(object.object_id);
         if (match_lost_and_appeared_crosswalk_users_) {
           object_id = tryMatchNewObjectToDisappeared(object_id, current_crosswalk_users);
         }
@@ -1337,11 +1339,11 @@ bool MapBasedPredictionNode::isIntersecting(
   const geometry_msgs::msg::Point & point1, const geometry_msgs::msg::Point & point2,
   const lanelet::ConstPoint3d & point3, const lanelet::ConstPoint3d & point4)
 {
-  const auto p1 = tier4_autoware_utils::createPoint(point1.x, point1.y, 0.0);
-  const auto p2 = tier4_autoware_utils::createPoint(point2.x, point2.y, 0.0);
-  const auto p3 = tier4_autoware_utils::createPoint(point3.x(), point3.y(), 0.0);
-  const auto p4 = tier4_autoware_utils::createPoint(point4.x(), point4.y(), 0.0);
-  const auto intersection = tier4_autoware_utils::intersect(p1, p2, p3, p4);
+  const auto p1 = autoware_universe_utils::createPoint(point1.x, point1.y, 0.0);
+  const auto p2 = autoware_universe_utils::createPoint(point2.x, point2.y, 0.0);
+  const auto p3 = autoware_universe_utils::createPoint(point3.x(), point3.y(), 0.0);
+  const auto p4 = autoware_universe_utils::createPoint(point4.x(), point4.y(), 0.0);
+  const auto intersection = autoware_universe_utils::intersect(p1, p2, p3, p4);
   return intersection.has_value();
 }
 
@@ -1489,7 +1491,7 @@ void MapBasedPredictionNode::updateObjectData(TrackedObject & object)
   // Compute yaw angle from the velocity and position of the object
   const auto & object_pose = object.kinematics.pose_with_covariance.pose;
   const auto & object_twist = object.kinematics.twist_with_covariance.twist;
-  const auto future_object_pose = tier4_autoware_utils::calcOffsetPose(
+  const auto future_object_pose = autoware_universe_utils::calcOffsetPose(
     object_pose, object_twist.linear.x * 0.1, object_twist.linear.y * 0.1, 0.0);
 
   // assumption: the object vx is much larger than vy
@@ -1508,15 +1510,16 @@ void MapBasedPredictionNode::updateObjectData(TrackedObject & object)
         tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation);
       // flip the angle
       object.kinematics.pose_with_covariance.pose.orientation =
-        tier4_autoware_utils::createQuaternionFromYaw(tier4_autoware_utils::pi + original_yaw);
+        autoware_universe_utils::createQuaternionFromYaw(
+          autoware_universe_utils::pi + original_yaw);
       break;
     }
     default: {
-      const auto updated_object_yaw =
-        tier4_autoware_utils::calcAzimuthAngle(object_pose.position, future_object_pose.position);
+      const auto updated_object_yaw = autoware_universe_utils::calcAzimuthAngle(
+        object_pose.position, future_object_pose.position);
 
       object.kinematics.pose_with_covariance.pose.orientation =
-        tier4_autoware_utils::createQuaternionFromYaw(updated_object_yaw);
+        autoware_universe_utils::createQuaternionFromYaw(updated_object_yaw);
       break;
     }
   }
@@ -1533,7 +1536,7 @@ void MapBasedPredictionNode::removeStaleTrafficLightInfo(
     const bool isDisappeared = std::none_of(
       in_objects->objects.begin(), in_objects->objects.end(),
       [&it](autoware_perception_msgs::msg::TrackedObject obj) {
-        return tier4_autoware_utils::toHexString(obj.object_id) == it->first.first;
+        return autoware_universe_utils::toHexString(obj.object_id) == it->first.first;
       });
     if (isDisappeared) {
       it = stopped_times_against_green_.erase(it);
@@ -1642,7 +1645,7 @@ bool MapBasedPredictionNode::checkCloseLaneletCondition(
 
   // If the object is in the objects history, we check if the target lanelet is
   // inside the current lanelets id or following lanelets
-  const std::string object_id = tier4_autoware_utils::toHexString(object.object_id);
+  const std::string object_id = autoware_universe_utils::toHexString(object.object_id);
   if (road_users_history.count(object_id) != 0) {
     const std::vector<lanelet::ConstLanelet> & possible_lanelet =
       road_users_history.at(object_id).back().future_possible_lanelets;
@@ -1660,7 +1663,7 @@ bool MapBasedPredictionNode::checkCloseLaneletCondition(
   const double lane_yaw = lanelet::utils::getLaneletAngle(
     lanelet.second, object.kinematics.pose_with_covariance.pose.position);
   const double delta_yaw = object_yaw - lane_yaw;
-  const double normalized_delta_yaw = tier4_autoware_utils::normalizeRadian(delta_yaw);
+  const double normalized_delta_yaw = autoware_universe_utils::normalizeRadian(delta_yaw);
   const double abs_norm_delta = std::fabs(normalized_delta_yaw);
 
   // Step3. Check if the closest lanelet is valid, and add all
@@ -1687,7 +1690,7 @@ float MapBasedPredictionNode::calculateLocalLikelihood(
   const double obj_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation);
   const double lane_yaw = lanelet::utils::getLaneletAngle(current_lanelet, obj_point);
   const double delta_yaw = obj_yaw - lane_yaw;
-  const double abs_norm_delta_yaw = std::fabs(tier4_autoware_utils::normalizeRadian(delta_yaw));
+  const double abs_norm_delta_yaw = std::fabs(autoware_universe_utils::normalizeRadian(delta_yaw));
 
   // compute lateral distance
   const auto centerline = current_lanelet.centerline();
@@ -1716,7 +1719,7 @@ void MapBasedPredictionNode::updateRoadUsersHistory(
   const std_msgs::msg::Header & header, const TrackedObject & object,
   const LaneletsData & current_lanelets_data)
 {
-  std::string object_id = tier4_autoware_utils::toHexString(object.object_id);
+  std::string object_id = autoware_universe_utils::toHexString(object.object_id);
   const auto current_lanelets = getLanelets(current_lanelets_data);
 
   ObjectData single_object_data;
@@ -1725,7 +1728,8 @@ void MapBasedPredictionNode::updateRoadUsersHistory(
   single_object_data.future_possible_lanelets = current_lanelets;
   single_object_data.pose = object.kinematics.pose_with_covariance.pose;
   const double object_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation);
-  single_object_data.pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(object_yaw);
+  single_object_data.pose.orientation =
+    autoware_universe_utils::createQuaternionFromYaw(object_yaw);
   single_object_data.time_delay = std::fabs((this->get_clock()->now() - header.stamp).seconds());
   single_object_data.twist = object.kinematics.twist_with_covariance.twist;
 
@@ -1929,7 +1933,7 @@ Maneuver MapBasedPredictionNode::predictObjectManeuver(
     throw std::logic_error("Lane change detection method is invalid.");
   }();
 
-  const std::string object_id = tier4_autoware_utils::toHexString(object.object_id);
+  const std::string object_id = autoware_universe_utils::toHexString(object.object_id);
   if (road_users_history.count(object_id) == 0) {
     return current_maneuver;
   }
@@ -1968,7 +1972,7 @@ Maneuver MapBasedPredictionNode::predictObjectManeuverByTimeToLaneChange(
   const double /*object_detected_time*/)
 {
   // Step1. Check if we have the object in the buffer
-  const std::string object_id = tier4_autoware_utils::toHexString(object.object_id);
+  const std::string object_id = autoware_universe_utils::toHexString(object.object_id);
   if (road_users_history.count(object_id) == 0) {
     return Maneuver::LANE_FOLLOW;
   }
@@ -2039,7 +2043,7 @@ Maneuver MapBasedPredictionNode::predictObjectManeuverByLatDiffDistance(
   const double /*object_detected_time*/)
 {
   // Step1. Check if we have the object in the buffer
-  const std::string object_id = tier4_autoware_utils::toHexString(object.object_id);
+  const std::string object_id = autoware_universe_utils::toHexString(object.object_id);
   if (road_users_history.count(object_id) == 0) {
     return Maneuver::LANE_FOLLOW;
   }
@@ -2077,7 +2081,7 @@ Maneuver MapBasedPredictionNode::predictObjectManeuverByLatDiffDistance(
   for (const auto & lanelet : prev_lanelets) {
     const double lane_yaw = lanelet::utils::getLaneletAngle(lanelet, prev_pose.position);
     const double delta_yaw = tf2::getYaw(prev_pose.orientation) - lane_yaw;
-    const double normalized_delta_yaw = tier4_autoware_utils::normalizeRadian(delta_yaw);
+    const double normalized_delta_yaw = autoware_universe_utils::normalizeRadian(delta_yaw);
     if (normalized_delta_yaw < closest_prev_yaw) {
       closest_prev_yaw = normalized_delta_yaw;
       prev_lanelet = lanelet;
@@ -2087,7 +2091,7 @@ Maneuver MapBasedPredictionNode::predictObjectManeuverByLatDiffDistance(
   // Step4. Check if the vehicle has changed lane
   const auto current_lanelet = current_lanelet_data.lanelet;
   const auto current_pose = object.kinematics.pose_with_covariance.pose;
-  const double dist = tier4_autoware_utils::calcDistance2d(prev_pose, current_pose);
+  const double dist = autoware_universe_utils::calcDistance2d(prev_pose, current_pose);
   lanelet::routing::LaneletPaths possible_paths =
     routing_graph_ptr_->possiblePaths(prev_lanelet, dist + 2.0, 0, false);
   bool has_lane_changed = true;
@@ -2172,8 +2176,8 @@ geometry_msgs::msg::Pose MapBasedPredictionNode::compensateTimeDelay(
   const double curr_yaw = prev_yaw + wz * dt;
 
   geometry_msgs::msg::Pose current_pose;
-  current_pose.position = tier4_autoware_utils::createPoint(curr_x, curr_y, curr_z);
-  current_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(curr_yaw);
+  current_pose.position = autoware_universe_utils::createPoint(curr_x, curr_y, curr_z);
+  current_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(curr_yaw);
 
   return current_pose;
 }
@@ -2185,7 +2189,7 @@ double MapBasedPredictionNode::calcRightLateralOffset(
   for (size_t i = 0; i < boundary_path.size(); ++i) {
     const double x = boundary_line[i].x();
     const double y = boundary_line[i].y();
-    boundary_path[i] = tier4_autoware_utils::createPoint(x, y, 0.0);
+    boundary_path[i] = autoware_universe_utils::createPoint(x, y, 0.0);
   }
 
   return std::fabs(motion_utils::calcLateralOffset(boundary_path, search_pose.position));
@@ -2200,7 +2204,7 @@ double MapBasedPredictionNode::calcLeftLateralOffset(
 void MapBasedPredictionNode::updateFuturePossibleLanelets(
   const TrackedObject & object, const lanelet::routing::LaneletPaths & paths)
 {
-  std::string object_id = tier4_autoware_utils::toHexString(object.object_id);
+  std::string object_id = autoware_universe_utils::toHexString(object.object_id);
   if (road_users_history.count(object_id) == 0) {
     return;
   }
@@ -2327,7 +2331,7 @@ std::vector<PosePath> MapBasedPredictionNode::convertPathType(
 
           const double lane_yaw = std::atan2(
             current_p.position.y - prev_p.position.y, current_p.position.x - prev_p.position.x);
-          current_p.orientation = tier4_autoware_utils::createQuaternionFromYaw(lane_yaw);
+          current_p.orientation = autoware_universe_utils::createQuaternionFromYaw(lane_yaw);
           converted_path.push_back(current_p);
           prev_p = current_p;
         }
@@ -2349,7 +2353,7 @@ std::vector<PosePath> MapBasedPredictionNode::convertPathType(
         // Prevent from inserting same points
         if (!converted_path.empty()) {
           const auto last_p = converted_path.back();
-          const double tmp_dist = tier4_autoware_utils::calcDistance2d(last_p, current_p);
+          const double tmp_dist = autoware_universe_utils::calcDistance2d(last_p, current_p);
           if (tmp_dist < 1e-6) {
             prev_p = current_p;
             continue;
@@ -2358,7 +2362,7 @@ std::vector<PosePath> MapBasedPredictionNode::convertPathType(
 
         const double lane_yaw = std::atan2(
           current_p.position.y - prev_p.position.y, current_p.position.x - prev_p.position.x);
-        current_p.orientation = tier4_autoware_utils::createQuaternionFromYaw(lane_yaw);
+        current_p.orientation = autoware_universe_utils::createQuaternionFromYaw(lane_yaw);
         converted_path.push_back(current_p);
         prev_p = current_p;
       }
@@ -2398,7 +2402,7 @@ bool MapBasedPredictionNode::isDuplicated(
   for (const auto & prev_predicted_path : predicted_paths) {
     const auto prev_path_end = prev_predicted_path.path.back().position;
     const auto current_path_end = predicted_path.path.back().position;
-    const double dist = tier4_autoware_utils::calcDistance2d(prev_path_end, current_path_end);
+    const double dist = autoware_universe_utils::calcDistance2d(prev_path_end, current_path_end);
     if (dist < CLOSE_PATH_THRESHOLD) {
       return true;
     }
@@ -2447,10 +2451,11 @@ bool MapBasedPredictionNode::calcIntentionToCrossWithTrafficSignal(
     return elem_opt ? elem_opt.value().color : TrafficLightElement::UNKNOWN;
   }();
 
-  const auto key = std::make_pair(tier4_autoware_utils::toHexString(object.object_id), signal_id);
+  const auto key =
+    std::make_pair(autoware_universe_utils::toHexString(object.object_id), signal_id);
   if (
     signal_color == TrafficLightElement::GREEN &&
-    tier4_autoware_utils::calcNorm(object.kinematics.twist_with_covariance.twist.linear) <
+    autoware_universe_utils::calcNorm(object.kinematics.twist_with_covariance.twist.linear) <
       threshold_velocity_assumed_as_stopping_) {
     stopped_times_against_green_.try_emplace(key, this->get_clock()->now());
 
diff --git a/perception/autoware_map_based_prediction/src/path_generator.cpp b/perception/autoware_map_based_prediction/src/path_generator.cpp
index 873219ffcf130..2f811e89f5296 100644
--- a/perception/autoware_map_based_prediction/src/path_generator.cpp
+++ b/perception/autoware_map_based_prediction/src/path_generator.cpp
@@ -14,9 +14,9 @@
 
 #include "map_based_prediction/path_generator.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <interpolation/spline_interpolation.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <algorithm>
 
@@ -49,8 +49,9 @@ PredictedPath PathGenerator::generatePathToTargetPoint(
   const auto arrival_time = pedestrian_to_entry_point.norm() / velocity;
 
   const auto pedestrian_to_entry_point_normalized = pedestrian_to_entry_point.normalized();
-  const auto pedestrian_to_entry_point_orientation = tier4_autoware_utils::createQuaternionFromYaw(
-    std::atan2(pedestrian_to_entry_point_normalized.y(), pedestrian_to_entry_point_normalized.x()));
+  const auto pedestrian_to_entry_point_orientation =
+    autoware_universe_utils::createQuaternionFromYaw(std::atan2(
+      pedestrian_to_entry_point_normalized.y(), pedestrian_to_entry_point_normalized.x()));
 
   for (double dt = 0.0; dt < arrival_time + ep; dt += sampling_time_interval_) {
     geometry_msgs::msg::Pose world_frame_pose;
@@ -92,10 +93,11 @@ PredictedPath PathGenerator::generatePathForCrosswalkUser(
   const auto arrival_time = pedestrian_to_entry_point.norm() / velocity;
 
   const auto pedestrian_to_entry_point_normalized = pedestrian_to_entry_point.normalized();
-  const auto pedestrian_to_entry_point_orientation = tier4_autoware_utils::createQuaternionFromYaw(
-    std::atan2(pedestrian_to_entry_point_normalized.y(), pedestrian_to_entry_point_normalized.x()));
+  const auto pedestrian_to_entry_point_orientation =
+    autoware_universe_utils::createQuaternionFromYaw(std::atan2(
+      pedestrian_to_entry_point_normalized.y(), pedestrian_to_entry_point_normalized.x()));
   const auto entry_to_exit_point_normalized = entry_to_exit_point.normalized();
-  const auto entry_to_exit_point_orientation = tier4_autoware_utils::createQuaternionFromYaw(
+  const auto entry_to_exit_point_orientation = autoware_universe_utils::createQuaternionFromYaw(
     std::atan2(entry_to_exit_point_normalized.y(), entry_to_exit_point_normalized.x()));
 
   for (double dt = 0.0; dt < duration + ep; dt += sampling_time_interval_) {
@@ -172,7 +174,7 @@ PredictedPath PathGenerator::generateStraightPath(
   path.time_step = rclcpp::Duration::from_seconds(sampling_time_interval_);
   path.path.reserve(static_cast<size_t>((duration) / sampling_time_interval_));
   for (double dt = 0.0; dt < duration; dt += sampling_time_interval_) {
-    const auto future_obj_pose = tier4_autoware_utils::calcOffsetPose(
+    const auto future_obj_pose = autoware_universe_utils::calcOffsetPose(
       object_pose, object_twist.linear.x * dt, object_twist.linear.y * dt, 0.0);
     path.path.push_back(future_obj_pose);
   }
@@ -317,7 +319,7 @@ PosePath PathGenerator::interpolateReferencePath(
     base_path_y.at(i) = base_path.at(i).position.y;
     base_path_z.at(i) = base_path.at(i).position.z;
     if (i > 0) {
-      base_path_s.at(i) = base_path_s.at(i - 1) + tier4_autoware_utils::calcDistance2d(
+      base_path_s.at(i) = base_path_s.at(i - 1) + autoware_universe_utils::calcDistance2d(
                                                     base_path.at(i - 1), base_path.at(i));
     }
   }
@@ -342,16 +344,16 @@ PosePath PathGenerator::interpolateReferencePath(
   for (size_t i = 0; i < interpolate_num - 1; ++i) {
     geometry_msgs::msg::Pose interpolated_pose;
     const auto current_point =
-      tier4_autoware_utils::createPoint(spline_ref_path_x.at(i), spline_ref_path_y.at(i), 0.0);
-    const auto next_point = tier4_autoware_utils::createPoint(
+      autoware_universe_utils::createPoint(spline_ref_path_x.at(i), spline_ref_path_y.at(i), 0.0);
+    const auto next_point = autoware_universe_utils::createPoint(
       spline_ref_path_x.at(i + 1), spline_ref_path_y.at(i + 1), 0.0);
-    const double yaw = tier4_autoware_utils::calcAzimuthAngle(current_point, next_point);
-    interpolated_pose.position = tier4_autoware_utils::createPoint(
+    const double yaw = autoware_universe_utils::calcAzimuthAngle(current_point, next_point);
+    interpolated_pose.position = autoware_universe_utils::createPoint(
       spline_ref_path_x.at(i), spline_ref_path_y.at(i), spline_ref_path_z.at(i));
-    interpolated_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw);
+    interpolated_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(yaw);
     interpolated_path.at(i) = interpolated_pose;
   }
-  interpolated_path.back().position = tier4_autoware_utils::createPoint(
+  interpolated_path.back().position = autoware_universe_utils::createPoint(
     spline_ref_path_x.back(), spline_ref_path_y.back(), spline_ref_path_z.back());
   interpolated_path.back().orientation = interpolated_path.at(interpolate_num - 2).orientation;
 
@@ -373,14 +375,15 @@ PredictedPath PathGenerator::convertToPredictedPath(
     const auto & frenet_point = frenet_predicted_path.at(i);
 
     // Converted Pose
-    auto predicted_pose = tier4_autoware_utils::calcOffsetPose(ref_pose, 0.0, frenet_point.d, 0.0);
+    auto predicted_pose =
+      autoware_universe_utils::calcOffsetPose(ref_pose, 0.0, frenet_point.d, 0.0);
     predicted_pose.position.z = object.kinematics.pose_with_covariance.pose.position.z;
     if (i == 0) {
       predicted_pose.orientation = object.kinematics.pose_with_covariance.pose.orientation;
     } else {
-      const double yaw = tier4_autoware_utils::calcAzimuthAngle(
+      const double yaw = autoware_universe_utils::calcAzimuthAngle(
         predicted_path.path.at(i - 1).position, predicted_pose.position);
-      predicted_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw);
+      predicted_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(yaw);
     }
     predicted_path.path.at(i) = predicted_pose;
   }
diff --git a/perception/cluster_merger/include/cluster_merger/node.hpp b/perception/cluster_merger/include/cluster_merger/node.hpp
index f36116378af78..adc02680e0d94 100644
--- a/perception/cluster_merger/include/cluster_merger/node.hpp
+++ b/perception/cluster_merger/include/cluster_merger/node.hpp
@@ -15,11 +15,11 @@
 #ifndef CLUSTER_MERGER__NODE_HPP_
 #define CLUSTER_MERGER__NODE_HPP_
 
+#include "autoware/universe_utils/ros/transform_listener.hpp"
 #include "message_filters/subscriber.h"
 #include "message_filters/sync_policies/approximate_time.h"
 #include "message_filters/synchronizer.h"
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/ros/transform_listener.hpp"
 
 #include "tier4_perception_msgs/msg/detected_objects_with_feature.hpp"
 
@@ -59,7 +59,7 @@ class ClusterMergerNode : public rclcpp::Node
   std::string output_frame_id_;
 
   std::vector<rclcpp::Subscription<DetectedObjectsWithFeature>::SharedPtr> sub_objects_array{};
-  std::shared_ptr<tier4_autoware_utils::TransformListener> transform_listener_;
+  std::shared_ptr<autoware_universe_utils::TransformListener> transform_listener_;
 
   void objectsCallback(
     const DetectedObjectsWithFeature::ConstSharedPtr & input_objects0_msg,
diff --git a/perception/cluster_merger/package.xml b/perception/cluster_merger/package.xml
index 220837bfd7e4e..17455dc27b6cc 100644
--- a/perception/cluster_merger/package.xml
+++ b/perception/cluster_merger/package.xml
@@ -12,12 +12,12 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>message_filters</depend>
   <depend>object_recognition_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
   <build_depend>autoware_cmake</build_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/compare_map_segmentation/CMakeLists.txt b/perception/compare_map_segmentation/CMakeLists.txt
index d56cb3fb31584..a76b0fc56e2a0 100644
--- a/perception/compare_map_segmentation/CMakeLists.txt
+++ b/perception/compare_map_segmentation/CMakeLists.txt
@@ -44,7 +44,7 @@ ament_target_dependencies(compare_map_segmentation
   rclcpp
   rclcpp_components
   sensor_msgs
-  tier4_autoware_utils
+  autoware_universe_utils
   autoware_map_msgs
   nav_msgs
 )
diff --git a/perception/compare_map_segmentation/package.xml b/perception/compare_map_segmentation/package.xml
index ca427db9811ba..7403dc0713475 100644
--- a/perception/compare_map_segmentation/package.xml
+++ b/perception/compare_map_segmentation/package.xml
@@ -18,6 +18,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_map_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>grid_map_pcl</depend>
   <depend>grid_map_ros</depend>
   <depend>nav_msgs</depend>
@@ -26,7 +27,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp
index 0f870d37c0de1..f72e87e2e3610 100644
--- a/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp
+++ b/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp
@@ -109,8 +109,8 @@ DistanceBasedCompareMapFilterComponent::DistanceBasedCompareMapFilterComponent(
 {
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ = std::make_unique<DebugPublisher>(this, "distance_based_compare_map_filter");
     stop_watch_ptr_->tic("cyclic_time");
diff --git a/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp
index 7ad479a6e74bd..6e8f527cc465c 100644
--- a/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp
+++ b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp
@@ -72,8 +72,8 @@ VoxelBasedApproximateCompareMapFilterComponent::VoxelBasedApproximateCompareMapF
 {
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ =
       std::make_unique<DebugPublisher>(this, "voxel_based_approximate_compare_map_filter");
diff --git a/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp
index 595336145dabd..720b5cf1d229a 100644
--- a/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp
+++ b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp
@@ -31,8 +31,8 @@ VoxelBasedCompareMapFilterComponent::VoxelBasedCompareMapFilterComponent(
 {
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ = std::make_unique<DebugPublisher>(this, "voxel_based_compare_map_filter");
     stop_watch_ptr_->tic("cyclic_time");
diff --git a/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp
index f169e2069aee7..3aacf31c9332f 100644
--- a/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp
+++ b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp
@@ -101,8 +101,8 @@ VoxelDistanceBasedCompareMapFilterComponent::VoxelDistanceBasedCompareMapFilterC
 {
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ =
       std::make_unique<DebugPublisher>(this, "voxel_distance_based_compare_map_filter");
diff --git a/perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp b/perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp
index 424ff87cbc0d7..3a29e7dd1d533 100644
--- a/perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp
+++ b/perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp
@@ -15,8 +15,8 @@
 #ifndef DETECTED_OBJECT_FEATURE_REMOVER__DETECTED_OBJECT_FEATURE_REMOVER_HPP_
 #define DETECTED_OBJECT_FEATURE_REMOVER__DETECTED_OBJECT_FEATURE_REMOVER_HPP_
 
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 #include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp>
@@ -36,7 +36,7 @@ class DetectedObjectFeatureRemover : public rclcpp::Node
 private:
   rclcpp::Subscription<DetectedObjectsWithFeature>::SharedPtr sub_;
   rclcpp::Publisher<DetectedObjects>::SharedPtr pub_;
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
   void objectCallback(const DetectedObjectsWithFeature::ConstSharedPtr input);
   void convert(const DetectedObjectsWithFeature & objs_with_feature, DetectedObjects & objs);
 };
diff --git a/perception/detected_object_feature_remover/package.xml b/perception/detected_object_feature_remover/package.xml
index 4beafa18d5146..9eb47e0e69557 100644
--- a/perception/detected_object_feature_remover/package.xml
+++ b/perception/detected_object_feature_remover/package.xml
@@ -11,9 +11,9 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp b/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp
index c5f977a4a3354..43a1d4d3d26ea 100644
--- a/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp
+++ b/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp
@@ -23,7 +23,8 @@ DetectedObjectFeatureRemover::DetectedObjectFeatureRemover(const rclcpp::NodeOpt
   pub_ = this->create_publisher<DetectedObjects>("~/output", rclcpp::QoS(1));
   sub_ = this->create_subscription<DetectedObjectsWithFeature>(
     "~/input", 1, std::bind(&DetectedObjectFeatureRemover::objectCallback, this, _1));
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void DetectedObjectFeatureRemover::objectCallback(
diff --git a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
index fa28362d85fe8..b96a57b12a233 100644
--- a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp
@@ -17,11 +17,11 @@
 
 #include "detected_object_validation/utils/utils.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
@@ -35,10 +35,10 @@
 
 namespace object_lanelet_filter
 {
-using tier4_autoware_utils::LinearRing2d;
-using tier4_autoware_utils::MultiPoint2d;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
+using autoware_universe_utils::LinearRing2d;
+using autoware_universe_utils::MultiPoint2d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 
 class ObjectLaneletFilterNode : public rclcpp::Node
 {
@@ -52,7 +52,7 @@ class ObjectLaneletFilterNode : public rclcpp::Node
   rclcpp::Publisher<autoware_perception_msgs::msg::DetectedObjects>::SharedPtr object_pub_;
   rclcpp::Subscription<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr map_sub_;
   rclcpp::Subscription<autoware_perception_msgs::msg::DetectedObjects>::SharedPtr object_sub_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_{nullptr};
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_{nullptr};
 
   lanelet::LaneletMapPtr lanelet_map_ptr_;
   lanelet::ConstLanelets road_lanelets_;
@@ -89,7 +89,7 @@ class ObjectLaneletFilterNode : public rclcpp::Node
     const autoware_perception_msgs::msg::DetectedObject & object);
   geometry_msgs::msg::Polygon setFootprint(const autoware_perception_msgs::msg::DetectedObject &);
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
 
 }  // namespace object_lanelet_filter
diff --git a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
index 02ec00fe0457f..d9eb3d367d4cf 100644
--- a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_position_filter.hpp
@@ -17,9 +17,9 @@
 
 #include "detected_object_validation/utils/utils.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
@@ -54,7 +54,7 @@ class ObjectPositionFilterNode : public rclcpp::Node
   utils::FilterTargetLabel filter_target_;
   bool isObjectInBounds(const autoware_perception_msgs::msg::DetectedObject & object) const;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
 
 }  // namespace object_position_filter
diff --git a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
index 5362dab62432a..450072f258e2a 100644
--- a/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp
@@ -19,9 +19,9 @@
 
 #include "detected_object_validation/obstacle_pointcloud_based_validator/debugger.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -131,7 +131,7 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node
   rclcpp::Publisher<autoware_perception_msgs::msg::DetectedObjects>::SharedPtr objects_pub_;
   message_filters::Subscriber<autoware_perception_msgs::msg::DetectedObjects> objects_sub_;
   message_filters::Subscriber<sensor_msgs::msg::PointCloud2> obstacle_pointcloud_sub_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_{nullptr};
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_{nullptr};
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
 
@@ -145,7 +145,7 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node
   std::shared_ptr<Debugger> debugger_;
   bool using_2d_validator_;
   std::unique_ptr<Validator> validator_;
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 
 private:
   void onObjectsAndObstaclePointCloud(
diff --git a/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp b/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
index 62c3e43d8e730..399db8cd8c1f3 100644
--- a/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
+++ b/perception/detected_object_validation/include/detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp
@@ -15,11 +15,11 @@
 #ifndef DETECTED_OBJECT_VALIDATION__OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
 #define DETECTED_OBJECT_VALIDATION__OCCUPANCY_GRID_BASED_VALIDATOR__OCCUPANCY_GRID_BASED_VALIDATOR_HPP_
 
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/opencv.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
@@ -43,7 +43,7 @@ class OccupancyGridBasedValidator : public rclcpp::Node
   message_filters::Subscriber<nav_msgs::msg::OccupancyGrid> occ_grid_sub_;
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 
   typedef message_filters::sync_policies::ApproximateTime<
     autoware_perception_msgs::msg::DetectedObjects, nav_msgs::msg::OccupancyGrid>
diff --git a/perception/detected_object_validation/package.xml b/perception/detected_object_validation/package.xml
index c48785438324c..7abfbe6625f01 100644
--- a/perception/detected_object_validation/package.xml
+++ b/perception/detected_object_validation/package.xml
@@ -19,6 +19,7 @@
 
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>message_filters</depend>
@@ -30,7 +31,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/detected_object_validation/src/object_lanelet_filter.cpp b/perception/detected_object_validation/src/object_lanelet_filter.cpp
index 05c5426944ec7..42247a2e36d2b 100644
--- a/perception/detected_object_validation/src/object_lanelet_filter.cpp
+++ b/perception/detected_object_validation/src/object_lanelet_filter.cpp
@@ -14,10 +14,10 @@
 
 #include "detected_object_validation/detected_object_filter/object_lanelet_filter.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <object_recognition_utils/object_recognition_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <boost/geometry/algorithms/convex_hull.hpp>
 #include <boost/geometry/algorithms/disjoint.hpp>
@@ -63,8 +63,9 @@ ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & nod
     "output/object", rclcpp::QoS{1});
 
   debug_publisher_ =
-    std::make_unique<tier4_autoware_utils::DebugPublisher>(this, "object_lanelet_filter");
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+    std::make_unique<autoware_universe_utils::DebugPublisher>(this, "object_lanelet_filter");
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void ObjectLaneletFilterNode::mapCallback(
@@ -236,7 +237,7 @@ bool ObjectLaneletFilterNode::isObjectOverlapLanelets(
     const auto footprint = setFootprint(object);
     for (const auto & point : footprint.points) {
       const geometry_msgs::msg::Point32 point_transformed =
-        tier4_autoware_utils::transformPoint(point, object.kinematics.pose_with_covariance.pose);
+        autoware_universe_utils::transformPoint(point, object.kinematics.pose_with_covariance.pose);
       polygon.outer().emplace_back(point_transformed.x, point_transformed.y);
     }
     polygon.outer().push_back(polygon.outer().front());
@@ -245,7 +246,7 @@ bool ObjectLaneletFilterNode::isObjectOverlapLanelets(
     // if object do not have bounding box, check each footprint is inside polygon
     for (const auto & point : object.shape.footprint.points) {
       const geometry_msgs::msg::Point32 point_transformed =
-        tier4_autoware_utils::transformPoint(point, object.kinematics.pose_with_covariance.pose);
+        autoware_universe_utils::transformPoint(point, object.kinematics.pose_with_covariance.pose);
       geometry_msgs::msg::Pose point2d;
       point2d.position.x = point_transformed.x;
       point2d.position.y = point_transformed.y;
@@ -295,7 +296,7 @@ bool ObjectLaneletFilterNode::isSameDirectionWithLanelets(
     const double lane_yaw = lanelet::utils::getLaneletAngle(
       lanelet, object.kinematics.pose_with_covariance.pose.position);
     const double delta_yaw = object_velocity_yaw - lane_yaw;
-    const double normalized_delta_yaw = tier4_autoware_utils::normalizeRadian(delta_yaw);
+    const double normalized_delta_yaw = autoware_universe_utils::normalizeRadian(delta_yaw);
     const double abs_norm_delta_yaw = std::fabs(normalized_delta_yaw);
 
     if (abs_norm_delta_yaw < filter_settings_.lanelet_direction_filter_velocity_yaw_threshold) {
diff --git a/perception/detected_object_validation/src/object_position_filter.cpp b/perception/detected_object_validation/src/object_position_filter.cpp
index 278b4829cae40..8e22cd1b88d88 100644
--- a/perception/detected_object_validation/src/object_position_filter.cpp
+++ b/perception/detected_object_validation/src/object_position_filter.cpp
@@ -42,7 +42,8 @@ ObjectPositionFilterNode::ObjectPositionFilterNode(const rclcpp::NodeOptions & n
     "input/object", rclcpp::QoS{1}, std::bind(&ObjectPositionFilterNode::objectCallback, this, _1));
   object_pub_ = this->create_publisher<autoware_perception_msgs::msg::DetectedObjects>(
     "output/object", rclcpp::QoS{1});
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void ObjectPositionFilterNode::objectCallback(
diff --git a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
index 0dd3c1ed08f15..10e923b91c1bd 100644
--- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
+++ b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp
@@ -14,8 +14,8 @@
 
 #include "detected_object_validation/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp"
 
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 #include <object_recognition_utils/object_recognition_utils.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <boost/geometry.hpp>
 
@@ -33,7 +33,7 @@ namespace obstacle_pointcloud_based_validator
 {
 namespace bg = boost::geometry;
 using Shape = autoware_perception_msgs::msg::Shape;
-using Polygon2d = tier4_autoware_utils::Polygon2d;
+using Polygon2d = autoware_universe_utils::Polygon2d;
 
 Validator::Validator(PointsNumThresholdParam & points_num_threshold_param)
 {
@@ -97,7 +97,7 @@ std::optional<size_t> Validator2D::getPointCloudWithinObject(
   std::vector<pcl::Vertices> vertices_array;
   pcl::Vertices vertices;
   Polygon2d poly2d =
-    tier4_autoware_utils::toPolygon2d(object.kinematics.pose_with_covariance.pose, object.shape);
+    autoware_universe_utils::toPolygon2d(object.kinematics.pose_with_covariance.pose, object.shape);
   if (bg::is_empty(poly2d)) return std::nullopt;
 
   pcl::PointCloud<pcl::PointXYZ>::Ptr poly3d(new pcl::PointCloud<pcl::PointXYZ>);
@@ -212,7 +212,7 @@ std::optional<size_t> Validator3D::getPointCloudWithinObject(
   auto z_min = object_position.z - object_height / 2.0f;
   auto z_max = object_position.z + object_height / 2.0f;
   Polygon2d poly2d =
-    tier4_autoware_utils::toPolygon2d(object.kinematics.pose_with_covariance.pose, object.shape);
+    autoware_universe_utils::toPolygon2d(object.kinematics.pose_with_covariance.pose, object.shape);
   if (bg::is_empty(poly2d)) return std::nullopt;
 
   pcl::PointCloud<pcl::PointXYZ>::Ptr poly3d(new pcl::PointCloud<pcl::PointXYZ>);
@@ -304,12 +304,13 @@ ObstaclePointCloudBasedValidator::ObstaclePointCloudBasedValidator(
 
   objects_pub_ = create_publisher<autoware_perception_msgs::msg::DetectedObjects>(
     "~/output/objects", rclcpp::QoS{1});
-  debug_publisher_ = std::make_unique<tier4_autoware_utils::DebugPublisher>(
+  debug_publisher_ = std::make_unique<autoware_universe_utils::DebugPublisher>(
     this, "obstacle_pointcloud_based_validator");
 
   const bool enable_debugger = declare_parameter<bool>("enable_debugger", false);
   if (enable_debugger) debugger_ = std::make_shared<Debugger>(this);
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud(
   const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr & input_objects,
diff --git a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp b/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
index 792483eeebf81..ec29818ee6491 100644
--- a/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
+++ b/perception/detected_object_validation/src/occupancy_grid_based_validator.cpp
@@ -14,9 +14,9 @@
 
 #include "detected_object_validation/occupancy_grid_based_validator/occupancy_grid_based_validator.hpp"
 
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 #include <object_recognition_utils/object_classification.hpp>
 #include <object_recognition_utils/object_recognition_utils.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <boost/optional.hpp>
 
@@ -33,7 +33,7 @@
 namespace occupancy_grid_based_validator
 {
 using Shape = autoware_perception_msgs::msg::Shape;
-using Polygon2d = tier4_autoware_utils::Polygon2d;
+using Polygon2d = autoware_universe_utils::Polygon2d;
 
 OccupancyGridBasedValidator::OccupancyGridBasedValidator(const rclcpp::NodeOptions & node_options)
 : rclcpp::Node("occupancy_grid_based_validator", node_options),
@@ -52,7 +52,8 @@ OccupancyGridBasedValidator::OccupancyGridBasedValidator(const rclcpp::NodeOptio
 
   mean_threshold_ = declare_parameter<float>("mean_threshold", 0.6);
   enable_debug_ = declare_parameter<bool>("enable_debug", false);
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void OccupancyGridBasedValidator::onObjectsAndOccGrid(
@@ -107,7 +108,7 @@ std::optional<cv::Mat> OccupancyGridBasedValidator::getMask(
   const auto & origin = occupancy_grid.info.origin;
   std::vector<cv::Point> pixel_vertices;
   Polygon2d poly2d =
-    tier4_autoware_utils::toPolygon2d(object.kinematics.pose_with_covariance.pose, object.shape);
+    autoware_universe_utils::toPolygon2d(object.kinematics.pose_with_covariance.pose, object.shape);
 
   bool is_polygon_within_image = true;
   for (const auto & p : poly2d.outer()) {
diff --git a/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp b/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp
index 51e93bfea33dd..40caa06d3acbf 100644
--- a/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp
+++ b/perception/detection_by_tracker/include/detection_by_tracker/debugger.hpp
@@ -15,13 +15,13 @@
 #ifndef DETECTION_BY_TRACKER__DEBUGGER_HPP_
 #define DETECTION_BY_TRACKER__DEBUGGER_HPP_
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <euclidean_cluster/euclidean_cluster.hpp>
 #include <euclidean_cluster/utils.hpp>
 #include <euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <shape_estimation/shape_estimator.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_perception_msgs/msg/tracked_objects.hpp>
@@ -60,9 +60,9 @@ class Debugger
     divided_objects_pub_ = node->create_publisher<autoware_perception_msgs::msg::DetectedObjects>(
       "debug/divided_objects", 1);
     processing_time_publisher_ =
-      std::make_unique<tier4_autoware_utils::DebugPublisher>(node, "detection_by_tracker");
+      std::make_unique<autoware_universe_utils::DebugPublisher>(node, "detection_by_tracker");
     stop_watch_ptr_ =
-      std::make_unique<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>>();
+      std::make_unique<autoware_universe_utils::StopWatch<std::chrono::milliseconds>>();
     this->startStopWatch();
   }
 
@@ -103,8 +103,8 @@ class Debugger
   rclcpp::Publisher<autoware_perception_msgs::msg::DetectedObjects>::SharedPtr merged_objects_pub_;
   rclcpp::Publisher<autoware_perception_msgs::msg::DetectedObjects>::SharedPtr divided_objects_pub_;
   // debug publisher
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> processing_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> processing_time_publisher_;
 
   autoware_perception_msgs::msg::DetectedObjects removeFeature(
     const tier4_perception_msgs::msg::DetectedObjectsWithFeature & input)
diff --git a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp b/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
index d0e5cc8436ec8..de9453c68ca95 100644
--- a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
+++ b/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp
@@ -18,12 +18,12 @@
 #include "detection_by_tracker/debugger.hpp"
 #include "detection_by_tracker/utils.hpp"
 
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <euclidean_cluster/euclidean_cluster.hpp>
 #include <euclidean_cluster/utils.hpp>
 #include <euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <shape_estimation/shape_estimator.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_perception_msgs/msg/tracked_objects.hpp>
@@ -84,7 +84,7 @@ class DetectionByTracker : public rclcpp::Node
 
   detection_by_tracker::utils::TrackerIgnoreLabel tracker_ignore_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 
   void setMaxSearchRange();
 
diff --git a/perception/detection_by_tracker/package.xml b/perception/detection_by_tracker/package.xml
index dae58f2d7da78..52d4d3fcdd7a2 100644
--- a/perception/detection_by_tracker/package.xml
+++ b/perception/detection_by_tracker/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>euclidean_cluster</depend>
   <depend>libpcl-all-dev</depend>
@@ -24,7 +25,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/detection_by_tracker/src/detection_by_tracker_core.cpp b/perception/detection_by_tracker/src/detection_by_tracker_core.cpp
index 8ee6cc2739b43..dd63013bff038 100644
--- a/perception/detection_by_tracker/src/detection_by_tracker_core.cpp
+++ b/perception/detection_by_tracker/src/detection_by_tracker_core.cpp
@@ -16,8 +16,8 @@
 
 #include "object_recognition_utils/object_recognition_utils.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #include <chrono>
 #include <memory>
@@ -61,7 +61,7 @@ boost::optional<ReferenceYawInfo> getReferenceYawInfo(const uint8_t label, const
   const bool is_vehicle =
     Label::CAR == label || Label::TRUCK == label || Label::BUS == label || Label::TRAILER == label;
   if (is_vehicle) {
-    return ReferenceYawInfo{yaw, tier4_autoware_utils::deg2rad(30)};
+    return ReferenceYawInfo{yaw, autoware_universe_utils::deg2rad(30)};
   } else {
     return boost::none;
   }
@@ -136,9 +136,9 @@ bool TrackerHandler::estimateTrackedObjects(
     estimated_object.kinematics.pose_with_covariance.pose.position.y =
       y + vx * std::sin(yaw) * dt.seconds();
     estimated_object.kinematics.pose_with_covariance.pose.position.z = z;
-    const float yaw_hat = tier4_autoware_utils::normalizeRadian(yaw + wz * dt.seconds());
+    const float yaw_hat = autoware_universe_utils::normalizeRadian(yaw + wz * dt.seconds());
     estimated_object.kinematics.pose_with_covariance.pose.orientation =
-      tier4_autoware_utils::createQuaternionFromYaw(yaw_hat);
+      autoware_universe_utils::createQuaternionFromYaw(yaw_hat);
     output.objects.push_back(estimated_object);
   }
   return true;
@@ -177,7 +177,8 @@ DetectionByTracker::DetectionByTracker(const rclcpp::NodeOptions & node_options)
   cluster_ = std::make_shared<euclidean_cluster::VoxelGridBasedEuclideanCluster>(
     false, 10, 10000, 0.7, 0.3, 0);
   debugger_ = std::make_shared<Debugger>(this);
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void DetectionByTracker::setMaxSearchRange()
@@ -283,7 +284,7 @@ void DetectionByTracker::divideUnderSegmentedObjects(
 
     for (const auto & initial_object : in_cluster_objects.feature_objects) {
       // search near object
-      const float distance = tier4_autoware_utils::calcDistance2d(
+      const float distance = autoware_universe_utils::calcDistance2d(
         tracked_object.kinematics.pose_with_covariance.pose,
         initial_object.object.kinematics.pose_with_covariance.pose);
       if (max_search_range < distance) {
@@ -419,7 +420,7 @@ void DetectionByTracker::mergeOverSegmentedObjects(
 
     pcl::PointCloud<pcl::PointXYZ> pcl_merged_cluster;
     for (const auto & initial_object : in_cluster_objects.feature_objects) {
-      const float distance = tier4_autoware_utils::calcDistance2d(
+      const float distance = autoware_universe_utils::calcDistance2d(
         tracked_object.kinematics.pose_with_covariance.pose,
         initial_object.object.kinematics.pose_with_covariance.pose);
 
diff --git a/perception/elevation_map_loader/include/elevation_map_loader/elevation_map_loader_node.hpp b/perception/elevation_map_loader/include/elevation_map_loader/elevation_map_loader_node.hpp
index 88f7bf4a9c2a9..fda0fcddc1bc7 100644
--- a/perception/elevation_map_loader/include/elevation_map_loader/elevation_map_loader_node.hpp
+++ b/perception/elevation_map_loader/include/elevation_map_loader/elevation_map_loader_node.hpp
@@ -15,12 +15,12 @@
 #ifndef ELEVATION_MAP_LOADER__ELEVATION_MAP_LOADER_NODE_HPP_
 #define ELEVATION_MAP_LOADER__ELEVATION_MAP_LOADER_NODE_HPP_
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <filters/filter_chain.hpp>
 #include <grid_map_core/GridMap.hpp>
 #include <grid_map_pcl/GridMapPclLoader.hpp>
 #include <grid_map_ros/GridMapRosConverter.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include "tier4_external_api_msgs/msg/map_hash.hpp"
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
diff --git a/perception/elevation_map_loader/package.xml b/perception/elevation_map_loader/package.xml
index e287b83aaa504..afbd88da84bde 100644
--- a/perception/elevation_map_loader/package.xml
+++ b/perception/elevation_map_loader/package.xml
@@ -14,6 +14,7 @@
 
   <depend>autoware_grid_map_utils</depend>
   <depend>autoware_map_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>grid_map_cv</depend>
   <depend>grid_map_pcl</depend>
   <depend>grid_map_ros</depend>
@@ -25,7 +26,6 @@
   <depend>rosbag2_storage_default_plugins</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_external_api_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/elevation_map_loader/src/elevation_map_loader_node.cpp b/perception/elevation_map_loader/src/elevation_map_loader_node.cpp
index 7b7c529e17dcc..1d3d091165b4c 100644
--- a/perception/elevation_map_loader/src/elevation_map_loader_node.cpp
+++ b/perception/elevation_map_loader/src/elevation_map_loader_node.cpp
@@ -356,7 +356,7 @@ void ElevationMapLoaderNode::inpaintElevationMap(const float radius)
   // Convert elevation layer to OpenCV image to fill in holes.
   // Get the inpaint mask (nonzero pixels indicate where values need to be filled in).
   namespace bg = boost::geometry;
-  using tier4_autoware_utils::Point2d;
+  using autoware_universe_utils::Point2d;
 
   elevation_map_.add("inpaint_mask", 0.0);
 
diff --git a/perception/euclidean_cluster/src/euclidean_cluster_node.cpp b/perception/euclidean_cluster/src/euclidean_cluster_node.cpp
index 746ef1bafb583..31f24766de9a9 100644
--- a/perception/euclidean_cluster/src/euclidean_cluster_node.cpp
+++ b/perception/euclidean_cluster/src/euclidean_cluster_node.cpp
@@ -38,9 +38,10 @@ EuclideanClusterNode::EuclideanClusterNode(const rclcpp::NodeOptions & options)
   cluster_pub_ = this->create_publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>(
     "output", rclcpp::QoS{1});
   debug_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("debug/clusters", 1);
-  stop_watch_ptr_ = std::make_unique<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>>();
+  stop_watch_ptr_ =
+    std::make_unique<autoware_universe_utils::StopWatch<std::chrono::milliseconds>>();
   debug_publisher_ =
-    std::make_unique<tier4_autoware_utils::DebugPublisher>(this, "euclidean_cluster");
+    std::make_unique<autoware_universe_utils::DebugPublisher>(this, "euclidean_cluster");
   stop_watch_ptr_->tic("cyclic_time");
   stop_watch_ptr_->tic("processing_time");
 }
diff --git a/perception/euclidean_cluster/src/euclidean_cluster_node.hpp b/perception/euclidean_cluster/src/euclidean_cluster_node.hpp
index 16e179b2512d3..23724ae880827 100644
--- a/perception/euclidean_cluster/src/euclidean_cluster_node.hpp
+++ b/perception/euclidean_cluster/src/euclidean_cluster_node.hpp
@@ -16,9 +16,9 @@
 
 #include "euclidean_cluster/euclidean_cluster.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -41,8 +41,8 @@ class EuclideanClusterNode : public rclcpp::Node
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr debug_pub_;
 
   std::shared_ptr<EuclideanCluster> cluster_;
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_;
 };
 
 }  // namespace euclidean_cluster
diff --git a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp b/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp
index 7e6a456561900..2160fd50faafb 100644
--- a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp
+++ b/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp
@@ -42,8 +42,9 @@ VoxelGridBasedEuclideanClusterNode::VoxelGridBasedEuclideanClusterNode(
   cluster_pub_ = this->create_publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>(
     "output", rclcpp::QoS{1});
   debug_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("debug/clusters", 1);
-  stop_watch_ptr_ = std::make_unique<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>>();
-  debug_publisher_ = std::make_unique<tier4_autoware_utils::DebugPublisher>(
+  stop_watch_ptr_ =
+    std::make_unique<autoware_universe_utils::StopWatch<std::chrono::milliseconds>>();
+  debug_publisher_ = std::make_unique<autoware_universe_utils::DebugPublisher>(
     this, "voxel_grid_based_euclidean_cluster");
   stop_watch_ptr_->tic("cyclic_time");
   stop_watch_ptr_->tic("processing_time");
diff --git a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.hpp b/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.hpp
index 18330b5f12074..3a954436ce8ca 100644
--- a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.hpp
+++ b/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.hpp
@@ -16,9 +16,9 @@
 
 #include "euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -41,8 +41,8 @@ class VoxelGridBasedEuclideanClusterNode : public rclcpp::Node
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr debug_pub_;
 
   std::shared_ptr<VoxelGridBasedEuclideanCluster> cluster_;
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_;
 };
 
 }  // namespace euclidean_cluster
diff --git a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp
index 314c9cfb97a75..39498f9c8c82f 100644
--- a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp
+++ b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp
@@ -280,9 +280,9 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter
   rcl_interfaces::msg::SetParametersResult onParameter(const std::vector<rclcpp::Parameter> & p);
 
   // debugger
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
     nullptr};
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
 
 public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
index e638baba12521..7af02da734524 100644
--- a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
+++ b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
@@ -14,10 +14,10 @@
 
 #include "ground_segmentation/scan_ground_filter_nodelet.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <memory>
 #include <string>
@@ -26,11 +26,11 @@
 namespace ground_segmentation
 {
 using autoware::vehicle_info_utils::VehicleInfoUtils;
+using autoware_universe_utils::calcDistance3d;
+using autoware_universe_utils::deg2rad;
+using autoware_universe_utils::normalizeDegree;
+using autoware_universe_utils::normalizeRadian;
 using pointcloud_preprocessor::get_param;
-using tier4_autoware_utils::calcDistance3d;
-using tier4_autoware_utils::deg2rad;
-using tier4_autoware_utils::normalizeDegree;
-using tier4_autoware_utils::normalizeRadian;
 
 ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & options)
 : Filter("ScanGroundFilter", options)
@@ -79,8 +79,8 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions &
 
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ptr_ = std::make_unique<DebugPublisher>(this, "scan_ground_filter");
     stop_watch_ptr_->tic("cyclic_time");
diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp
index a2a78c99cd5ba..92859a80e48f6 100644
--- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp
+++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/fusion_node.hpp
@@ -15,10 +15,10 @@
 #ifndef IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_
 #define IMAGE_PROJECTION_BASED_FUSION__FUSION_NODE_HPP_
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <image_projection_based_fusion/debugger.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
@@ -138,8 +138,8 @@ class FusionNode : public rclcpp::Node
   float filter_scope_max_z_;
 
   /** \brief processing time publisher. **/
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_;
 };
 
 }  // namespace image_projection_based_fusion
diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_detected_object_fusion/node.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_detected_object_fusion/node.hpp
index a59b6992c5328..65e03c6bc6316 100644
--- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_detected_object_fusion/node.hpp
+++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/roi_detected_object_fusion/node.hpp
@@ -15,8 +15,8 @@
 #ifndef IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_
 #define IMAGE_PROJECTION_BASED_FUSION__ROI_DETECTED_OBJECT_FUSION__NODE_HPP_
 
+#include "autoware/universe_utils/ros/debug_publisher.hpp"
 #include "image_projection_based_fusion/fusion_node.hpp"
-#include "tier4_autoware_utils/ros/debug_publisher.hpp"
 
 #include "autoware_perception_msgs/msg/object_classification.hpp"
 
diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/utils/utils.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/utils/utils.hpp
index 0b6497135612e..ffa1666396a1d 100644
--- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/utils/utils.hpp
+++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/utils/utils.hpp
@@ -34,10 +34,10 @@
 
 #include "image_projection_based_fusion/fusion_node.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include "autoware_perception_msgs/msg/shape.hpp"
 #include "tier4_perception_msgs/msg/detected_object_with_feature.hpp"
diff --git a/perception/image_projection_based_fusion/package.xml b/perception/image_projection_based_fusion/package.xml
index c1bd85cb945de..8d5a2ef1fe519 100644
--- a/perception/image_projection_based_fusion/package.xml
+++ b/perception/image_projection_based_fusion/package.xml
@@ -18,6 +18,7 @@
 
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_point_types</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>cv_bridge</depend>
   <depend>euclidean_cluster</depend>
   <depend>image_transport</depend>
@@ -33,7 +34,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_sensor_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp
index fa2dcd2b0e7e1..e561642b76951 100644
--- a/perception/image_projection_based_fusion/src/fusion_node.cpp
+++ b/perception/image_projection_based_fusion/src/fusion_node.cpp
@@ -130,8 +130,8 @@ FusionNode<TargetMsg3D, ObjType, Msg2D>::FusionNode(
 
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ = std::make_unique<DebugPublisher>(this, get_name());
     stop_watch_ptr_->tic("cyclic_time");
diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp
index 24ff1245813ac..7973c22cc1d78 100644
--- a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp
+++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp
@@ -16,6 +16,8 @@
 
 #include "autoware_point_types/types.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/constants.hpp>
 #include <image_projection_based_fusion/utils/geometry.hpp>
 #include <image_projection_based_fusion/utils/utils.hpp>
 #include <lidar_centerpoint/centerpoint_config.hpp>
@@ -23,8 +25,6 @@
 #include <lidar_centerpoint/ros_utils.hpp>
 #include <lidar_centerpoint/utils.hpp>
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/constants.hpp>
 
 #include <omp.h>
 
diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp
index d44620995c61b..c1e431ed83c99 100644
--- a/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp
+++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp
@@ -14,10 +14,10 @@
 
 #include "image_projection_based_fusion/pointpainting_fusion/pointpainting_trt.hpp"
 
+#include <autoware/universe_utils/math/constants.hpp>
 #include <image_projection_based_fusion/pointpainting_fusion/preprocess_kernel.hpp>
 #include <lidar_centerpoint/centerpoint_config.hpp>
 #include <lidar_centerpoint/network/scatter_kernel.hpp>
-#include <tier4_autoware_utils/math/constants.hpp>
 
 #include <iostream>
 #include <memory>
diff --git a/perception/image_projection_based_fusion/src/utils/utils.cpp b/perception/image_projection_based_fusion/src/utils/utils.cpp
index 950c73bc2fb6d..fb99364147509 100644
--- a/perception/image_projection_based_fusion/src/utils/utils.cpp
+++ b/perception/image_projection_based_fusion/src/utils/utils.cpp
@@ -70,7 +70,7 @@ void closest_cluster(
     std::memcpy(&point.y, &cluster.data[i * point_step + y_offset], sizeof(float));
     std::memcpy(&point.z, &cluster.data[i * point_step + z_offset], sizeof(float));
 
-    point_data.distance = tier4_autoware_utils::calcDistance2d(center, point);
+    point_data.distance = autoware_universe_utils::calcDistance2d(center, point);
     point_data.orig_index = i;
     points_data.push_back(point_data);
   }
@@ -258,7 +258,7 @@ pcl::PointXYZ getClosestPoint(const pcl::PointCloud<pcl::PointXYZ> & cluster)
   pcl::PointXYZ orig_point = pcl::PointXYZ(0.0, 0.0, 0.0);
   for (std::size_t i = 0; i < cluster.points.size(); ++i) {
     pcl::PointXYZ point = cluster.points.at(i);
-    double dist_closest_point = tier4_autoware_utils::calcDistance2d(point, orig_point);
+    double dist_closest_point = autoware_universe_utils::calcDistance2d(point, orig_point);
     if (min_dist > dist_closest_point) {
       min_dist = dist_closest_point;
       closest_point = pcl::PointXYZ(point.x, point.y, point.z);
diff --git a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt
index c4c73927ad255..462e9d22f9da2 100644
--- a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt
+++ b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt
@@ -8,7 +8,7 @@ find_package(pcl_conversions REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(tf2_eigen REQUIRED)
-find_package(tier4_autoware_utils REQUIRED)
+find_package(autoware_universe_utils REQUIRED)
 find_package(tier4_debug_msgs REQUIRED)
 find_package(tier4_perception_msgs REQUIRED)
 
@@ -40,7 +40,7 @@ target_include_directories(${PROJECT_NAME} PRIVATE
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
   ${cuda_utils_INCLUDE_DIRS}
   ${pcl_conversions_INCLUDE_DIRS}
-  ${tier4_autoware_utils_INCLUDE_DIRS}
+  ${autoware_universe_utils_INCLUDE_DIRS}
   ${autoware_perception_msgs_INCLUDE_DIRS}
 )
 
diff --git a/perception/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/detector.hpp b/perception/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/detector.hpp
index ca2ae95149e9a..1e5966f5751af 100644
--- a/perception/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/detector.hpp
+++ b/perception/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/detector.hpp
@@ -19,11 +19,11 @@
 #include "feature_generator.hpp"
 #include "lidar_apollo_instance_segmentation/node.hpp"
 
+#include <autoware/universe_utils/transform/transforms.hpp>
 #include <cuda_utils/cuda_unique_ptr.hpp>
 #include <cuda_utils/stream_unique_ptr.hpp>
 #include <tensorrt_common/tensorrt_common.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
-#include <tier4_autoware_utils/transform/transforms.hpp>
 
 #include <tf2_ros/buffer_interface.h>
 #include <tf2_ros/transform_listener.h>
diff --git a/perception/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/node.hpp b/perception/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/node.hpp
index 0ed5f37b6fa14..9082e209fb330 100644
--- a/perception/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/node.hpp
+++ b/perception/lidar_apollo_instance_segmentation/include/lidar_apollo_instance_segmentation/node.hpp
@@ -17,9 +17,9 @@
 
 #include "lidar_apollo_instance_segmentation/debugger.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp>
@@ -47,8 +47,8 @@ class LidarInstanceSegmentationNode : public rclcpp::Node
   std::shared_ptr<LidarInstanceSegmentationInterface> detector_ptr_;
   std::shared_ptr<Debugger> debugger_ptr_;
   void pointCloudCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_;
 
 public:
   explicit LidarInstanceSegmentationNode(const rclcpp::NodeOptions & node_options);
diff --git a/perception/lidar_apollo_instance_segmentation/package.xml b/perception/lidar_apollo_instance_segmentation/package.xml
index c5b3dbb9c0585..1157b7575933c 100755
--- a/perception/lidar_apollo_instance_segmentation/package.xml
+++ b/perception/lidar_apollo_instance_segmentation/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>cuda_utils</depend>
   <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>
@@ -20,7 +21,6 @@
   <depend>rclcpp_components</depend>
   <depend>tensorrt_common</depend>
   <depend>tf2_eigen</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_perception_msgs</depend>
 
diff --git a/perception/lidar_apollo_instance_segmentation/src/detector.cpp b/perception/lidar_apollo_instance_segmentation/src/detector.cpp
index 236f0998ab21f..592c63ed22169 100644
--- a/perception/lidar_apollo_instance_segmentation/src/detector.cpp
+++ b/perception/lidar_apollo_instance_segmentation/src/detector.cpp
@@ -88,7 +88,7 @@ bool LidarApolloInstanceSegmentation::transformCloud(
         target_frame_, input.header.frame_id, input.header.stamp, std::chrono::milliseconds(500));
       Eigen::Matrix4f affine_matrix =
         tf2::transformToEigen(transform_stamped.transform).matrix().cast<float>();
-      tier4_autoware_utils::transformPointCloud(pcl_input, pcl_transformed_cloud, affine_matrix);
+      autoware_universe_utils::transformPointCloud(pcl_input, pcl_transformed_cloud, affine_matrix);
       transformed_cloud.header.frame_id = target_frame_;
       pcl_transformed_cloud.header.frame_id = target_frame_;
     } catch (tf2::TransformException & ex) {
@@ -103,7 +103,7 @@ bool LidarApolloInstanceSegmentation::transformCloud(
   pcl::PointCloud<pcl::PointXYZI> pointcloud_with_z_offset;
   Eigen::Affine3f z_up_translation(Eigen::Translation3f(0, 0, z_offset));
   Eigen::Matrix4f z_up_transform = z_up_translation.matrix();
-  tier4_autoware_utils::transformPointCloud(
+  autoware_universe_utils::transformPointCloud(
     pcl_transformed_cloud, pcl_transformed_cloud, z_up_transform);
 
   pcl::toROSMsg(pcl_transformed_cloud, transformed_cloud);
diff --git a/perception/lidar_apollo_instance_segmentation/src/node.cpp b/perception/lidar_apollo_instance_segmentation/src/node.cpp
index 5bf8ed0d027e5..6034fe917bf42 100644
--- a/perception/lidar_apollo_instance_segmentation/src/node.cpp
+++ b/perception/lidar_apollo_instance_segmentation/src/node.cpp
@@ -16,8 +16,8 @@
 
 #include "lidar_apollo_instance_segmentation/detector.hpp"
 
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 
 namespace lidar_apollo_instance_segmentation
 {
@@ -28,8 +28,8 @@ LidarInstanceSegmentationNode::LidarInstanceSegmentationNode(
   using std::placeholders::_1;
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ = std::make_unique<DebugPublisher>(this, "lidar_apollo_instance_segmentation");
     stop_watch_ptr_->tic("cyclic_time");
diff --git a/perception/lidar_apollo_segmentation_tvm/package.xml b/perception/lidar_apollo_segmentation_tvm/package.xml
index 54b4e5d4b7836..643a331e54a5a 100755
--- a/perception/lidar_apollo_segmentation_tvm/package.xml
+++ b/perception/lidar_apollo_segmentation_tvm/package.xml
@@ -14,6 +14,7 @@
   <build_depend>libpcl-all-dev</build_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
@@ -21,7 +22,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
   <depend>tvm_utility</depend>
   <depend>tvm_vendor</depend>
diff --git a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp
index 85f0a69356d55..a516d35edfd6b 100644
--- a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp
+++ b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp
@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <autoware/universe_utils/transform/transforms.hpp>
 #include <baidu_cnn/inference_engine_tvm_config.hpp>
 #include <lidar_apollo_segmentation_tvm/feature_map.hpp>
 #include <lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp>
-#include <tier4_autoware_utils/transform/transforms.hpp>
 #include <tvm_utility/pipeline.hpp>
 
 #include <memory>
@@ -147,7 +147,7 @@ void ApolloLidarSegmentation::transformCloud(
         tf_buffer_->lookupTransform(target_frame_, input.header.frame_id, time_point);
       Eigen::Matrix4f affine_matrix =
         tf2::transformToEigen(transform_stamped.transform).matrix().cast<float>();
-      tier4_autoware_utils::transformPointCloud(
+      autoware_universe_utils::transformPointCloud(
         in_cluster, transformed_cloud_cluster, affine_matrix);
       transformed_cloud_cluster.header.frame_id = target_frame_;
     } else {
@@ -158,7 +158,7 @@ void ApolloLidarSegmentation::transformCloud(
     if (z_offset != 0) {
       Eigen::Affine3f z_up_translation(Eigen::Translation3f(0, 0, z_offset));
       Eigen::Matrix4f z_up_transform = z_up_translation.matrix();
-      tier4_autoware_utils::transformPointCloud(
+      autoware_universe_utils::transformPointCloud(
         transformed_cloud_cluster, transformed_cloud_cluster, z_up_transform);
     }
 
diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp
index fa9c84c41b394..d96eb1ae3ed94 100644
--- a/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp
+++ b/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp
@@ -17,12 +17,12 @@
 
 #include "lidar_centerpoint/postprocess/non_maximum_suppression.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <lidar_centerpoint/centerpoint_trt.hpp>
 #include <lidar_centerpoint/detection_class_remapper.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_perception_msgs/msg/detected_object_kinematics.hpp>
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
@@ -62,11 +62,11 @@ class LidarCenterPointNode : public rclcpp::Node
   std::unique_ptr<CenterPointTRT> detector_ptr_{nullptr};
 
   // debugger
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
     nullptr};
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
 
 }  // namespace centerpoint
diff --git a/perception/lidar_centerpoint/lib/centerpoint_trt.cpp b/perception/lidar_centerpoint/lib/centerpoint_trt.cpp
index 2804e172b73fa..f7b0fe5e0c58f 100644
--- a/perception/lidar_centerpoint/lib/centerpoint_trt.cpp
+++ b/perception/lidar_centerpoint/lib/centerpoint_trt.cpp
@@ -14,10 +14,10 @@
 
 #include "lidar_centerpoint/centerpoint_trt.hpp"
 
+#include <autoware/universe_utils/math/constants.hpp>
 #include <lidar_centerpoint/centerpoint_config.hpp>
 #include <lidar_centerpoint/network/scatter_kernel.hpp>
 #include <lidar_centerpoint/preprocess/preprocess_kernel.hpp>
-#include <tier4_autoware_utils/math/constants.hpp>
 
 #include <iostream>
 #include <memory>
diff --git a/perception/lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp b/perception/lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp
index d4d7b1379776a..81f620018cf04 100644
--- a/perception/lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp
+++ b/perception/lidar_centerpoint/lib/postprocess/non_maximum_suppression.cpp
@@ -14,9 +14,9 @@
 
 #include "lidar_centerpoint/postprocess/non_maximum_suppression.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "object_recognition_utils/geometry.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 namespace centerpoint
 {
 
@@ -48,7 +48,7 @@ bool NonMaximumSuppression::isTargetPairObject(
   }
 
   const auto search_sqr_dist_2d = params_.search_distance_2d_ * params_.search_distance_2d_;
-  const auto sqr_dist_2d = tier4_autoware_utils::calcSquaredDistance2d(
+  const auto sqr_dist_2d = autoware_universe_utils::calcSquaredDistance2d(
     object_recognition_utils::getPose(object1), object_recognition_utils::getPose(object2));
   return sqr_dist_2d <= search_sqr_dist_2d;
 }
diff --git a/perception/lidar_centerpoint/lib/ros_utils.cpp b/perception/lidar_centerpoint/lib/ros_utils.cpp
index 9be77b67e26dc..4799ec322d779 100644
--- a/perception/lidar_centerpoint/lib/ros_utils.cpp
+++ b/perception/lidar_centerpoint/lib/ros_utils.cpp
@@ -14,9 +14,9 @@
 
 #include "lidar_centerpoint/ros_utils.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/constants.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/constants.hpp"
 
 namespace centerpoint
 {
@@ -50,14 +50,14 @@ void box3DToDetectedObject(
 
   // pose and shape
   // mmdet3d yaw format to ros yaw format
-  float yaw = -box3d.yaw - tier4_autoware_utils::pi / 2;
+  float yaw = -box3d.yaw - autoware_universe_utils::pi / 2;
   obj.kinematics.pose_with_covariance.pose.position =
-    tier4_autoware_utils::createPoint(box3d.x, box3d.y, box3d.z);
+    autoware_universe_utils::createPoint(box3d.x, box3d.y, box3d.z);
   obj.kinematics.pose_with_covariance.pose.orientation =
-    tier4_autoware_utils::createQuaternionFromYaw(yaw);
+    autoware_universe_utils::createQuaternionFromYaw(yaw);
   obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
   obj.shape.dimensions =
-    tier4_autoware_utils::createTranslation(box3d.length, box3d.width, box3d.height);
+    autoware_universe_utils::createTranslation(box3d.length, box3d.width, box3d.height);
   if (has_variance) {
     obj.kinematics.has_position_covariance = has_variance;
     obj.kinematics.pose_with_covariance.covariance = convertPoseCovarianceMatrix(box3d);
@@ -102,7 +102,7 @@ uint8_t getSemanticType(const std::string & class_name)
 
 std::array<double, 36> convertPoseCovarianceMatrix(const Box3D & box3d)
 {
-  using POSE_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using POSE_IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   std::array<double, 36> pose_covariance{};
   pose_covariance[POSE_IDX::X_X] = box3d.x_variance;
   pose_covariance[POSE_IDX::Y_Y] = box3d.y_variance;
@@ -113,7 +113,7 @@ std::array<double, 36> convertPoseCovarianceMatrix(const Box3D & box3d)
 
 std::array<double, 36> convertTwistCovarianceMatrix(const Box3D & box3d)
 {
-  using POSE_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using POSE_IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   std::array<double, 36> twist_covariance{};
   twist_covariance[POSE_IDX::X_X] = box3d.vel_x_variance;
   twist_covariance[POSE_IDX::Y_Y] = box3d.vel_y_variance;
diff --git a/perception/lidar_centerpoint/package.xml b/perception/lidar_centerpoint/package.xml
index 3077aa2ac2e24..280e2219fb1f1 100644
--- a/perception/lidar_centerpoint/package.xml
+++ b/perception/lidar_centerpoint/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>object_recognition_utils</depend>
   <depend>pcl_ros</depend>
   <depend>python3-open3d</depend>
@@ -22,7 +23,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_sensor_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/perception/lidar_centerpoint/src/node.cpp b/perception/lidar_centerpoint/src/node.cpp
index b9415ba898d14..b65c70f02bd1b 100644
--- a/perception/lidar_centerpoint/src/node.cpp
+++ b/perception/lidar_centerpoint/src/node.cpp
@@ -117,8 +117,8 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
 
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ptr_ = std::make_unique<DebugPublisher>(this, "lidar_centerpoint");
     stop_watch_ptr_->tic("cyclic_time");
@@ -129,7 +129,8 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
     RCLCPP_INFO(this->get_logger(), "TensorRT engine is built and shutdown node.");
     rclcpp::shutdown();
   }
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void LidarCenterPointNode::pointCloudCallback(
diff --git a/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/node.hpp b/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/node.hpp
index 7a7d3ff3f1f15..cb387c404c07e 100644
--- a/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/node.hpp
+++ b/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/node.hpp
@@ -15,11 +15,11 @@
 #ifndef LIDAR_CENTERPOINT_TVM__NODE_HPP_
 #define LIDAR_CENTERPOINT_TVM__NODE_HPP_
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <lidar_centerpoint_tvm/centerpoint_tvm.hpp>
 #include <lidar_centerpoint_tvm/visibility_control.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_perception_msgs/msg/detected_object_kinematics.hpp>
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
@@ -59,9 +59,9 @@ class LIDAR_CENTERPOINT_TVM_PUBLIC LidarCenterPointTVMNode : public rclcpp::Node
   std::unique_ptr<CenterPointTVM> detector_ptr_{nullptr};
 
   // debugger
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
     nullptr};
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
 };
 
 }  // namespace lidar_centerpoint_tvm
diff --git a/perception/lidar_centerpoint_tvm/lib/centerpoint_tvm.cpp b/perception/lidar_centerpoint_tvm/lib/centerpoint_tvm.cpp
index 2e0f9ad28bfb6..91f727448b76a 100644
--- a/perception/lidar_centerpoint_tvm/lib/centerpoint_tvm.cpp
+++ b/perception/lidar_centerpoint_tvm/lib/centerpoint_tvm.cpp
@@ -14,12 +14,12 @@
 
 #include "lidar_centerpoint_tvm/centerpoint_tvm.hpp"
 
+#include <autoware/universe_utils/math/constants.hpp>
 #include <centerpoint_backbone/inference_engine_tvm_config.hpp>
 #include <centerpoint_backbone/preprocessing_inference_engine_tvm_config.hpp>
 #include <centerpoint_encoder/inference_engine_tvm_config.hpp>
 #include <lidar_centerpoint_tvm/centerpoint_config.hpp>
 #include <lidar_centerpoint_tvm/preprocess/generate_features.hpp>
-#include <tier4_autoware_utils/math/constants.hpp>
 #include <tvm_utility/pipeline.hpp>
 
 #include <iostream>
diff --git a/perception/lidar_centerpoint_tvm/lib/ros_utils.cpp b/perception/lidar_centerpoint_tvm/lib/ros_utils.cpp
index cde4b0fe4112d..16d7094e1e628 100644
--- a/perception/lidar_centerpoint_tvm/lib/ros_utils.cpp
+++ b/perception/lidar_centerpoint_tvm/lib/ros_utils.cpp
@@ -14,8 +14,8 @@
 
 #include "lidar_centerpoint_tvm/ros_utils.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/constants.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/constants.hpp>
 
 namespace autoware
 {
@@ -65,14 +65,14 @@ void box3DToDetectedObject(
 
   // pose and shape
   // mmdet3d yaw format to ros yaw format
-  float yaw = -box3d.yaw - tier4_autoware_utils::pi / 2;
+  float yaw = -box3d.yaw - autoware_universe_utils::pi / 2;
   obj.kinematics.pose_with_covariance.pose.position =
-    tier4_autoware_utils::createPoint(box3d.x, box3d.y, box3d.z);
+    autoware_universe_utils::createPoint(box3d.x, box3d.y, box3d.z);
   obj.kinematics.pose_with_covariance.pose.orientation =
-    tier4_autoware_utils::createQuaternionFromYaw(yaw);
+    autoware_universe_utils::createQuaternionFromYaw(yaw);
   obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
   obj.shape.dimensions =
-    tier4_autoware_utils::createTranslation(box3d.length, box3d.width, box3d.height);
+    autoware_universe_utils::createTranslation(box3d.length, box3d.width, box3d.height);
 
   // twist
   if (has_twist) {
diff --git a/perception/lidar_centerpoint_tvm/package.xml b/perception/lidar_centerpoint_tvm/package.xml
index eac9bc3d2bf45..c71a27e4a1677 100644
--- a/perception/lidar_centerpoint_tvm/package.xml
+++ b/perception/lidar_centerpoint_tvm/package.xml
@@ -12,13 +12,13 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>pcl_ros</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_sensor_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tvm_utility</depend>
   <depend>tvm_vendor</depend>
 
diff --git a/perception/lidar_centerpoint_tvm/src/node.cpp b/perception/lidar_centerpoint_tvm/src/node.cpp
index 288b8d59aec21..fec19a479a89f 100644
--- a/perception/lidar_centerpoint_tvm/src/node.cpp
+++ b/perception/lidar_centerpoint_tvm/src/node.cpp
@@ -94,8 +94,8 @@ LidarCenterPointTVMNode::LidarCenterPointTVMNode(const rclcpp::NodeOptions & nod
 
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ptr_ = std::make_unique<DebugPublisher>(this, "lidar_centerpoint_tvm");
     stop_watch_ptr_->tic("cyclic_time");
diff --git a/perception/lidar_transfusion/include/lidar_transfusion/lidar_transfusion_node.hpp b/perception/lidar_transfusion/include/lidar_transfusion/lidar_transfusion_node.hpp
index 86303618d7877..d57405b1c3b7b 100644
--- a/perception/lidar_transfusion/include/lidar_transfusion/lidar_transfusion_node.hpp
+++ b/perception/lidar_transfusion/include/lidar_transfusion/lidar_transfusion_node.hpp
@@ -21,10 +21,10 @@
 #include "lidar_transfusion/transfusion_trt.hpp"
 #include "lidar_transfusion/visibility_control.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_perception_msgs/msg/detected_object_kinematics.hpp>
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
@@ -63,10 +63,10 @@ class LIDAR_TRANSFUSION_PUBLIC LidarTransfusionNode : public rclcpp::Node
   std::unique_ptr<TransfusionTRT> detector_ptr_{nullptr};
 
   // debugger
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
     nullptr};
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_pub_{nullptr};
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_pub_{nullptr};
 };
 }  // namespace lidar_transfusion
 
diff --git a/perception/lidar_transfusion/include/lidar_transfusion/transfusion_trt.hpp b/perception/lidar_transfusion/include/lidar_transfusion/transfusion_trt.hpp
index a94c3c1871136..d454932935b64 100644
--- a/perception/lidar_transfusion/include/lidar_transfusion/transfusion_trt.hpp
+++ b/perception/lidar_transfusion/include/lidar_transfusion/transfusion_trt.hpp
@@ -24,7 +24,7 @@
 #include "lidar_transfusion/utils.hpp"
 #include "lidar_transfusion/visibility_control.hpp"
 
-#include <tier4_autoware_utils/system/stop_watch.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 
@@ -83,7 +83,7 @@ class LIDAR_TRANSFUSION_PUBLIC TransfusionTRT
 
   std::unique_ptr<NetworkTRT> network_trt_ptr_{nullptr};
   std::unique_ptr<VoxelGenerator> vg_ptr_{nullptr};
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
     nullptr};
   std::unique_ptr<PreprocessCuda> pre_ptr_{nullptr};
   std::unique_ptr<PostprocessCuda> post_ptr_{nullptr};
diff --git a/perception/lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp b/perception/lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp
index c1179a3f6673d..a8b4ddbfd5db9 100644
--- a/perception/lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp
+++ b/perception/lidar_transfusion/lib/postprocess/non_maximum_suppression.cpp
@@ -14,9 +14,9 @@
 
 #include "lidar_transfusion/postprocess/non_maximum_suppression.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <object_recognition_utils/geometry.hpp>
 #include <object_recognition_utils/object_recognition_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 namespace lidar_transfusion
 {
@@ -49,7 +49,7 @@ bool NonMaximumSuppression::isTargetPairObject(
   }
 
   const auto search_sqr_dist_2d = params_.search_distance_2d_ * params_.search_distance_2d_;
-  const auto sqr_dist_2d = tier4_autoware_utils::calcSquaredDistance2d(
+  const auto sqr_dist_2d = autoware_universe_utils::calcSquaredDistance2d(
     object_recognition_utils::getPose(object1), object_recognition_utils::getPose(object2));
   return sqr_dist_2d <= search_sqr_dist_2d;
 }
diff --git a/perception/lidar_transfusion/lib/ros_utils.cpp b/perception/lidar_transfusion/lib/ros_utils.cpp
index 0ecb34faf732d..cdfa693af2219 100644
--- a/perception/lidar_transfusion/lib/ros_utils.cpp
+++ b/perception/lidar_transfusion/lib/ros_utils.cpp
@@ -14,9 +14,9 @@
 
 #include "lidar_transfusion/ros_utils.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/constants.hpp>
 #include <object_recognition_utils/object_recognition_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/constants.hpp>
 
 namespace lidar_transfusion
 {
@@ -49,14 +49,14 @@ void box3DToDetectedObject(
 
   // pose and shape
   // mmdet3d yaw format to ros yaw format
-  float yaw = box3d.yaw + tier4_autoware_utils::pi / 2;
+  float yaw = box3d.yaw + autoware_universe_utils::pi / 2;
   obj.kinematics.pose_with_covariance.pose.position =
-    tier4_autoware_utils::createPoint(box3d.x, box3d.y, box3d.z);
+    autoware_universe_utils::createPoint(box3d.x, box3d.y, box3d.z);
   obj.kinematics.pose_with_covariance.pose.orientation =
-    tier4_autoware_utils::createQuaternionFromYaw(yaw);
+    autoware_universe_utils::createQuaternionFromYaw(yaw);
   obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
   obj.shape.dimensions =
-    tier4_autoware_utils::createTranslation(box3d.length, box3d.width, box3d.height);
+    autoware_universe_utils::createTranslation(box3d.length, box3d.width, box3d.height);
 }
 
 uint8_t getSemanticType(const std::string & class_name)
diff --git a/perception/lidar_transfusion/lib/transfusion_trt.cpp b/perception/lidar_transfusion/lib/transfusion_trt.cpp
index c876c0906162b..4a8416a16e18c 100644
--- a/perception/lidar_transfusion/lib/transfusion_trt.cpp
+++ b/perception/lidar_transfusion/lib/transfusion_trt.cpp
@@ -17,7 +17,7 @@
 #include "lidar_transfusion/preprocess/preprocess_kernel.hpp"
 #include "lidar_transfusion/transfusion_config.hpp"
 
-#include <tier4_autoware_utils/math/constants.hpp>
+#include <autoware/universe_utils/math/constants.hpp>
 
 #include <iostream>
 #include <memory>
@@ -37,7 +37,8 @@ TransfusionTRT::TransfusionTRT(
   network_trt_ptr_->init(
     network_param.onnx_path(), network_param.engine_path(), network_param.trt_precision());
   vg_ptr_ = std::make_unique<VoxelGenerator>(densification_param, config_, stream_);
-  stop_watch_ptr_ = std::make_unique<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>>();
+  stop_watch_ptr_ =
+    std::make_unique<autoware_universe_utils::StopWatch<std::chrono::milliseconds>>();
   stop_watch_ptr_->tic("processing/inner");
   initPtr();
 
diff --git a/perception/lidar_transfusion/package.xml b/perception/lidar_transfusion/package.xml
index 29643d0957eb1..ffbe091b998e5 100644
--- a/perception/lidar_transfusion/package.xml
+++ b/perception/lidar_transfusion/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>launch_ros</depend>
   <depend>object_recognition_utils</depend>
   <depend>pcl_ros</depend>
@@ -22,7 +23,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_sensor_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/lidar_transfusion/src/lidar_transfusion_node.cpp b/perception/lidar_transfusion/src/lidar_transfusion_node.cpp
index 9313015002973..07b19f1db51f8 100644
--- a/perception/lidar_transfusion/src/lidar_transfusion_node.cpp
+++ b/perception/lidar_transfusion/src/lidar_transfusion_node.cpp
@@ -94,12 +94,12 @@ LidarTransfusionNode::LidarTransfusionNode(const rclcpp::NodeOptions & options)
   objects_pub_ = this->create_publisher<autoware_perception_msgs::msg::DetectedObjects>(
     "~/output/objects", rclcpp::QoS(1));
 
-  published_time_pub_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_pub_ = std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ptr_ = std::make_unique<DebugPublisher>(this, this->get_name());
     stop_watch_ptr_->tic("cyclic");
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp b/perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp
index c685024d6ef8b..7c1b814258bcf 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp
+++ b/perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp
@@ -17,8 +17,8 @@
 
 #include "multi_object_tracker/tracker/model/tracker_base.hpp"
 
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include "unique_identifier_msgs/msg/uuid.hpp"
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp b/perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp
index 9ab5576faccd8..08d36c80d4cf8 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp
+++ b/perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp
@@ -17,11 +17,11 @@
 
 #include "multi_object_tracker/debugger/debug_object.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <diagnostic_updater/publisher.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_perception_msgs/msg/tracked_objects.hpp>
@@ -56,7 +56,7 @@ class TrackerDebugger
   rclcpp::Node & node_;
   rclcpp::Publisher<autoware_perception_msgs::msg::TrackedObjects>::SharedPtr
     debug_tentative_objects_pub_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> processing_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> processing_time_publisher_;
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr debug_objects_markers_pub_;
 
   diagnostic_updater::Updater diagnostic_updater_;
diff --git a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
index 569bc4f43a3d4..b24eadd586e73 100644
--- a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
+++ b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp
@@ -73,7 +73,7 @@ class MultiObjectTracker : public rclcpp::Node
 
   // debugger
   std::unique_ptr<TrackerDebugger> debugger_;
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 
   // publish timer
   rclcpp::TimerBase::SharedPtr publish_timer_;
diff --git a/perception/multi_object_tracker/package.xml b/perception/multi_object_tracker/package.xml
index 4e2696700bfdc..67f56273e79c5 100644
--- a/perception/multi_object_tracker/package.xml
+++ b/perception/multi_object_tracker/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_updater</depend>
   <depend>eigen</depend>
   <depend>glog</depend>
@@ -24,7 +25,6 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>unique_identifier_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/multi_object_tracker/src/data_association/data_association.cpp b/perception/multi_object_tracker/src/data_association/data_association.cpp
index 0ff3188e069f2..d033e98cce46e 100644
--- a/perception/multi_object_tracker/src/data_association/data_association.cpp
+++ b/perception/multi_object_tracker/src/data_association/data_association.cpp
@@ -52,8 +52,8 @@ double getFormedYawAngle(
   const geometry_msgs::msg::Quaternion & tracker_quat, const bool distinguish_front_or_back = true)
 {
   const double measurement_yaw =
-    tier4_autoware_utils::normalizeRadian(tf2::getYaw(measurement_quat));
-  const double tracker_yaw = tier4_autoware_utils::normalizeRadian(tf2::getYaw(tracker_quat));
+    autoware_universe_utils::normalizeRadian(tf2::getYaw(measurement_quat));
+  const double tracker_yaw = autoware_universe_utils::normalizeRadian(tf2::getYaw(tracker_quat));
   const double angle_range = distinguish_front_or_back ? M_PI : M_PI_2;
   const double angle_step = distinguish_front_or_back ? 2.0 * M_PI : M_PI;
   // Fixed measurement_yaw to be in the range of +-90 or 180 degrees of X_t(IDX::YAW)
@@ -170,7 +170,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
         (*tracker_itr)->getTrackedObject(measurements.header.stamp, tracked_object);
 
         const double max_dist = max_dist_matrix_(tracker_label, measurement_label);
-        const double dist = tier4_autoware_utils::calcDistance2d(
+        const double dist = autoware_universe_utils::calcDistance2d(
           measurement_object.kinematics.pose_with_covariance.pose.position,
           tracked_object.kinematics.pose_with_covariance.pose.position);
 
@@ -183,7 +183,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
         if (passed_gate) {
           const double max_area = max_area_matrix_(tracker_label, measurement_label);
           const double min_area = min_area_matrix_(tracker_label, measurement_label);
-          const double area = tier4_autoware_utils::getArea(measurement_object.shape);
+          const double area = autoware_universe_utils::getArea(measurement_object.shape);
           if (area < min_area || max_area < area) passed_gate = false;
         }
         // angle gate
diff --git a/perception/multi_object_tracker/src/debugger/debugger.cpp b/perception/multi_object_tracker/src/debugger/debugger.cpp
index 7b4f9d717a927..bb5fdef9be690 100644
--- a/perception/multi_object_tracker/src/debugger/debugger.cpp
+++ b/perception/multi_object_tracker/src/debugger/debugger.cpp
@@ -24,7 +24,7 @@ TrackerDebugger::TrackerDebugger(rclcpp::Node & node, const std::string & frame_
   // initialize debug publishers
   if (debug_settings_.publish_processing_time) {
     processing_time_publisher_ =
-      std::make_unique<tier4_autoware_utils::DebugPublisher>(&node_, "multi_object_tracker");
+      std::make_unique<autoware_universe_utils::DebugPublisher>(&node_, "multi_object_tracker");
   }
 
   if (debug_settings_.publish_tentative_objects) {
diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
index 70433f16125c9..af61cfb8259b1 100644
--- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
+++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -199,7 +199,8 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options)
   // Debugger
   debugger_ = std::make_unique<TrackerDebugger>(*this, world_frame_id_);
   debugger_->setObjectChannels(input_names_short);
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void MultiObjectTracker::onTrigger()
diff --git a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
index b54c9b832b0cf..fa7adb8396612 100644
--- a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp
@@ -20,9 +20,9 @@
 
 #include "multi_object_tracker/utils/utils.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #include <bits/stdc++.h>
 #include <tf2/LinearMath/Matrix3x3.h>
@@ -57,9 +57,9 @@ BicycleTracker::BicycleTracker(
 
   // Initialize parameters
   // measurement noise covariance: detector uncertainty + ego vehicle motion uncertainty
-  double r_stddev_x = 0.5;                                  // in vehicle coordinate [m]
-  double r_stddev_y = 0.4;                                  // in vehicle coordinate [m]
-  double r_stddev_yaw = tier4_autoware_utils::deg2rad(30);  // in map coordinate [rad]
+  double r_stddev_x = 0.5;                                     // in vehicle coordinate [m]
+  double r_stddev_y = 0.4;                                     // in vehicle coordinate [m]
+  double r_stddev_yaw = autoware_universe_utils::deg2rad(30);  // in map coordinate [rad]
   ekf_params_.r_cov_x = std::pow(r_stddev_x, 2.0);
   ekf_params_.r_cov_y = std::pow(r_stddev_y, 2.0);
   ekf_params_.r_cov_yaw = std::pow(r_stddev_yaw, 2.0);
@@ -102,8 +102,8 @@ BicycleTracker::BicycleTracker(
 
   // Set motion limits
   {
-    constexpr double max_vel = tier4_autoware_utils::kmph2mps(80);  // [m/s] maximum velocity
-    constexpr double max_slip = 30;                                 // [deg] maximum slip angle
+    constexpr double max_vel = autoware_universe_utils::kmph2mps(80);  // [m/s] maximum velocity
+    constexpr double max_slip = 30;                                    // [deg] maximum slip angle
     motion_model_.setMotionLimits(max_vel, max_slip);  // maximum velocity and slip angle
   }
 
@@ -126,7 +126,7 @@ BicycleTracker::BicycleTracker(
       constexpr double p0_stddev_x = 0.8;  // in object coordinate [m]
       constexpr double p0_stddev_y = 0.5;  // in object coordinate [m]
       constexpr double p0_stddev_yaw =
-        tier4_autoware_utils::deg2rad(25);  // in map coordinate [rad]
+        autoware_universe_utils::deg2rad(25);  // in map coordinate [rad]
       constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x;
       constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y;
       constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw;
@@ -145,14 +145,15 @@ BicycleTracker::BicycleTracker(
 
     if (!object.kinematics.has_twist_covariance) {
       constexpr double p0_stddev_vel =
-        tier4_autoware_utils::kmph2mps(1000);  // in object coordinate [m/s]
+        autoware_universe_utils::kmph2mps(1000);  // in object coordinate [m/s]
       vel_cov = std::pow(p0_stddev_vel, 2.0);
     } else {
       vel_cov = object.kinematics.twist_with_covariance.covariance[utils::MSG_COV_IDX::X_X];
     }
 
     const double slip = 0.0;
-    const double p0_stddev_slip = tier4_autoware_utils::deg2rad(5);  // in object coordinate [rad/s]
+    const double p0_stddev_slip =
+      autoware_universe_utils::deg2rad(5);  // in object coordinate [rad/s]
     const double slip_cov = std::pow(p0_stddev_slip, 2.0);
 
     // initialize motion model
@@ -327,7 +328,7 @@ bool BicycleTracker::getTrackedObject(
   const auto origin_yaw = tf2::getYaw(object_.kinematics.pose_with_covariance.pose.orientation);
   const auto ekf_pose_yaw = tf2::getYaw(pose_with_cov.pose.orientation);
   object.shape.footprint =
-    tier4_autoware_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw);
+    autoware_universe_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw);
 
   return true;
 }
diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
index ebf5a977ed44a..92815f5e33a6b 100644
--- a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp
@@ -20,9 +20,9 @@
 
 #include "multi_object_tracker/utils/utils.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #include <bits/stdc++.h>
 #include <tf2/LinearMath/Matrix3x3.h>
@@ -58,10 +58,10 @@ BigVehicleTracker::BigVehicleTracker(
 
   // Initialize parameters
   // measurement noise covariance: detector uncertainty + ego vehicle motion uncertainty
-  float r_stddev_x = 0.5;                                  // in vehicle coordinate [m]
-  float r_stddev_y = 0.4;                                  // in vehicle coordinate [m]
-  float r_stddev_yaw = tier4_autoware_utils::deg2rad(20);  // in map coordinate [rad]
-  float r_stddev_vel = 1.0;                                // in object coordinate [m/s]
+  float r_stddev_x = 0.5;                                     // in vehicle coordinate [m]
+  float r_stddev_y = 0.4;                                     // in vehicle coordinate [m]
+  float r_stddev_yaw = autoware_universe_utils::deg2rad(20);  // in map coordinate [rad]
+  float r_stddev_vel = 1.0;                                   // in object coordinate [m/s]
   ekf_params_.r_cov_x = std::pow(r_stddev_x, 2.0);
   ekf_params_.r_cov_y = std::pow(r_stddev_y, 2.0);
   ekf_params_.r_cov_yaw = std::pow(r_stddev_yaw, 2.0);
@@ -70,7 +70,7 @@ BigVehicleTracker::BigVehicleTracker(
   // velocity deviation threshold
   //   if the predicted velocity is close to the observed velocity,
   //   the observed velocity is used as the measurement.
-  velocity_deviation_threshold_ = tier4_autoware_utils::kmph2mps(10);  // [m/s]
+  velocity_deviation_threshold_ = autoware_universe_utils::kmph2mps(10);  // [m/s]
 
   // OBJECT SHAPE MODEL
   if (object.shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) {
@@ -120,8 +120,8 @@ BigVehicleTracker::BigVehicleTracker(
 
   // Set motion limits
   {
-    constexpr double max_vel = tier4_autoware_utils::kmph2mps(100);  // [m/s] maximum velocity
-    constexpr double max_slip = 30;                                  // [deg] maximum slip angle
+    constexpr double max_vel = autoware_universe_utils::kmph2mps(100);  // [m/s] maximum velocity
+    constexpr double max_slip = 30;                                     // [deg] maximum slip angle
     motion_model_.setMotionLimits(max_vel, max_slip);  // maximum velocity and slip angle
   }
 
@@ -144,7 +144,7 @@ BigVehicleTracker::BigVehicleTracker(
       constexpr double p0_stddev_x = 1.5;  // in object coordinate [m]
       constexpr double p0_stddev_y = 0.5;  // in object coordinate [m]
       constexpr double p0_stddev_yaw =
-        tier4_autoware_utils::deg2rad(25);  // in map coordinate [rad]
+        autoware_universe_utils::deg2rad(25);  // in map coordinate [rad]
       constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x;
       constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y;
       constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw;
@@ -163,14 +163,15 @@ BigVehicleTracker::BigVehicleTracker(
 
     if (!object.kinematics.has_twist_covariance) {
       constexpr double p0_stddev_vel =
-        tier4_autoware_utils::kmph2mps(1000);  // in object coordinate [m/s]
+        autoware_universe_utils::kmph2mps(1000);  // in object coordinate [m/s]
       vel_cov = std::pow(p0_stddev_vel, 2.0);
     } else {
       vel_cov = object.kinematics.twist_with_covariance.covariance[utils::MSG_COV_IDX::X_X];
     }
 
     const double slip = 0.0;
-    const double p0_stddev_slip = tier4_autoware_utils::deg2rad(5);  // in object coordinate [rad/s]
+    const double p0_stddev_slip =
+      autoware_universe_utils::deg2rad(5);  // in object coordinate [rad/s]
     const double slip_cov = std::pow(p0_stddev_slip, 2.0);
 
     // initialize motion model
@@ -422,7 +423,7 @@ bool BigVehicleTracker::getTrackedObject(
   const auto origin_yaw = tf2::getYaw(object_.kinematics.pose_with_covariance.pose.orientation);
   const auto ekf_pose_yaw = tf2::getYaw(pose_with_cov.pose.orientation);
   object.shape.footprint =
-    tier4_autoware_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw);
+    autoware_universe_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw);
 
   return true;
 }
diff --git a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
index 3b6f644614d9b..892b993a75348 100644
--- a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp
@@ -20,9 +20,9 @@
 
 #include "multi_object_tracker/utils/utils.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #include <bits/stdc++.h>
 #include <tf2/LinearMath/Matrix3x3.h>
@@ -58,10 +58,10 @@ NormalVehicleTracker::NormalVehicleTracker(
 
   // Initialize parameters
   // measurement noise covariance: detector uncertainty + ego vehicle motion uncertainty
-  float r_stddev_x = 0.5;                                  // in vehicle coordinate [m]
-  float r_stddev_y = 0.4;                                  // in vehicle coordinate [m]
-  float r_stddev_yaw = tier4_autoware_utils::deg2rad(20);  // in map coordinate [rad]
-  float r_stddev_vel = 1.0;                                // in object coordinate [m/s]
+  float r_stddev_x = 0.5;                                     // in vehicle coordinate [m]
+  float r_stddev_y = 0.4;                                     // in vehicle coordinate [m]
+  float r_stddev_yaw = autoware_universe_utils::deg2rad(20);  // in map coordinate [rad]
+  float r_stddev_vel = 1.0;                                   // in object coordinate [m/s]
   ekf_params_.r_cov_x = std::pow(r_stddev_x, 2.0);
   ekf_params_.r_cov_y = std::pow(r_stddev_y, 2.0);
   ekf_params_.r_cov_yaw = std::pow(r_stddev_yaw, 2.0);
@@ -70,7 +70,7 @@ NormalVehicleTracker::NormalVehicleTracker(
   // velocity deviation threshold
   //   if the predicted velocity is close to the observed velocity,
   //   the observed velocity is used as the measurement.
-  velocity_deviation_threshold_ = tier4_autoware_utils::kmph2mps(10);  // [m/s]
+  velocity_deviation_threshold_ = autoware_universe_utils::kmph2mps(10);  // [m/s]
 
   // OBJECT SHAPE MODEL
   if (object.shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) {
@@ -121,8 +121,8 @@ NormalVehicleTracker::NormalVehicleTracker(
 
   // Set motion limits
   {
-    constexpr double max_vel = tier4_autoware_utils::kmph2mps(100);  // [m/s] maximum velocity
-    constexpr double max_slip = 30;                                  // [deg] maximum slip angle
+    constexpr double max_vel = autoware_universe_utils::kmph2mps(100);  // [m/s] maximum velocity
+    constexpr double max_slip = 30;                                     // [deg] maximum slip angle
     motion_model_.setMotionLimits(max_vel, max_slip);  // maximum velocity and slip angle
   }
 
@@ -145,7 +145,7 @@ NormalVehicleTracker::NormalVehicleTracker(
       constexpr double p0_stddev_x = 1.0;  // in object coordinate [m]
       constexpr double p0_stddev_y = 0.3;  // in object coordinate [m]
       constexpr double p0_stddev_yaw =
-        tier4_autoware_utils::deg2rad(25);  // in map coordinate [rad]
+        autoware_universe_utils::deg2rad(25);  // in map coordinate [rad]
       constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x;
       constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y;
       constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw;
@@ -164,14 +164,15 @@ NormalVehicleTracker::NormalVehicleTracker(
 
     if (!object.kinematics.has_twist_covariance) {
       constexpr double p0_stddev_vel =
-        tier4_autoware_utils::kmph2mps(1000);  // in object coordinate [m/s]
+        autoware_universe_utils::kmph2mps(1000);  // in object coordinate [m/s]
       vel_cov = std::pow(p0_stddev_vel, 2.0);
     } else {
       vel_cov = object.kinematics.twist_with_covariance.covariance[utils::MSG_COV_IDX::X_X];
     }
 
     const double slip = 0.0;
-    const double p0_stddev_slip = tier4_autoware_utils::deg2rad(5);  // in object coordinate [rad/s]
+    const double p0_stddev_slip =
+      autoware_universe_utils::deg2rad(5);  // in object coordinate [rad/s]
     const double slip_cov = std::pow(p0_stddev_slip, 2.0);
 
     // initialize motion model
@@ -424,7 +425,7 @@ bool NormalVehicleTracker::getTrackedObject(
   const auto origin_yaw = tf2::getYaw(object_.kinematics.pose_with_covariance.pose.orientation);
   const auto ekf_pose_yaw = tf2::getYaw(pose_with_cov.pose.orientation);
   object.shape.footprint =
-    tier4_autoware_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw);
+    autoware_universe_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw);
 
   return true;
 }
diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
index 6c8198b51ecd0..005d3c15df4df 100644
--- a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp
@@ -20,9 +20,9 @@
 
 #include "multi_object_tracker/utils/utils.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #include <bits/stdc++.h>
 #include <tf2/LinearMath/Matrix3x3.h>
@@ -57,9 +57,9 @@ PedestrianTracker::PedestrianTracker(
 
   // Initialize parameters
   // measurement noise covariance
-  float r_stddev_x = 0.4;                                  // [m]
-  float r_stddev_y = 0.4;                                  // [m]
-  float r_stddev_yaw = tier4_autoware_utils::deg2rad(30);  // [rad]
+  float r_stddev_x = 0.4;                                     // [m]
+  float r_stddev_y = 0.4;                                     // [m]
+  float r_stddev_yaw = autoware_universe_utils::deg2rad(30);  // [rad]
   ekf_params_.r_cov_x = std::pow(r_stddev_x, 2.0);
   ekf_params_.r_cov_y = std::pow(r_stddev_y, 2.0);
   ekf_params_.r_cov_yaw = std::pow(r_stddev_yaw, 2.0);
@@ -86,18 +86,18 @@ PedestrianTracker::PedestrianTracker(
 
   // Set motion model parameters
   {
-    constexpr double q_stddev_x = 0.5;                                  // [m/s]
-    constexpr double q_stddev_y = 0.5;                                  // [m/s]
-    constexpr double q_stddev_yaw = tier4_autoware_utils::deg2rad(20);  // [rad/s]
-    constexpr double q_stddev_vx = 9.8 * 0.3;                           // [m/(s*s)]
-    constexpr double q_stddev_wz = tier4_autoware_utils::deg2rad(30);   // [rad/(s*s)]
+    constexpr double q_stddev_x = 0.5;                                     // [m/s]
+    constexpr double q_stddev_y = 0.5;                                     // [m/s]
+    constexpr double q_stddev_yaw = autoware_universe_utils::deg2rad(20);  // [rad/s]
+    constexpr double q_stddev_vx = 9.8 * 0.3;                              // [m/(s*s)]
+    constexpr double q_stddev_wz = autoware_universe_utils::deg2rad(30);   // [rad/(s*s)]
     motion_model_.setMotionParams(q_stddev_x, q_stddev_y, q_stddev_yaw, q_stddev_vx, q_stddev_wz);
   }
 
   // Set motion limits
   motion_model_.setMotionLimits(
-    tier4_autoware_utils::kmph2mps(100), /* [m/s] maximum velocity */
-    30.0                                 /* [deg/s] maximum turn rate */
+    autoware_universe_utils::kmph2mps(100), /* [m/s] maximum velocity */
+    30.0                                    /* [deg/s] maximum turn rate */
   );
 
   // Set initial state
@@ -121,7 +121,7 @@ PedestrianTracker::PedestrianTracker(
       constexpr double p0_stddev_x = 2.0;  // in object coordinate [m]
       constexpr double p0_stddev_y = 2.0;  // in object coordinate [m]
       constexpr double p0_stddev_yaw =
-        tier4_autoware_utils::deg2rad(1000);  // in map coordinate [rad]
+        autoware_universe_utils::deg2rad(1000);  // in map coordinate [rad]
       constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x;
       constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y;
       constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw;
@@ -140,9 +140,9 @@ PedestrianTracker::PedestrianTracker(
 
     if (!object.kinematics.has_twist_covariance) {
       constexpr double p0_stddev_vel =
-        tier4_autoware_utils::kmph2mps(120);  // in object coordinate [m/s]
+        autoware_universe_utils::kmph2mps(120);  // in object coordinate [m/s]
       constexpr double p0_stddev_wz =
-        tier4_autoware_utils::deg2rad(360);  // in object coordinate [rad/s]
+        autoware_universe_utils::deg2rad(360);  // in object coordinate [rad/s]
       vel_cov = std::pow(p0_stddev_vel, 2.0);
       wz_cov = std::pow(p0_stddev_wz, 2.0);
     } else {
@@ -323,7 +323,7 @@ bool PedestrianTracker::getTrackedObject(
     const auto origin_yaw = tf2::getYaw(object_.kinematics.pose_with_covariance.pose.orientation);
     const auto ekf_pose_yaw = tf2::getYaw(pose_with_cov.pose.orientation);
     object.shape.footprint =
-      tier4_autoware_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw);
+      autoware_universe_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw);
   }
 
   return true;
diff --git a/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp
index f15d5042a2316..52952c7820396 100644
--- a/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp
+++ b/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp
@@ -16,9 +16,9 @@
 
 #include "multi_object_tracker/utils/utils.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #include <bits/stdc++.h>
 #include <tf2/LinearMath/Matrix3x3.h>
@@ -67,8 +67,8 @@ UnknownTracker::UnknownTracker(
 
   // Set motion limits
   motion_model_.setMotionLimits(
-    tier4_autoware_utils::kmph2mps(60), /* [m/s] maximum velocity, x */
-    tier4_autoware_utils::kmph2mps(60)  /* [m/s] maximum velocity, y */
+    autoware_universe_utils::kmph2mps(60), /* [m/s] maximum velocity, x */
+    autoware_universe_utils::kmph2mps(60)  /* [m/s] maximum velocity, y */
   );
 
   // Set initial state
@@ -107,8 +107,8 @@ UnknownTracker::UnknownTracker(
     }
 
     if (!object.kinematics.has_twist_covariance) {
-      constexpr double p0_stddev_vx = tier4_autoware_utils::kmph2mps(10);  // [m/s]
-      constexpr double p0_stddev_vy = tier4_autoware_utils::kmph2mps(10);  // [m/s]
+      constexpr double p0_stddev_vx = autoware_universe_utils::kmph2mps(10);  // [m/s]
+      constexpr double p0_stddev_vy = autoware_universe_utils::kmph2mps(10);  // [m/s]
       const double p0_cov_vx = std::pow(p0_stddev_vx, 2.0);
       const double p0_cov_vy = std::pow(p0_stddev_vy, 2.0);
       twist_cov[utils::MSG_COV_IDX::X_X] = p0_cov_vx;
diff --git a/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp b/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp
index ef8a45f608098..bf040d417e6bb 100644
--- a/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp
+++ b/perception/multi_object_tracker/src/tracker/motion_model/bicycle_motion_model.cpp
@@ -21,8 +21,8 @@
 #include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
 #include "multi_object_tracker/utils/utils.hpp"
 
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #define EIGEN_MPL2_ONLY
 #include <Eigen/Core>
@@ -60,8 +60,8 @@ void BicycleMotionModel::setDefaultParams()
     lr_min);
 
   // set motion limitations
-  constexpr double max_vel = tier4_autoware_utils::kmph2mps(100);  // [m/s] maximum velocity
-  constexpr double max_slip = 30.0;                                // [deg] maximum slip angle
+  constexpr double max_vel = autoware_universe_utils::kmph2mps(100);  // [m/s] maximum velocity
+  constexpr double max_slip = 30.0;                                   // [deg] maximum slip angle
   setMotionLimits(max_vel, max_slip);
 
   // set prediction parameters
@@ -79,13 +79,13 @@ void BicycleMotionModel::setMotionParams(
   // set process noise covariance parameters
   motion_params_.q_stddev_acc_long = q_stddev_acc_long;
   motion_params_.q_stddev_acc_lat = q_stddev_acc_lat;
-  motion_params_.q_stddev_yaw_rate_min = tier4_autoware_utils::deg2rad(q_stddev_yaw_rate_min);
-  motion_params_.q_stddev_yaw_rate_max = tier4_autoware_utils::deg2rad(q_stddev_yaw_rate_max);
+  motion_params_.q_stddev_yaw_rate_min = autoware_universe_utils::deg2rad(q_stddev_yaw_rate_min);
+  motion_params_.q_stddev_yaw_rate_max = autoware_universe_utils::deg2rad(q_stddev_yaw_rate_max);
   motion_params_.q_cov_slip_rate_min =
-    std::pow(tier4_autoware_utils::deg2rad(q_stddev_slip_rate_min), 2.0);
+    std::pow(autoware_universe_utils::deg2rad(q_stddev_slip_rate_min), 2.0);
   motion_params_.q_cov_slip_rate_max =
-    std::pow(tier4_autoware_utils::deg2rad(q_stddev_slip_rate_max), 2.0);
-  motion_params_.q_max_slip_angle = tier4_autoware_utils::deg2rad(q_max_slip_angle);
+    std::pow(autoware_universe_utils::deg2rad(q_stddev_slip_rate_max), 2.0);
+  motion_params_.q_max_slip_angle = autoware_universe_utils::deg2rad(q_max_slip_angle);
 
   constexpr double minimum_wheel_pos = 0.01;  // minimum of 0.01m
   if (lf_min < minimum_wheel_pos || lr_min < minimum_wheel_pos) {
@@ -103,7 +103,7 @@ void BicycleMotionModel::setMotionLimits(const double & max_vel, const double &
 {
   // set motion limitations
   motion_params_.max_vel = max_vel;
-  motion_params_.max_slip = tier4_autoware_utils::deg2rad(max_slip);
+  motion_params_.max_slip = autoware_universe_utils::deg2rad(max_slip);
 }
 
 bool BicycleMotionModel::initialize(
@@ -252,7 +252,7 @@ bool BicycleMotionModel::limitStates()
   Eigen::MatrixXd P_t(DIM, DIM);
   ekf_.getX(X_t);
   ekf_.getP(P_t);
-  X_t(IDX::YAW) = tier4_autoware_utils::normalizeRadian(X_t(IDX::YAW));
+  X_t(IDX::YAW) = autoware_universe_utils::normalizeRadian(X_t(IDX::YAW));
   if (!(-motion_params_.max_vel <= X_t(IDX::VEL) && X_t(IDX::VEL) <= motion_params_.max_vel)) {
     X_t(IDX::VEL) = X_t(IDX::VEL) < 0 ? -motion_params_.max_vel : motion_params_.max_vel;
   }
diff --git a/perception/multi_object_tracker/src/tracker/motion_model/ctrv_motion_model.cpp b/perception/multi_object_tracker/src/tracker/motion_model/ctrv_motion_model.cpp
index 9e8327e381057..af05590e3b05b 100644
--- a/perception/multi_object_tracker/src/tracker/motion_model/ctrv_motion_model.cpp
+++ b/perception/multi_object_tracker/src/tracker/motion_model/ctrv_motion_model.cpp
@@ -21,8 +21,8 @@
 #include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
 #include "multi_object_tracker/utils/utils.hpp"
 
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #define EIGEN_MPL2_ONLY
 #include <Eigen/Core>
@@ -40,17 +40,17 @@ CTRVMotionModel::CTRVMotionModel() : MotionModel(), logger_(rclcpp::get_logger("
 void CTRVMotionModel::setDefaultParams()
 {
   // process noise covariance
-  constexpr double q_stddev_x = 0.5;                                  // [m/s]
-  constexpr double q_stddev_y = 0.5;                                  // [m/s]
-  constexpr double q_stddev_yaw = tier4_autoware_utils::deg2rad(20);  // [rad/s]
-  constexpr double q_stddev_vel = 9.8 * 0.3;                          // [m/(s*s)]
-  constexpr double q_stddev_wz = tier4_autoware_utils::deg2rad(30);   // [rad/(s*s)]
+  constexpr double q_stddev_x = 0.5;                                     // [m/s]
+  constexpr double q_stddev_y = 0.5;                                     // [m/s]
+  constexpr double q_stddev_yaw = autoware_universe_utils::deg2rad(20);  // [rad/s]
+  constexpr double q_stddev_vel = 9.8 * 0.3;                             // [m/(s*s)]
+  constexpr double q_stddev_wz = autoware_universe_utils::deg2rad(30);   // [rad/(s*s)]
 
   setMotionParams(q_stddev_x, q_stddev_y, q_stddev_yaw, q_stddev_vel, q_stddev_wz);
 
   // set motion limitations
-  constexpr double max_vel = tier4_autoware_utils::kmph2mps(10);  // [m/s] maximum velocity
-  constexpr double max_wz = 30.0;                                 // [deg] maximum yaw rate
+  constexpr double max_vel = autoware_universe_utils::kmph2mps(10);  // [m/s] maximum velocity
+  constexpr double max_wz = 30.0;                                    // [deg] maximum yaw rate
   setMotionLimits(max_vel, max_wz);
 
   // set prediction parameters
@@ -74,7 +74,7 @@ void CTRVMotionModel::setMotionLimits(const double & max_vel, const double & max
 {
   // set motion limitations
   motion_params_.max_vel = max_vel;
-  motion_params_.max_wz = tier4_autoware_utils::deg2rad(max_wz);
+  motion_params_.max_wz = autoware_universe_utils::deg2rad(max_wz);
 }
 
 bool CTRVMotionModel::initialize(
@@ -220,7 +220,7 @@ bool CTRVMotionModel::limitStates()
   Eigen::MatrixXd P_t(DIM, DIM);
   ekf_.getX(X_t);
   ekf_.getP(P_t);
-  X_t(IDX::YAW) = tier4_autoware_utils::normalizeRadian(X_t(IDX::YAW));
+  X_t(IDX::YAW) = autoware_universe_utils::normalizeRadian(X_t(IDX::YAW));
   if (!(-motion_params_.max_vel <= X_t(IDX::VEL) && X_t(IDX::VEL) <= motion_params_.max_vel)) {
     X_t(IDX::VEL) = X_t(IDX::VEL) < 0 ? -motion_params_.max_vel : motion_params_.max_vel;
   }
diff --git a/perception/multi_object_tracker/src/tracker/motion_model/cv_motion_model.cpp b/perception/multi_object_tracker/src/tracker/motion_model/cv_motion_model.cpp
index a9ad03e7875c5..5ce944b0a79bb 100644
--- a/perception/multi_object_tracker/src/tracker/motion_model/cv_motion_model.cpp
+++ b/perception/multi_object_tracker/src/tracker/motion_model/cv_motion_model.cpp
@@ -21,8 +21,8 @@
 #include "multi_object_tracker/tracker/motion_model/motion_model_base.hpp"
 #include "multi_object_tracker/utils/utils.hpp"
 
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #include <tf2/utils.h>
 
@@ -49,8 +49,8 @@ void CVMotionModel::setDefaultParams()
   setMotionParams(q_stddev_x, q_stddev_y, q_stddev_vx, q_stddev_vy);
 
   // set motion limitations
-  constexpr double max_vx = tier4_autoware_utils::kmph2mps(60);  // [m/s] maximum x velocity
-  constexpr double max_vy = tier4_autoware_utils::kmph2mps(60);  // [m/s] maximum y velocity
+  constexpr double max_vx = autoware_universe_utils::kmph2mps(60);  // [m/s] maximum x velocity
+  constexpr double max_vy = autoware_universe_utils::kmph2mps(60);  // [m/s] maximum y velocity
   setMotionLimits(max_vx, max_vy);
 
   // set prediction parameters
diff --git a/perception/object_merger/include/object_merger/node.hpp b/perception/object_merger/include/object_merger/node.hpp
index 7fb9bae7d9986..26fccca21aa22 100644
--- a/perception/object_merger/include/object_merger/node.hpp
+++ b/perception/object_merger/include/object_merger/node.hpp
@@ -17,10 +17,10 @@
 
 #include "object_merger/data_association/data_association.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 
@@ -84,10 +84,10 @@ class ObjectAssociationMergerNode : public rclcpp::Node
   } overlapped_judge_param_;
 
   // debug publisher
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> processing_time_publisher_;
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> processing_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace object_association
 
diff --git a/perception/object_merger/package.xml b/perception/object_merger/package.xml
index 82a6399c09ba7..0340a477936b8 100644
--- a/perception/object_merger/package.xml
+++ b/perception/object_merger/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>mussp</depend>
   <depend>object_recognition_utils</depend>
@@ -21,7 +22,6 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/object_merger/src/object_association_merger/data_association/data_association.cpp b/perception/object_merger/src/object_association_merger/data_association/data_association.cpp
index 3abecd80178c0..634be73508a2d 100644
--- a/perception/object_merger/src/object_association_merger/data_association/data_association.cpp
+++ b/perception/object_merger/src/object_association_merger/data_association/data_association.cpp
@@ -14,10 +14,10 @@
 
 #include "object_merger/data_association/data_association.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "object_merger/data_association/solver/gnn_solver.hpp"
 #include "object_merger/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <algorithm>
 #include <list>
@@ -31,8 +31,8 @@ double getFormedYawAngle(
   const geometry_msgs::msg::Quaternion & quat0, const geometry_msgs::msg::Quaternion & quat1,
   const bool distinguish_front_or_back = true)
 {
-  const double yaw0 = tier4_autoware_utils::normalizeRadian(tf2::getYaw(quat0));
-  const double yaw1 = tier4_autoware_utils::normalizeRadian(tf2::getYaw(quat1));
+  const double yaw0 = autoware_universe_utils::normalizeRadian(tf2::getYaw(quat0));
+  const double yaw1 = autoware_universe_utils::normalizeRadian(tf2::getYaw(quat1));
   const double angle_range = distinguish_front_or_back ? M_PI : M_PI_2;
   const double angle_step = distinguish_front_or_back ? 2.0 * M_PI : M_PI;
   // Fixed yaw0 to be in the range of +-90 or 180 degrees of yaw1
@@ -133,7 +133,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
       double score = 0.0;
       if (can_assign_matrix_(object1_label, object0_label)) {
         const double max_dist = max_dist_matrix_(object1_label, object0_label);
-        const double dist = tier4_autoware_utils::calcDistance2d(
+        const double dist = autoware_universe_utils::calcDistance2d(
           object0.kinematics.pose_with_covariance.pose.position,
           object1.kinematics.pose_with_covariance.pose.position);
 
diff --git a/perception/object_merger/src/object_association_merger/node.cpp b/perception/object_merger/src/object_association_merger/node.cpp
index a4a74f5c763fb..cc1069321f6f8 100644
--- a/perception/object_merger/src/object_association_merger/node.cpp
+++ b/perception/object_merger/src/object_association_merger/node.cpp
@@ -14,9 +14,9 @@
 
 #include "object_merger/node.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "object_merger/utils/utils.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <boost/optional.hpp>
 
@@ -43,7 +43,7 @@ bool isUnknownObjectOverlapped(
   const double distance_threshold = distance_threshold_map.at(
     object_recognition_utils::getHighestProbLabel(known_object.classification));
   const double sq_distance_threshold = std::pow(distance_threshold, 2.0);
-  const double sq_distance = tier4_autoware_utils::calcSquaredDistance2d(
+  const double sq_distance = autoware_universe_utils::calcSquaredDistance2d(
     unknown_object.kinematics.pose_with_covariance.pose,
     known_object.kinematics.pose_with_covariance.pose);
   if (sq_distance_threshold < sq_distance) return false;
@@ -121,11 +121,13 @@ ObjectAssociationMergerNode::ObjectAssociationMergerNode(const rclcpp::NodeOptio
 
   // Debug publisher
   processing_time_publisher_ =
-    std::make_unique<tier4_autoware_utils::DebugPublisher>(this, "object_association_merger");
-  stop_watch_ptr_ = std::make_unique<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>>();
+    std::make_unique<autoware_universe_utils::DebugPublisher>(this, "object_association_merger");
+  stop_watch_ptr_ =
+    std::make_unique<autoware_universe_utils::StopWatch<std::chrono::milliseconds>>();
   stop_watch_ptr_->tic("cyclic_time");
   stop_watch_ptr_->tic("processing_time");
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void ObjectAssociationMergerNode::objectsCallback(
diff --git a/perception/object_velocity_splitter/package.xml b/perception/object_velocity_splitter/package.xml
index a0ffe5e802801..32fd5b2ff6337 100644
--- a/perception/object_velocity_splitter/package.xml
+++ b/perception/object_velocity_splitter/package.xml
@@ -13,10 +13,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <build_depend>autoware_cmake</build_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp b/perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp
index 2e496d7ee2ed6..4d635cf330fa6 100644
--- a/perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp
+++ b/perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp
@@ -14,7 +14,7 @@
 
 #include "object_velocity_splitter/object_velocity_splitter_node.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <memory>
 #include <string>
@@ -74,7 +74,7 @@ void ObjectVelocitySplitterNode::onObjects(const DetectedObjects::ConstSharedPtr
 
   for (const auto & object : objects_data_->objects) {
     if (
-      std::abs(tier4_autoware_utils::calcNorm(
+      std::abs(autoware_universe_utils::calcNorm(
         object.kinematics.twist_with_covariance.twist.linear)) < node_param_.velocity_threshold) {
       low_speed_objects.objects.emplace_back(object);
     } else {
diff --git a/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp b/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp
index 0faa40255a1ca..bed7f84ab79a2 100644
--- a/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp
+++ b/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp
@@ -17,9 +17,9 @@
 
 #include "pointcloud_preprocessor/filter.hpp"
 
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <pcl/common/impl/common.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <geometry_msgs/msg/pose.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
@@ -120,9 +120,9 @@ class OccupancyGridMapOutlierFilterComponent : public rclcpp::Node
 
   // Debugger
   std::shared_ptr<Debugger> debugger_ptr_;
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 
   // ROS Parameters
   std::string map_frame_;
diff --git a/perception/occupancy_grid_map_outlier_filter/package.xml b/perception/occupancy_grid_map_outlier_filter/package.xml
index dafd73f38faef..0e920549eb728 100644
--- a/perception/occupancy_grid_map_outlier_filter/package.xml
+++ b/perception/occupancy_grid_map_outlier_filter/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>image_transport</depend>
@@ -37,7 +38,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_pcl_extensions</depend>
 
diff --git a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
index bbd138030d76f..37811f4f6fb08 100644
--- a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
+++ b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp
@@ -14,10 +14,10 @@
 
 #include "occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <boost/optional.hpp>
 
@@ -73,7 +73,7 @@ geometry_msgs::msg::PoseStamped getPoseStamped(
     RCLCPP_WARN_THROTTLE(
       rclcpp::get_logger("occupancy_grid_map_outlier_filter"), clock, 5000, "%s", ex.what());
   }
-  return tier4_autoware_utils::transform2pose(tf_stamped);
+  return autoware_universe_utils::transform2pose(tf_stamped);
 }
 
 boost::optional<char> getCost(
@@ -225,8 +225,8 @@ OccupancyGridMapOutlierFilterComponent::OccupancyGridMapOutlierFilterComponent(
 {
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ = std::make_unique<DebugPublisher>(this, "occupancy_grid_map_outlier_filter");
     stop_watch_ptr_->tic("cyclic_time");
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp
index 19311559a3e7d..d09b1d9782604 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/fusion/synchronized_grid_map_fusion_node.hpp
@@ -20,10 +20,10 @@
 #include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_log_odds_bayes_filter_updater.hpp"
 #include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <builtin_interfaces/msg/time.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <sensor_msgs/msg/laser_scan.hpp>
@@ -85,8 +85,8 @@ class GridMapFusionNode : public rclcpp::Node
   rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr fused_map_pub_;
   rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr single_frame_pub_;
   std::vector<rclcpp::Subscription<nav_msgs::msg::OccupancyGrid>::SharedPtr> grid_map_subs_;
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{};
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_ptr_{};
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{};
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_ptr_{};
 
   // Topics manager
   std::size_t num_input_topics_{1};
diff --git a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
index 93486e0ca56af..7c3b7b3e4b1a3 100644
--- a/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
+++ b/perception/probabilistic_occupancy_grid_map/include/probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp
@@ -19,11 +19,11 @@
 #include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_binary_bayes_filter_updater.hpp"
 #include "probabilistic_occupancy_grid_map/updater/occupancy_grid_map_updater_interface.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <builtin_interfaces/msg/time.hpp>
 #include <laser_geometry/laser_geometry.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <sensor_msgs/msg/laser_scan.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
@@ -68,8 +68,8 @@ class PointcloudBasedOccupancyGridMapNode : public rclcpp::Node
   rclcpp::Publisher<OccupancyGrid>::SharedPtr occupancy_grid_map_pub_;
   message_filters::Subscriber<PointCloud2> obstacle_pointcloud_sub_;
   message_filters::Subscriber<PointCloud2> raw_pointcloud_sub_;
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{};
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_ptr_{};
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{};
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_ptr_{};
 
   std::shared_ptr<Buffer> tf2_{std::make_shared<Buffer>(get_clock())};
   std::shared_ptr<TransformListener> tf2_listener_{std::make_shared<TransformListener>(*tf2_)};
diff --git a/perception/probabilistic_occupancy_grid_map/package.xml b/perception/probabilistic_occupancy_grid_map/package.xml
index 3efed07535504..d8ae702ef60ca 100644
--- a/perception/probabilistic_occupancy_grid_map/package.xml
+++ b/perception/probabilistic_occupancy_grid_map/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>eigen3_cmake_module</depend>
   <depend>grid_map_costmap_2d</depend>
   <depend>grid_map_msgs</depend>
@@ -31,7 +32,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_sensor_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <exec_depend>pointcloud_preprocessor</exec_depend>
diff --git a/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp b/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
index f191a23eb8e65..211479ed24e6b 100644
--- a/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp
@@ -142,8 +142,8 @@ GridMapFusionNode::GridMapFusionNode(const rclcpp::NodeOptions & node_options)
 
   // debug tools
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ptr_ = std::make_unique<DebugPublisher>(this, "synchronized_grid_map_fusion");
     stop_watch_ptr_->tic("cyclic_time");
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
index 2722f2ef98249..f66ca3c7fc472 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp
@@ -17,9 +17,9 @@
 #include "probabilistic_occupancy_grid_map/cost_value.hpp"
 #include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
@@ -55,9 +55,9 @@ void OccupancyGridMapFixedBlindSpot::updateWithPointCloud(
   const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud,
   const Pose & robot_pose, const Pose & scan_origin)
 {
-  constexpr double min_angle = tier4_autoware_utils::deg2rad(-180.0);
-  constexpr double max_angle = tier4_autoware_utils::deg2rad(180.0);
-  constexpr double angle_increment = tier4_autoware_utils::deg2rad(0.1);
+  constexpr double min_angle = autoware_universe_utils::deg2rad(-180.0);
+  constexpr double max_angle = autoware_universe_utils::deg2rad(180.0);
+  constexpr double angle_increment = autoware_universe_utils::deg2rad(0.1);
   const size_t angle_bin_size = ((max_angle - min_angle) / angle_increment) + size_t(1 /*margin*/);
 
   // Transform from base_link to map frame
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
index eae66eb90355b..0a16c488158f1 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp
@@ -17,10 +17,10 @@
 #include "probabilistic_occupancy_grid_map/cost_value.hpp"
 #include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <grid_map_costmap_2d/grid_map_costmap_2d.hpp>
 #include <grid_map_ros/grid_map_ros.hpp>
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
@@ -56,9 +56,9 @@ void OccupancyGridMapProjectiveBlindSpot::updateWithPointCloud(
   const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud,
   const Pose & robot_pose, const Pose & scan_origin)
 {
-  constexpr double min_angle = tier4_autoware_utils::deg2rad(-180.0);
-  constexpr double max_angle = tier4_autoware_utils::deg2rad(180.0);
-  constexpr double angle_increment = tier4_autoware_utils::deg2rad(0.1);
+  constexpr double min_angle = autoware_universe_utils::deg2rad(-180.0);
+  constexpr double max_angle = autoware_universe_utils::deg2rad(180.0);
+  constexpr double angle_increment = autoware_universe_utils::deg2rad(0.1);
   const size_t angle_bin_size = ((max_angle - min_angle) / angle_increment) + size_t(1 /*margin*/);
 
   // Transform from base_link to map frame
diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
index 96afb0f2e852c..2f3a97c82ccc8 100644
--- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp
@@ -19,9 +19,9 @@
 #include "probabilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.hpp"
 #include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <nav_msgs/msg/occupancy_grid.hpp>
 
@@ -119,8 +119,8 @@ PointcloudBasedOccupancyGridMapNode::PointcloudBasedOccupancyGridMapNode(
 
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ptr_ =
       std::make_unique<DebugPublisher>(this, "pointcloud_based_occupancy_grid_map");
diff --git a/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp b/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
index 8009a503167ea..8e9a8431a4258 100644
--- a/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
+++ b/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp
@@ -14,7 +14,7 @@
 
 #include "probabilistic_occupancy_grid_map/utils/utils.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <string>
 
@@ -50,7 +50,7 @@ void transformPointcloud(
   const sensor_msgs::msg::PointCloud2 & input, const geometry_msgs::msg::Pose & pose,
   sensor_msgs::msg::PointCloud2 & output)
 {
-  const auto transform = tier4_autoware_utils::pose2transform(pose);
+  const auto transform = autoware_universe_utils::pose2transform(pose);
   Eigen::Matrix4f tf_matrix = tf2::transformToEigen(transform).matrix().cast<float>();
 
   pcl_ros::transformPointCloud(tf_matrix, input, output);
@@ -96,7 +96,7 @@ geometry_msgs::msg::Pose getPose(
   geometry_msgs::msg::TransformStamped tf_stamped;
   tf_stamped = tf2.lookupTransform(
     target_frame, source_header.frame_id, source_header.stamp, rclcpp::Duration::from_seconds(0.5));
-  pose = tier4_autoware_utils::transform2pose(tf_stamped.transform);
+  pose = autoware_universe_utils::transform2pose(tf_stamped.transform);
   return pose;
 }
 
@@ -108,7 +108,7 @@ geometry_msgs::msg::Pose getPose(
   geometry_msgs::msg::TransformStamped tf_stamped;
   tf_stamped =
     tf2.lookupTransform(target_frame, source_frame, stamp, rclcpp::Duration::from_seconds(0.5));
-  pose = tier4_autoware_utils::transform2pose(tf_stamped.transform);
+  pose = autoware_universe_utils::transform2pose(tf_stamped.transform);
   return pose;
 }
 
diff --git a/perception/radar_crossing_objects_noise_filter/package.xml b/perception/radar_crossing_objects_noise_filter/package.xml
index 2cfe2528a8bbd..0db40b24e809c 100644
--- a/perception/radar_crossing_objects_noise_filter/package.xml
+++ b/perception/radar_crossing_objects_noise_filter/package.xml
@@ -15,12 +15,12 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <build_depend>autoware_cmake</build_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node/radar_crossing_objects_noise_filter_node.cpp b/perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node/radar_crossing_objects_noise_filter_node.cpp
index a3f4d2a6ce9d0..339cb8afa454b 100644
--- a/perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node/radar_crossing_objects_noise_filter_node.cpp
+++ b/perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node/radar_crossing_objects_noise_filter_node.cpp
@@ -14,8 +14,8 @@
 
 #include "radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter_node.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/normalization.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/normalization.hpp"
 
 #include <tf2/utils.h>
 
@@ -124,14 +124,14 @@ rcl_interfaces::msg::SetParametersResult RadarCrossingObjectsNoiseFilterNode::on
 
 bool RadarCrossingObjectsNoiseFilterNode::isNoise(const DetectedObject & object)
 {
-  const double velocity =
-    std::abs(tier4_autoware_utils::calcNorm(object.kinematics.twist_with_covariance.twist.linear));
+  const double velocity = std::abs(
+    autoware_universe_utils::calcNorm(object.kinematics.twist_with_covariance.twist.linear));
   const double object_angle = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation);
   const double object_position_angle = std::atan2(
     object.kinematics.pose_with_covariance.pose.position.y,
     object.kinematics.pose_with_covariance.pose.position.x);
   const double crossing_yaw =
-    tier4_autoware_utils::normalizeRadian(object_angle - object_position_angle);
+    autoware_universe_utils::normalizeRadian(object_angle - object_position_angle);
 
   if (
     velocity > node_param_.velocity_threshold &&
diff --git a/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp b/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp
index a1c432d9f47b3..501edcbe84af8 100644
--- a/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp
+++ b/perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter_node.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
 
 #include <geometry_msgs/msg/point32.hpp>
 
@@ -48,9 +48,9 @@ TEST(RadarCrossingObjectsFilter, IsNoise)
 {
   rclcpp::init(0, nullptr);
   {
-    auto velocity = tier4_autoware_utils::createVector3(40.0, 30.0, 0.0);
-    auto position = tier4_autoware_utils::createPoint(1.0, 0.0, 0.0);
-    auto orientation = tier4_autoware_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
+    auto velocity = autoware_universe_utils::createVector3(40.0, 30.0, 0.0);
+    auto position = autoware_universe_utils::createPoint(1.0, 0.0, 0.0);
+    auto orientation = autoware_universe_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
     auto object = get_object(velocity, position, orientation);
     {
       double velocity_threshold = 40.0;
@@ -81,9 +81,9 @@ TEST(RadarCrossingObjectsFilter, IsNoise)
   }
 
   {
-    auto velocity = tier4_autoware_utils::createVector3(40.0, 30.0, 0.0);
-    auto position = tier4_autoware_utils::createPoint(1.0, 2.0, 0.0);
-    auto orientation = tier4_autoware_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
+    auto velocity = autoware_universe_utils::createVector3(40.0, 30.0, 0.0);
+    auto position = autoware_universe_utils::createPoint(1.0, 2.0, 0.0);
+    auto orientation = autoware_universe_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
     auto object = get_object(velocity, position, orientation);
     {
       double velocity_threshold = 40.0;
@@ -112,9 +112,9 @@ TEST(RadarCrossingObjectsFilter, IsNoise)
   }
 
   {
-    auto velocity = tier4_autoware_utils::createVector3(24.0, 18.0, 0.0);
-    auto position = tier4_autoware_utils::createPoint(1.0, 0.0, 0.0);
-    auto orientation = tier4_autoware_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
+    auto velocity = autoware_universe_utils::createVector3(24.0, 18.0, 0.0);
+    auto position = autoware_universe_utils::createPoint(1.0, 0.0, 0.0);
+    auto orientation = autoware_universe_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
     auto object = get_object(velocity, position, orientation);
     {
       double velocity_threshold = 40.0;
@@ -143,9 +143,9 @@ TEST(RadarCrossingObjectsFilter, IsNoise)
   }
 
   {
-    auto velocity = tier4_autoware_utils::createVector3(24.0, 18.0, 0.0);
-    auto position = tier4_autoware_utils::createPoint(1.0, 2.0, 0.0);
-    auto orientation = tier4_autoware_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
+    auto velocity = autoware_universe_utils::createVector3(24.0, 18.0, 0.0);
+    auto position = autoware_universe_utils::createPoint(1.0, 2.0, 0.0);
+    auto orientation = autoware_universe_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
     auto object = get_object(velocity, position, orientation);
     {
       double velocity_threshold = 40.0;
diff --git a/perception/radar_fusion_to_detected_object/include/radar_fusion_to_detected_object/radar_fusion_to_detected_object.hpp b/perception/radar_fusion_to_detected_object/include/radar_fusion_to_detected_object/radar_fusion_to_detected_object.hpp
index 716d4ee8b05ff..ef6891c6c8944 100644
--- a/perception/radar_fusion_to_detected_object/include/radar_fusion_to_detected_object/radar_fusion_to_detected_object.hpp
+++ b/perception/radar_fusion_to_detected_object/include/radar_fusion_to_detected_object/radar_fusion_to_detected_object.hpp
@@ -15,8 +15,8 @@
 #ifndef RADAR_FUSION_TO_DETECTED_OBJECT__RADAR_FUSION_TO_DETECTED_OBJECT_HPP_
 #define RADAR_FUSION_TO_DETECTED_OBJECT__RADAR_FUSION_TO_DETECTED_OBJECT_HPP_
 
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
 #include "rclcpp/logger.hpp"
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
 #define EIGEN_MPL2_ONLY
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -34,12 +34,12 @@ namespace radar_fusion_to_detected_object
 {
 using autoware_perception_msgs::msg::DetectedObject;
 using autoware_perception_msgs::msg::DetectedObjects;
+using autoware_universe_utils::LinearRing2d;
+using autoware_universe_utils::Point2d;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::PoseWithCovariance;
 using geometry_msgs::msg::Twist;
 using geometry_msgs::msg::TwistWithCovariance;
-using tier4_autoware_utils::LinearRing2d;
-using tier4_autoware_utils::Point2d;
 
 class RadarFusionToDetectedObject
 {
diff --git a/perception/radar_fusion_to_detected_object/package.xml b/perception/radar_fusion_to_detected_object/package.xml
index 4fe51b1002b15..aa0711f1cc6ce 100644
--- a/perception/radar_fusion_to_detected_object/package.xml
+++ b/perception/radar_fusion_to_detected_object/package.xml
@@ -16,13 +16,13 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>message_filters</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp b/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
index 6a170386917e7..85940b7f99f3d 100644
--- a/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
+++ b/perception/radar_fusion_to_detected_object/src/radar_fusion_to_detected_object.cpp
@@ -15,8 +15,8 @@
 
 #include "radar_fusion_to_detected_object/radar_fusion_to_detected_object.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
 
 #include <boost/geometry.hpp>
 
@@ -31,12 +31,12 @@ namespace radar_fusion_to_detected_object
 {
 using autoware_perception_msgs::msg::DetectedObject;
 using autoware_perception_msgs::msg::DetectedObjects;
+using autoware_universe_utils::LinearRing2d;
+using autoware_universe_utils::Point2d;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::PoseWithCovariance;
 using geometry_msgs::msg::Twist;
 using geometry_msgs::msg::TwistWithCovariance;
-using tier4_autoware_utils::LinearRing2d;
-using tier4_autoware_utils::Point2d;
 
 void RadarFusionToDetectedObject::setParam(const Param & param)
 {
@@ -136,7 +136,7 @@ RadarFusionToDetectedObject::Output RadarFusionToDetectedObject::update(
 bool RadarFusionToDetectedObject::hasTwistCovariance(
   const TwistWithCovariance & twist_with_covariance)
 {
-  using IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   auto covariance = twist_with_covariance.covariance;
   if (covariance[IDX::X_X] == 0.0 && covariance[IDX::Y_Y] == 0.0 && covariance[IDX::Z_Z] == 0.0) {
     return false;
@@ -151,11 +151,11 @@ bool RadarFusionToDetectedObject::isYawCorrect(
   const DetectedObject & object, const TwistWithCovariance & twist_with_covariance,
   const double & yaw_threshold)
 {
-  const double twist_yaw = tier4_autoware_utils::normalizeRadian(
+  const double twist_yaw = autoware_universe_utils::normalizeRadian(
     std::atan2(twist_with_covariance.twist.linear.y, twist_with_covariance.twist.linear.x));
-  const double object_yaw = tier4_autoware_utils::normalizeRadian(
+  const double object_yaw = autoware_universe_utils::normalizeRadian(
     tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation));
-  const double diff_yaw = tier4_autoware_utils::normalizeRadian(twist_yaw - object_yaw);
+  const double diff_yaw = autoware_universe_utils::normalizeRadian(twist_yaw - object_yaw);
   if (std::abs(diff_yaw) < yaw_threshold) {
     return true;
   } else if (M_PI - yaw_threshold < std::abs(diff_yaw)) {
@@ -174,10 +174,12 @@ RadarFusionToDetectedObject::filterRadarWithinObject(
 {
   std::vector<RadarInput> outputs{};
 
-  tier4_autoware_utils::Point2d object_size{object.shape.dimensions.x, object.shape.dimensions.y};
+  autoware_universe_utils::Point2d object_size{
+    object.shape.dimensions.x, object.shape.dimensions.y};
   LinearRing2d object_box = createObject2dWithMargin(object_size, param_.bounding_box_margin);
-  object_box = tier4_autoware_utils::transformVector(
-    object_box, tier4_autoware_utils::pose2transform(object.kinematics.pose_with_covariance.pose));
+  object_box = autoware_universe_utils::transformVector(
+    object_box,
+    autoware_universe_utils::pose2transform(object.kinematics.pose_with_covariance.pose));
 
   for (const auto & radar : (*radars)) {
     Point2d radar_point{
@@ -212,10 +214,10 @@ TwistWithCovariance RadarFusionToDetectedObject::estimateTwist(
   Eigen::Vector2d vec_min_distance(0.0, 0.0);
   if (param_.velocity_weight_min_distance > 0.0) {
     auto comp_func = [&](const RadarInput & a, const RadarInput & b) {
-      return tier4_autoware_utils::calcSquaredDistance2d(
+      return autoware_universe_utils::calcSquaredDistance2d(
                a.pose_with_covariance.pose.position,
                object.kinematics.pose_with_covariance.pose.position) <
-             tier4_autoware_utils::calcSquaredDistance2d(
+             autoware_universe_utils::calcSquaredDistance2d(
                b.pose_with_covariance.pose.position,
                object.kinematics.pose_with_covariance.pose.position);
     };
diff --git a/perception/radar_object_clustering/README.md b/perception/radar_object_clustering/README.md
index 5133ddbdbb4ad..abd2b6f9d1bfe 100644
--- a/perception/radar_object_clustering/README.md
+++ b/perception/radar_object_clustering/README.md
@@ -83,13 +83,13 @@ These are used in `isSameObject` function as below.
 bool RadarObjectClusteringNode::isSameObject(
   const DetectedObject & object_1, const DetectedObject & object_2)
 {
-  const double angle_diff = std::abs(tier4_autoware_utils::normalizeRadian(
+  const double angle_diff = std::abs(autoware_universe_utils::normalizeRadian(
     tf2::getYaw(object_1.kinematics.pose_with_covariance.pose.orientation) -
     tf2::getYaw(object_2.kinematics.pose_with_covariance.pose.orientation)));
   const double velocity_diff = std::abs(
     object_1.kinematics.twist_with_covariance.twist.linear.x -
     object_2.kinematics.twist_with_covariance.twist.linear.x);
-  const double distance = tier4_autoware_utils::calcDistance2d(
+  const double distance = autoware_universe_utils::calcDistance2d(
     object_1.kinematics.pose_with_covariance.pose.position,
     object_2.kinematics.pose_with_covariance.pose.position);
 
diff --git a/perception/radar_object_clustering/package.xml b/perception/radar_object_clustering/package.xml
index 44d99032380cf..c7666d2c5701e 100644
--- a/perception/radar_object_clustering/package.xml
+++ b/perception/radar_object_clustering/package.xml
@@ -15,13 +15,13 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>object_recognition_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <build_depend>autoware_cmake</build_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp b/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp
index a659a1411dbf9..1681260c711b2 100644
--- a/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp
+++ b/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp
@@ -14,9 +14,9 @@
 
 #include "radar_object_clustering/radar_object_clustering_node.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
 
 #include <tf2/utils.h>
 
@@ -179,13 +179,13 @@ void RadarObjectClusteringNode::onObjects(const DetectedObjects::ConstSharedPtr
 bool RadarObjectClusteringNode::isSameObject(
   const DetectedObject & object_1, const DetectedObject & object_2)
 {
-  const double angle_diff = std::abs(tier4_autoware_utils::normalizeRadian(
+  const double angle_diff = std::abs(autoware_universe_utils::normalizeRadian(
     tf2::getYaw(object_1.kinematics.pose_with_covariance.pose.orientation) -
     tf2::getYaw(object_2.kinematics.pose_with_covariance.pose.orientation)));
   const double velocity_diff = std::abs(
     object_1.kinematics.twist_with_covariance.twist.linear.x -
     object_2.kinematics.twist_with_covariance.twist.linear.x);
-  const double distance = tier4_autoware_utils::calcDistance2d(
+  const double distance = autoware_universe_utils::calcDistance2d(
     object_1.kinematics.pose_with_covariance.pose.position,
     object_2.kinematics.pose_with_covariance.pose.position);
 
diff --git a/perception/radar_object_tracker/include/radar_object_tracker/utils/radar_object_tracker_utils.hpp b/perception/radar_object_tracker/include/radar_object_tracker/utils/radar_object_tracker_utils.hpp
index aaffea3d5c3ab..e1c33c022e427 100644
--- a/perception/radar_object_tracker/include/radar_object_tracker/utils/radar_object_tracker_utils.hpp
+++ b/perception/radar_object_tracker/include/radar_object_tracker/utils/radar_object_tracker_utils.hpp
@@ -34,9 +34,9 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <autoware_perception_msgs/msg/tracked_object.hpp>
 
diff --git a/perception/radar_object_tracker/package.xml b/perception/radar_object_tracker/package.xml
index 4eb09a1def6a2..c3c4b33946b56 100644
--- a/perception/radar_object_tracker/package.xml
+++ b/perception/radar_object_tracker/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>glog</depend>
   <depend>kalman_filter</depend>
@@ -26,7 +27,6 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
   <depend>unique_identifier_msgs</depend>
   <depend>yaml-cpp</depend>
diff --git a/perception/radar_object_tracker/src/data_association/data_association.cpp b/perception/radar_object_tracker/src/data_association/data_association.cpp
index bd1860e6b0136..ddfb0c3e8f76d 100644
--- a/perception/radar_object_tracker/src/data_association/data_association.cpp
+++ b/perception/radar_object_tracker/src/data_association/data_association.cpp
@@ -55,8 +55,8 @@ double getFormedYawAngle(
   const geometry_msgs::msg::Quaternion & tracker_quat, const bool distinguish_front_or_back = true)
 {
   const double measurement_yaw =
-    tier4_autoware_utils::normalizeRadian(tf2::getYaw(measurement_quat));
-  const double tracker_yaw = tier4_autoware_utils::normalizeRadian(tf2::getYaw(tracker_quat));
+    autoware_universe_utils::normalizeRadian(tf2::getYaw(measurement_quat));
+  const double tracker_yaw = autoware_universe_utils::normalizeRadian(tf2::getYaw(tracker_quat));
   const double angle_range = distinguish_front_or_back ? M_PI : M_PI_2;
   const double angle_step = distinguish_front_or_back ? 2.0 * M_PI : M_PI;
   // Fixed measurement_yaw to be in the range of +-90 or 180 degrees of X_t(IDX::YAW)
@@ -203,7 +203,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
       double score = 0.0;
       if (can_assign_matrix_(tracker_label, measurement_label)) {
         const double max_dist = max_dist_matrix_(tracker_label, measurement_label);
-        const double dist = tier4_autoware_utils::calcDistance2d(
+        const double dist = autoware_universe_utils::calcDistance2d(
           measurement_object.kinematics.pose_with_covariance.pose.position,
           tracked_object.kinematics.pose_with_covariance.pose.position);
 
@@ -221,7 +221,7 @@ Eigen::MatrixXd DataAssociation::calcScoreMatrix(
         if (passed_gate) {
           const double max_area = max_area_matrix_(tracker_label, measurement_label);
           const double min_area = min_area_matrix_(tracker_label, measurement_label);
-          const double area = tier4_autoware_utils::getArea(measurement_object.shape);
+          const double area = autoware_universe_utils::getArea(measurement_object.shape);
           if (area < min_area || max_area < area) {
             passed_gate = false;
           }
diff --git a/perception/radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp b/perception/radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp
index c2088858b76c5..0548002606d5d 100644
--- a/perception/radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp
+++ b/perception/radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp
@@ -20,8 +20,8 @@
 
 #include "radar_object_tracker/utils/utils.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #include <bits/stdc++.h>
 #include <tf2/LinearMath/Matrix3x3.h>
@@ -209,7 +209,7 @@ void ConstantTurnRateMotionTracker::loadDefaultModelParameters(const std::string
   // limitation
   // (TODO): this may be written in another yaml file based on classify result
   const float max_speed_kmph = config["default"]["limit"]["max_speed"].as<float>();  // [km/h]
-  max_vx_ = tier4_autoware_utils::kmph2mps(max_speed_kmph);                          // [m/s]
+  max_vx_ = autoware_universe_utils::kmph2mps(max_speed_kmph);                       // [m/s]
 }
 
 bool ConstantTurnRateMotionTracker::predict(const rclcpp::Time & time)
@@ -393,7 +393,7 @@ bool ConstantTurnRateMotionTracker::measureWithPose(
 
     Eigen::MatrixXd Y_yaw = Eigen::MatrixXd::Zero(1, 1);
     const auto yaw = [&] {
-      auto obj_yaw = tier4_autoware_utils::normalizeRadian(
+      auto obj_yaw = autoware_universe_utils::normalizeRadian(
         tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation));
       while (M_PI_2 <= yaw_state - obj_yaw) {
         obj_yaw = obj_yaw + M_PI;
@@ -617,7 +617,7 @@ bool ConstantTurnRateMotionTracker::getTrackedObject(
     const auto origin_yaw = tf2::getYaw(object_.kinematics.pose_with_covariance.pose.orientation);
     const auto ekf_pose_yaw = tf2::getYaw(pose_with_cov.pose.orientation);
     object.shape.footprint =
-      tier4_autoware_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw);
+      autoware_universe_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw);
   }
 
   return true;
diff --git a/perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp b/perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp
index ce9ddef6ea993..754ff88861b0d 100644
--- a/perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp
+++ b/perception/radar_object_tracker/src/tracker/model/linear_motion_tracker.cpp
@@ -20,8 +20,8 @@
 
 #include "radar_object_tracker/utils/utils.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #include <bits/stdc++.h>
 #include <tf2/LinearMath/Matrix3x3.h>
@@ -237,8 +237,8 @@ void LinearMotionTracker::loadDefaultModelParameters(const std::string & path)
   // limitation
   // (TODO): this may be written in another yaml file based on classify result
   const float max_speed_kmph = config["default"]["limit"]["max_speed"].as<float>();  // [km/h]
-  max_vx_ = tier4_autoware_utils::kmph2mps(max_speed_kmph);                          // [m/s]
-  max_vy_ = tier4_autoware_utils::kmph2mps(max_speed_kmph);                          // [rad/s]
+  max_vx_ = autoware_universe_utils::kmph2mps(max_speed_kmph);                       // [m/s]
+  max_vy_ = autoware_universe_utils::kmph2mps(max_speed_kmph);                       // [rad/s]
 }
 
 bool LinearMotionTracker::predict(const rclcpp::Time & time)
@@ -682,7 +682,7 @@ bool LinearMotionTracker::getTrackedObject(
     const auto origin_yaw = tf2::getYaw(object_.kinematics.pose_with_covariance.pose.orientation);
     const auto ekf_pose_yaw = tf2::getYaw(pose_with_cov.pose.orientation);
     object.shape.footprint =
-      tier4_autoware_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw);
+      autoware_universe_utils::rotatePolygon(object.shape.footprint, origin_yaw - ekf_pose_yaw);
   }
 
   return true;
diff --git a/perception/radar_object_tracker/src/utils/radar_object_tracker_utils.cpp b/perception/radar_object_tracker/src/utils/radar_object_tracker_utils.cpp
index 57d7b5a21fa94..fa1acda54e4fe 100644
--- a/perception/radar_object_tracker/src/utils/radar_object_tracker_utils.cpp
+++ b/perception/radar_object_tracker/src/utils/radar_object_tracker_utils.cpp
@@ -81,10 +81,10 @@ bool checkCloseLaneletCondition(
   double object_motion_yaw = object_yaw;
   bool velocity_is_reverted = object.kinematics.twist_with_covariance.twist.linear.x < 0.0;
   if (velocity_is_reverted) {
-    object_motion_yaw = tier4_autoware_utils::normalizeRadian(object_yaw + M_PI);
+    object_motion_yaw = autoware_universe_utils::normalizeRadian(object_yaw + M_PI);
   }
   const double delta_yaw = object_motion_yaw - lane_yaw;
-  const double normalized_delta_yaw = tier4_autoware_utils::normalizeRadian(delta_yaw);
+  const double normalized_delta_yaw = autoware_universe_utils::normalizeRadian(delta_yaw);
   const double abs_norm_delta_yaw = std::fabs(normalized_delta_yaw);
 
   if (abs_norm_delta_yaw > max_angle_diff_from_lane) {
@@ -134,14 +134,14 @@ bool hasValidVelocityDirectionToLanelet(
   const double object_vel_y = object.kinematics.twist_with_covariance.twist.linear.y;
   const double object_vel_yaw = std::atan2(object_vel_y, object_vel_x);
   const double object_vel_yaw_global =
-    tier4_autoware_utils::normalizeRadian(object_yaw + object_vel_yaw);
+    autoware_universe_utils::normalizeRadian(object_yaw + object_vel_yaw);
   const double object_vel = std::hypot(object_vel_x, object_vel_y);
 
   for (const auto & lanelet : lanelets) {
     const double lane_yaw = lanelet::utils::getLaneletAngle(
       lanelet, object.kinematics.pose_with_covariance.pose.position);
     const double delta_yaw = object_vel_yaw_global - lane_yaw;
-    const double normalized_delta_yaw = tier4_autoware_utils::normalizeRadian(delta_yaw);
+    const double normalized_delta_yaw = autoware_universe_utils::normalizeRadian(delta_yaw);
 
     const double lane_vel = object_vel * std::sin(normalized_delta_yaw);
     if (std::fabs(lane_vel) < max_lateral_velocity) {
diff --git a/perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp b/perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp
index 59c9e5e579772..8db732245b1fd 100644
--- a/perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp
+++ b/perception/radar_tracks_msgs_converter/include/radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp
@@ -15,8 +15,8 @@
 #ifndef RADAR_TRACKS_MSGS_CONVERTER__RADAR_TRACKS_MSGS_CONVERTER_NODE_HPP_
 #define RADAR_TRACKS_MSGS_CONVERTER__RADAR_TRACKS_MSGS_CONVERTER_NODE_HPP_
 
+#include "autoware/universe_utils/ros/transform_listener.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/ros/transform_listener.hpp"
 
 #include "autoware_perception_msgs/msg/detected_objects.hpp"
 #include "autoware_perception_msgs/msg/object_classification.hpp"
@@ -64,7 +64,7 @@ class RadarTracksMsgsConverterNode : public rclcpp::Node
   // Subscriber
   rclcpp::Subscription<RadarTracks>::SharedPtr sub_radar_{};
   rclcpp::Subscription<Odometry>::SharedPtr sub_odometry_{};
-  std::shared_ptr<tier4_autoware_utils::TransformListener> transform_listener_;
+  std::shared_ptr<autoware_universe_utils::TransformListener> transform_listener_;
 
   // Callback
   void onRadarTracks(const RadarTracks::ConstSharedPtr msg);
diff --git a/perception/radar_tracks_msgs_converter/package.xml b/perception/radar_tracks_msgs_converter/package.xml
index f4b8ea496897f..ad0257dbbd726 100644
--- a/perception/radar_tracks_msgs_converter/package.xml
+++ b/perception/radar_tracks_msgs_converter/package.xml
@@ -16,6 +16,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>radar_msgs</depend>
@@ -24,7 +25,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
index 234f430d6fb81..0caf29df2735e 100644
--- a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
+++ b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp
@@ -14,9 +14,9 @@
 
 #include "radar_tracks_msgs_converter/radar_tracks_msgs_converter_node.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
-#include "tier4_autoware_utils/ros/msg_covariance.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
+#include "autoware/universe_utils/ros/msg_covariance.hpp"
 
 #include <tf2/utils.h>
 
@@ -92,7 +92,7 @@ RadarTracksMsgsConverterNode::RadarTracksMsgsConverterNode(const rclcpp::NodeOpt
   sub_odometry_ = create_subscription<Odometry>(
     "~/input/odometry", rclcpp::QoS{1},
     std::bind(&RadarTracksMsgsConverterNode::onTwist, this, _1));
-  transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
+  transform_listener_ = std::make_shared<autoware_universe_utils::TransformListener>(this);
 
   // Publisher
   pub_tracked_objects_ = create_publisher<TrackedObjects>("~/output/radar_tracked_objects", 1);
@@ -261,7 +261,7 @@ TrackedObjects RadarTracksMsgsConverterNode::convertRadarTrackToTrackedObjects()
     }
 
     // yaw angle (vehicle heading) is obtained from ground velocity
-    double yaw = tier4_autoware_utils::normalizeRadian(
+    double yaw = autoware_universe_utils::normalizeRadian(
       std::atan2(compensated_velocity.y, compensated_velocity.x));
 
     // kinematics setting
@@ -273,7 +273,7 @@ TrackedObjects RadarTracksMsgsConverterNode::convertRadarTrackToTrackedObjects()
     // velocity of object is defined in the object coordinate
     // heading is obtained from ground velocity
     kinematics.pose_with_covariance.pose.orientation =
-      tier4_autoware_utils::createQuaternionFromYaw(yaw);
+      autoware_universe_utils::createQuaternionFromYaw(yaw);
     // longitudinal velocity is the length of the velocity vector
     // lateral velocity is zero, use default value
     kinematics.twist_with_covariance.twist.linear.x = std::sqrt(
@@ -334,8 +334,8 @@ geometry_msgs::msg::Vector3 RadarTracksMsgsConverterNode::compensateVelocityEgoM
 std::array<double, 36> RadarTracksMsgsConverterNode::convertPoseCovarianceMatrix(
   const radar_msgs::msg::RadarTrack & radar_track)
 {
-  using POSE_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
-  using RADAR_IDX = tier4_autoware_utils::xyz_upper_covariance_index::XYZ_UPPER_COV_IDX;
+  using POSE_IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using RADAR_IDX = autoware_universe_utils::xyz_upper_covariance_index::XYZ_UPPER_COV_IDX;
   std::array<double, 36> pose_covariance{};
   pose_covariance[POSE_IDX::X_X] = radar_track.position_covariance[RADAR_IDX::X_X];
   pose_covariance[POSE_IDX::X_Y] = radar_track.position_covariance[RADAR_IDX::X_Y];
@@ -351,8 +351,8 @@ std::array<double, 36> RadarTracksMsgsConverterNode::convertPoseCovarianceMatrix
 std::array<double, 36> RadarTracksMsgsConverterNode::convertTwistCovarianceMatrix(
   const radar_msgs::msg::RadarTrack & radar_track)
 {
-  using POSE_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
-  using RADAR_IDX = tier4_autoware_utils::xyz_upper_covariance_index::XYZ_UPPER_COV_IDX;
+  using POSE_IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using RADAR_IDX = autoware_universe_utils::xyz_upper_covariance_index::XYZ_UPPER_COV_IDX;
   std::array<double, 36> twist_covariance{};
   twist_covariance[POSE_IDX::X_X] = radar_track.velocity_covariance[RADAR_IDX::X_X];
   twist_covariance[POSE_IDX::X_Y] = radar_track.velocity_covariance[RADAR_IDX::X_Y];
@@ -368,8 +368,8 @@ std::array<double, 36> RadarTracksMsgsConverterNode::convertTwistCovarianceMatri
 std::array<double, 36> RadarTracksMsgsConverterNode::convertAccelerationCovarianceMatrix(
   const radar_msgs::msg::RadarTrack & radar_track)
 {
-  using POSE_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
-  using RADAR_IDX = tier4_autoware_utils::xyz_upper_covariance_index::XYZ_UPPER_COV_IDX;
+  using POSE_IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using RADAR_IDX = autoware_universe_utils::xyz_upper_covariance_index::XYZ_UPPER_COV_IDX;
   std::array<double, 36> acceleration_covariance{};
   acceleration_covariance[POSE_IDX::X_X] = radar_track.acceleration_covariance[RADAR_IDX::X_X];
   acceleration_covariance[POSE_IDX::X_Y] = radar_track.acceleration_covariance[RADAR_IDX::X_Y];
diff --git a/perception/raindrop_cluster_filter/include/raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp b/perception/raindrop_cluster_filter/include/raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp
index 86a790e208012..5e010b21478fc 100644
--- a/perception/raindrop_cluster_filter/include/raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp
+++ b/perception/raindrop_cluster_filter/include/raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp
@@ -17,9 +17,9 @@
 
 #include "detected_object_validation/utils/utils.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp>
 
@@ -68,9 +68,9 @@ class LowIntensityClusterFilter : public rclcpp::Node
   utils::FilterTargetLabel filter_target_;
 
   // debugger
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
     nullptr};
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
 };
 
 }  // namespace low_intensity_cluster_filter
diff --git a/perception/raindrop_cluster_filter/package.xml b/perception/raindrop_cluster_filter/package.xml
index 492b789239d54..bff3f71db6f04 100644
--- a/perception/raindrop_cluster_filter/package.xml
+++ b/perception/raindrop_cluster_filter/package.xml
@@ -12,6 +12,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
+  <depend>autoware_universe_utils</depend>
   <depend>detected_object_validation</depend>
   <depend>lanelet2_extension</depend>
   <depend>message_filters</depend>
@@ -24,7 +25,6 @@
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter.cpp b/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter.cpp
index 5c47b61eaa0a3..cae09d3cb20e7 100644
--- a/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter.cpp
+++ b/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter.cpp
@@ -14,8 +14,8 @@
 
 #include "raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <pcl_ros/transforms.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
@@ -52,8 +52,8 @@ LowIntensityClusterFilter::LowIntensityClusterFilter(const rclcpp::NodeOptions &
     "output/objects", rclcpp::QoS{1});
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ptr_ =
       std::make_unique<DebugPublisher>(this, "low_intensity_cluster_filter_node");
@@ -85,8 +85,8 @@ void LowIntensityClusterFilter::objectCallback(
   geometry_msgs::msg::Pose max_pose;
   max_pose.position.x = max_x_;
   max_pose.position.y = max_y_;
-  auto min_ranged_transformed = tier4_autoware_utils::transformPose(min_range, transform_stamp);
-  auto max_range_transformed = tier4_autoware_utils::transformPose(max_pose, transform_stamp);
+  auto min_ranged_transformed = autoware_universe_utils::transformPose(min_range, transform_stamp);
+  auto max_range_transformed = autoware_universe_utils::transformPose(max_pose, transform_stamp);
   for (const auto & feature_object : input_msg->feature_objects) {
     const auto & object = feature_object.object;
     const auto & label = object.classification.front().label;
diff --git a/perception/shape_estimation/lib/corrector/utils.cpp b/perception/shape_estimation/lib/corrector/utils.cpp
index af42400dcc065..953736e0924ce 100644
--- a/perception/shape_estimation/lib/corrector/utils.cpp
+++ b/perception/shape_estimation/lib/corrector/utils.cpp
@@ -14,7 +14,7 @@
 
 #include "shape_estimation/corrector/utils.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <tf2/LinearMath/Matrix3x3.h>
 #include <tf2/LinearMath/Quaternion.h>
@@ -246,9 +246,9 @@ bool correctWithDefaultValue(
 
   // correct to set long length is x, short length is y
   if (shape.dimensions.x < shape.dimensions.y) {
-    geometry_msgs::msg::Vector3 rpy = tier4_autoware_utils::getRPY(pose.orientation);
+    geometry_msgs::msg::Vector3 rpy = autoware_universe_utils::getRPY(pose.orientation);
     rpy.z = rpy.z + M_PI_2;
-    pose.orientation = tier4_autoware_utils::createQuaternionFromRPY(rpy.x, rpy.y, rpy.z);
+    pose.orientation = autoware_universe_utils::createQuaternionFromRPY(rpy.x, rpy.y, rpy.z);
     double temp = shape.dimensions.x;
     shape.dimensions.x = shape.dimensions.y;
     shape.dimensions.y = temp;
diff --git a/perception/shape_estimation/package.xml b/perception/shape_estimation/package.xml
index e91a399baa076..8eab542036177 100644
--- a/perception/shape_estimation/package.xml
+++ b/perception/shape_estimation/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>libopencv-dev</depend>
   <depend>libpcl-all-dev</depend>
@@ -21,7 +22,6 @@
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
diff --git a/perception/shape_estimation/src/node.cpp b/perception/shape_estimation/src/node.cpp
index c20308ca0b6d1..119b0d22b3f7d 100644
--- a/perception/shape_estimation/src/node.cpp
+++ b/perception/shape_estimation/src/node.cpp
@@ -14,8 +14,8 @@
 
 #include "shape_estimation/shape_estimator.hpp"
 
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <node.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <autoware_perception_msgs/msg/object_classification.hpp>
 
@@ -54,11 +54,13 @@ ShapeEstimationNode::ShapeEstimationNode(const rclcpp::NodeOptions & node_option
     std::make_unique<ShapeEstimator>(use_corrector, use_filter, use_boost_bbox_optimizer);
 
   processing_time_publisher_ =
-    std::make_unique<tier4_autoware_utils::DebugPublisher>(this, "shape_estimation");
-  stop_watch_ptr_ = std::make_unique<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>>();
+    std::make_unique<autoware_universe_utils::DebugPublisher>(this, "shape_estimation");
+  stop_watch_ptr_ =
+    std::make_unique<autoware_universe_utils::StopWatch<std::chrono::milliseconds>>();
   stop_watch_ptr_->tic("cyclic_time");
   stop_watch_ptr_->tic("processing_time");
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 static autoware_perception_msgs::msg::ObjectClassification::_label_type get_label(
@@ -112,7 +114,7 @@ void ShapeEstimationNode::callback(const DetectedObjectsWithFeature::ConstShared
     if (use_vehicle_reference_yaw_ && is_vehicle) {
       ref_yaw_info = ReferenceYawInfo{
         static_cast<float>(tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation)),
-        tier4_autoware_utils::deg2rad(10)};
+        autoware_universe_utils::deg2rad(10)};
     }
     if (use_vehicle_reference_shape_size_ && is_vehicle) {
       ref_shape_size_info = ReferenceShapeSizeInfo{object.shape, ReferenceShapeSizeInfo::Mode::Min};
diff --git a/perception/shape_estimation/src/node.hpp b/perception/shape_estimation/src/node.hpp
index a3788668ef6ae..db2a8b9ddaedd 100644
--- a/perception/shape_estimation/src/node.hpp
+++ b/perception/shape_estimation/src/node.hpp
@@ -17,10 +17,10 @@
 
 #include "shape_estimation/shape_estimator.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 #include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp>
@@ -35,11 +35,11 @@ class ShapeEstimationNode : public rclcpp::Node
   // ros
   rclcpp::Publisher<DetectedObjectsWithFeature>::SharedPtr pub_;
   rclcpp::Subscription<DetectedObjectsWithFeature>::SharedPtr sub_;
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 
   // debug publisher
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> processing_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> processing_time_publisher_;
 
   void callback(const DetectedObjectsWithFeature::ConstSharedPtr input_msg);
 
diff --git a/perception/simple_object_merger/include/simple_object_merger/simple_object_merger_node.hpp b/perception/simple_object_merger/include/simple_object_merger/simple_object_merger_node.hpp
index 223272b64d716..73ccd33464d81 100644
--- a/perception/simple_object_merger/include/simple_object_merger/simple_object_merger_node.hpp
+++ b/perception/simple_object_merger/include/simple_object_merger/simple_object_merger_node.hpp
@@ -15,8 +15,8 @@
 #ifndef SIMPLE_OBJECT_MERGER__SIMPLE_OBJECT_MERGER_NODE_HPP_
 #define SIMPLE_OBJECT_MERGER__SIMPLE_OBJECT_MERGER_NODE_HPP_
 
+#include "autoware/universe_utils/ros/transform_listener.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/ros/transform_listener.hpp"
 
 #include "autoware_perception_msgs/msg/detected_objects.hpp"
 
@@ -47,7 +47,7 @@ class SimpleObjectMergerNode : public rclcpp::Node
   // Subscriber
   rclcpp::Subscription<DetectedObjects>::SharedPtr sub_objects_{};
   std::vector<rclcpp::Subscription<DetectedObjects>::SharedPtr> sub_objects_array{};
-  std::shared_ptr<tier4_autoware_utils::TransformListener> transform_listener_;
+  std::shared_ptr<autoware_universe_utils::TransformListener> transform_listener_;
 
   // Callback
   void onData(const DetectedObjects::ConstSharedPtr msg, size_t array_number);
diff --git a/perception/simple_object_merger/package.xml b/perception/simple_object_merger/package.xml
index 4586efe53f2e7..487155bffd102 100644
--- a/perception/simple_object_merger/package.xml
+++ b/perception/simple_object_merger/package.xml
@@ -13,10 +13,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <build_depend>autoware_cmake</build_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
index fabf06595970c..af8f02caef72b 100644
--- a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
+++ b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp
@@ -98,7 +98,7 @@ SimpleObjectMergerNode::SimpleObjectMergerNode(const rclcpp::NodeOptions & node_
   }
 
   // Subscriber
-  transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
+  transform_listener_ = std::make_shared<autoware_universe_utils::TransformListener>(this);
   sub_objects_array.resize(input_topic_size);
   objects_data_.resize(input_topic_size);
 
diff --git a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox_node.hpp b/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox_node.hpp
index fc396ae4b3473..885852106a82c 100644
--- a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox_node.hpp
+++ b/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox_node.hpp
@@ -15,12 +15,12 @@
 #ifndef TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
 #define TENSORRT_YOLOX__TENSORRT_YOLOX_NODE_HPP_
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <image_transport/image_transport.hpp>
 #include <opencv2/opencv.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tensorrt_yolox/tensorrt_yolox.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <sensor_msgs/msg/image.hpp>
 #include <std_msgs/msg/header.hpp>
@@ -63,8 +63,8 @@ class TrtYoloXNode : public rclcpp::Node
 
   LabelMap label_map_;
   std::unique_ptr<tensorrt_yolox::TrtYoloX> trt_yolox_;
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_;
 };
 
 }  // namespace tensorrt_yolox
diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp
index c1c4c42741cee..4eb266445489e 100644
--- a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp
+++ b/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp
@@ -31,9 +31,9 @@ TrtYoloXNode::TrtYoloXNode(const rclcpp::NodeOptions & node_options)
 {
   {
     stop_watch_ptr_ =
-      std::make_unique<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>>();
+      std::make_unique<autoware_universe_utils::StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ =
-      std::make_unique<tier4_autoware_utils::DebugPublisher>(this, "tensorrt_yolox");
+      std::make_unique<autoware_universe_utils::DebugPublisher>(this, "tensorrt_yolox");
     stop_watch_ptr_->tic("cyclic_time");
     stop_watch_ptr_->tic("processing_time");
   }
diff --git a/perception/tracking_object_merger/include/tracking_object_merger/decorative_tracker_merger.hpp b/perception/tracking_object_merger/include/tracking_object_merger/decorative_tracker_merger.hpp
index 7fe4d3a06decc..be03ec3868af9 100644
--- a/perception/tracking_object_merger/include/tracking_object_merger/decorative_tracker_merger.hpp
+++ b/perception/tracking_object_merger/include/tracking_object_merger/decorative_tracker_merger.hpp
@@ -19,10 +19,10 @@
 #include "tracking_object_merger/utils/tracker_state.hpp"
 #include "tracking_object_merger/utils/utils.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_perception_msgs/msg/tracked_objects.hpp>
 #include <std_msgs/msg/header.hpp>
@@ -86,8 +86,8 @@ class DecorativeTrackerMergerNode : public rclcpp::Node
   // debug object publisher
   rclcpp::Publisher<autoware_perception_msgs::msg::TrackedObjects>::SharedPtr debug_object_pub_;
   bool publish_interpolated_sub_objects_;
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> processing_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> processing_time_publisher_;
 
   /* handle objects */
   std::unordered_map<MEASUREMENT_STATE, std::function<void(TrackedObject &, const TrackedObject &)>>
@@ -106,7 +106,7 @@ class DecorativeTrackerMergerNode : public rclcpp::Node
   // tracker default settings
   TrackerStateParameter tracker_state_parameter_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 
   // merge policy (currently not used)
   struct
diff --git a/perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp b/perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp
index be53f69ff74cb..1778e09da5cd9 100644
--- a/perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp
+++ b/perception/tracking_object_merger/include/tracking_object_merger/utils/utils.hpp
@@ -17,8 +17,8 @@
 #ifndef TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_
 #define TRACKING_OBJECT_MERGER__UTILS__UTILS_HPP_
 
-// #include <tier4_autoware_utils/tier4_autoware_utils.hpp>
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+// #include <autoware/universe_utils/autoware_universe_utils.hpp>
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/perception/tracking_object_merger/package.xml b/perception/tracking_object_merger/package.xml
index d5904571cec6e..370f5beb3e3b3 100644
--- a/perception/tracking_object_merger/package.xml
+++ b/perception/tracking_object_merger/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>glog</depend>
   <depend>mussp</depend>
@@ -22,7 +23,6 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/tracking_object_merger/src/data_association/data_association.cpp b/perception/tracking_object_merger/src/data_association/data_association.cpp
index 21bb1b46cb14a..ae4c05013b7db 100644
--- a/perception/tracking_object_merger/src/data_association/data_association.cpp
+++ b/perception/tracking_object_merger/src/data_association/data_association.cpp
@@ -14,8 +14,8 @@
 
 #include "tracking_object_merger/data_association/data_association.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "object_recognition_utils/object_recognition_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 #include "tracking_object_merger/data_association/solver/gnn_solver.hpp"
 #include "tracking_object_merger/utils/utils.hpp"
 
@@ -31,8 +31,8 @@ double getFormedYawAngle(
   const geometry_msgs::msg::Quaternion & quat0, const geometry_msgs::msg::Quaternion & quat1,
   const bool distinguish_front_or_back = true)
 {
-  const double yaw0 = tier4_autoware_utils::normalizeRadian(tf2::getYaw(quat0));
-  const double yaw1 = tier4_autoware_utils::normalizeRadian(tf2::getYaw(quat1));
+  const double yaw0 = autoware_universe_utils::normalizeRadian(tf2::getYaw(quat0));
+  const double yaw1 = autoware_universe_utils::normalizeRadian(tf2::getYaw(quat1));
   const double angle_range = distinguish_front_or_back ? M_PI : M_PI_2;
   const double angle_step = distinguish_front_or_back ? 2.0 * M_PI : M_PI;
   // Fixed yaw0 to be in the range of +-90 or 180 degrees of yaw1
@@ -183,7 +183,7 @@ double DataAssociation::calcScoreBetweenObjects(
   double score = 0.0;
   if (can_assign_matrix_(object1_label, object0_label)) {
     const double max_dist = max_dist_matrix_(object1_label, object0_label);
-    const double dist = tier4_autoware_utils::calcDistance2d(
+    const double dist = autoware_universe_utils::calcDistance2d(
       object0.kinematics.pose_with_covariance.pose.position,
       object1.kinematics.pose_with_covariance.pose.position);
 
diff --git a/perception/tracking_object_merger/src/decorative_tracker_merger.cpp b/perception/tracking_object_merger/src/decorative_tracker_merger.cpp
index 30762d4a21231..d1bc61d90edac 100644
--- a/perception/tracking_object_merger/src/decorative_tracker_merger.cpp
+++ b/perception/tracking_object_merger/src/decorative_tracker_merger.cpp
@@ -155,12 +155,14 @@ DecorativeTrackerMergerNode::DecorativeTrackerMergerNode(const rclcpp::NodeOptio
   set3dDataAssociation("radar-radar", data_association_map_);
 
   // debug publisher
-  processing_time_publisher_ =
-    std::make_unique<tier4_autoware_utils::DebugPublisher>(this, "decorative_object_merger_node");
-  stop_watch_ptr_ = std::make_unique<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>>();
+  processing_time_publisher_ = std::make_unique<autoware_universe_utils::DebugPublisher>(
+    this, "decorative_object_merger_node");
+  stop_watch_ptr_ =
+    std::make_unique<autoware_universe_utils::StopWatch<std::chrono::milliseconds>>();
   stop_watch_ptr_->tic("cyclic_time");
   stop_watch_ptr_->tic("processing_time");
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void DecorativeTrackerMergerNode::set3dDataAssociation(
diff --git a/perception/tracking_object_merger/src/utils/utils.cpp b/perception/tracking_object_merger/src/utils/utils.cpp
index 343c9d9711032..7d8b5a4cc02f3 100644
--- a/perception/tracking_object_merger/src/utils/utils.cpp
+++ b/perception/tracking_object_merger/src/utils/utils.cpp
@@ -280,7 +280,7 @@ bool objectsHaveSameMotionDirections(const TrackedObject & main_obj, const Track
   // diff of motion yaw angle
   const auto motion_yaw_diff = std::fabs(main_motion_yaw - sub_motion_yaw);
   const auto normalized_motion_yaw_diff =
-    tier4_autoware_utils::normalizeRadian(motion_yaw_diff);  // -pi ~ pi
+    autoware_universe_utils::normalizeRadian(motion_yaw_diff);  // -pi ~ pi
   // evaluate if motion yaw angle is same
   constexpr double yaw_threshold = M_PI / 4.0;  // 45 deg
   if (std::abs(normalized_motion_yaw_diff) < yaw_threshold) {
@@ -305,7 +305,7 @@ bool objectsYawIsReverted(const TrackedObject & main_obj, const TrackedObject &
   const auto sub_yaw = tf2::getYaw(sub_obj.kinematics.pose_with_covariance.pose.orientation);
   // calc yaw diff
   const auto yaw_diff = std::fabs(main_yaw - sub_yaw);
-  const auto normalized_yaw_diff = tier4_autoware_utils::normalizeRadian(yaw_diff);  // -pi ~ pi
+  const auto normalized_yaw_diff = autoware_universe_utils::normalizeRadian(yaw_diff);  // -pi ~ pi
   // evaluate if yaw is reverted
   constexpr double yaw_threshold = M_PI / 2.0;  // 90 deg
   if (std::abs(normalized_yaw_diff) >= yaw_threshold) {
diff --git a/perception/traffic_light_map_based_detector/package.xml b/perception/traffic_light_map_based_detector/package.xml
index de0f62829cf18..e72cac75cd809 100644
--- a/perception/traffic_light_map_based_detector/package.xml
+++ b/perception/traffic_light_map_based_detector/package.xml
@@ -15,6 +15,7 @@
 
   <depend>autoware_map_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>image_geometry</depend>
   <depend>lanelet2_extension</depend>
@@ -25,7 +26,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/perception/traffic_light_map_based_detector/src/node.cpp b/perception/traffic_light_map_based_detector/src/node.cpp
index 465ab5f85d9a7..7224db018ccff 100644
--- a/perception/traffic_light_map_based_detector/src/node.cpp
+++ b/perception/traffic_light_map_based_detector/src/node.cpp
@@ -14,11 +14,11 @@
 
 #include "traffic_light_map_based_detector/node.hpp"
 
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <lanelet2_extension/visualization/visualization.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <lanelet2_core/Exceptions.h>
 #include <lanelet2_core/geometry/Point.h>
@@ -512,9 +512,9 @@ void MapBasedDetector::getVisibleTrafficLights(
     double max_angle_range;
     if (pedestrian_tl_id_.find(traffic_light.id()) != pedestrian_tl_id_.end()) {
       max_angle_range =
-        tier4_autoware_utils::deg2rad(config_.pedestrian_traffic_light_max_angle_range);
+        autoware_universe_utils::deg2rad(config_.pedestrian_traffic_light_max_angle_range);
     } else {
-      max_angle_range = tier4_autoware_utils::deg2rad(config_.car_traffic_light_max_angle_range);
+      max_angle_range = autoware_universe_utils::deg2rad(config_.car_traffic_light_max_angle_range);
     }
     // traffic light bottom left
     const auto & tl_bl = traffic_light.front();
@@ -530,7 +530,7 @@ void MapBasedDetector::getVisibleTrafficLights(
       }
 
       // check angle range
-      const double tl_yaw = tier4_autoware_utils::normalizeRadian(
+      const double tl_yaw = autoware_universe_utils::normalizeRadian(
         std::atan2(tl_br.y() - tl_bl.y(), tl_br.x() - tl_bl.x()) + M_PI_2);
 
       // get direction of z axis
@@ -538,7 +538,7 @@ void MapBasedDetector::getVisibleTrafficLights(
       tf2::Matrix3x3 camera_rotation_matrix(tf_map2camera.getRotation());
       camera_z_dir = camera_rotation_matrix * camera_z_dir;
       double camera_yaw = std::atan2(camera_z_dir.y(), camera_z_dir.x());
-      camera_yaw = tier4_autoware_utils::normalizeRadian(camera_yaw);
+      camera_yaw = autoware_universe_utils::normalizeRadian(camera_yaw);
       if (!isInAngleRange(tl_yaw, camera_yaw, max_angle_range)) {
         continue;
       }
diff --git a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp
index 7e2825197f3a7..c14a5d56dc5d4 100644
--- a/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp
+++ b/perception/traffic_light_occlusion_predictor/include/traffic_light_occlusion_predictor/occlusion_predictor.hpp
@@ -16,10 +16,10 @@
 #ifndef TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__OCCLUSION_PREDICTOR_HPP_
 #define TRAFFIC_LIGHT_OCCLUSION_PREDICTOR__OCCLUSION_PREDICTOR_HPP_
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/pcl_conversion.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/pcl_conversion.hpp>
 
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tier4_perception_msgs/msg/traffic_light_roi_array.hpp>
diff --git a/perception/traffic_light_occlusion_predictor/package.xml b/perception/traffic_light_occlusion_predictor/package.xml
index 47077ce342621..9a701548092d9 100644
--- a/perception/traffic_light_occlusion_predictor/package.xml
+++ b/perception/traffic_light_occlusion_predictor/package.xml
@@ -13,6 +13,7 @@
   <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_map_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>image_geometry</depend>
   <depend>lanelet2_extension</depend>
@@ -24,7 +25,6 @@
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
   <depend>traffic_light_utils</depend>
 
diff --git a/perception/traffic_light_occlusion_predictor/src/nodelet.cpp b/perception/traffic_light_occlusion_predictor/src/nodelet.cpp
index ddd4e52d5248a..1a2eaa6c4d941 100644
--- a/perception/traffic_light_occlusion_predictor/src/nodelet.cpp
+++ b/perception/traffic_light_occlusion_predictor/src/nodelet.cpp
@@ -14,11 +14,11 @@
 
 #include "traffic_light_occlusion_predictor/nodelet.hpp"
 
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <lanelet2_extension/visualization/visualization.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <lanelet2_core/Exceptions.h>
 #include <lanelet2_core/geometry/Point.h>
diff --git a/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp b/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp
index 6f96913420bad..8a1bea3303c67 100644
--- a/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp
+++ b/perception/traffic_light_occlusion_predictor/src/occlusion_predictor.cpp
@@ -102,7 +102,7 @@ void CloudOcclusionPredictor::predict(
   pcl::PointCloud<pcl::PointXYZ> cloud_camera;
   // points within roi
   pcl::PointCloud<pcl::PointXYZ> cloud_roi;
-  tier4_autoware_utils::transformPointCloudFromROSMsg(*cloud_msg, cloud_camera, camera2cloud);
+  autoware_universe_utils::transformPointCloudFromROSMsg(*cloud_msg, cloud_camera, camera2cloud);
 
   filterCloud(cloud_camera, roi_tls, roi_brs, cloud_roi);
 
diff --git a/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp b/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp
index 81c2c41762e2d..11f05ad126bc1 100644
--- a/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp
+++ b/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp
@@ -31,7 +31,7 @@
 #ifndef AUTOWARE__FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_
 #define AUTOWARE__FREESPACE_PLANNER__FREESPACE_PLANNER_NODE_HPP_
 
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
 
 #include <autoware/freespace_planning_algorithms/astar_search.hpp>
 #include <autoware/freespace_planning_algorithms/rrtstar.hpp>
@@ -163,7 +163,7 @@ class FreespacePlannerNode : public rclcpp::Node
 
   TransformStamped getTransform(const std::string & from, const std::string & to);
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 };
 }  // namespace autoware::freespace_planner
 
diff --git a/planning/autoware_freespace_planner/package.xml b/planning/autoware_freespace_planner/package.xml
index a5ed76d7d27b6..b098c7337954e 100644
--- a/planning/autoware_freespace_planner/package.xml
+++ b/planning/autoware_freespace_planner/package.xml
@@ -19,6 +19,7 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>
@@ -28,7 +29,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp
index b5e5d8c59cadb..ca012e7d85316 100644
--- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp
+++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp
@@ -32,8 +32,8 @@
 
 #include "autoware/freespace_planning_algorithms/abstract_algorithm.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <algorithm>
 #include <deque>
@@ -143,7 +143,7 @@ Trajectory getPartialTrajectory(
 double calcDistance2d(const Trajectory & trajectory, const Pose & pose)
 {
   const auto idx = motion_utils::findNearestIndex(trajectory.points, pose.position);
-  return tier4_autoware_utils::calcDistance2d(trajectory.points.at(idx), pose);
+  return autoware_universe_utils::calcDistance2d(trajectory.points.at(idx), pose);
 }
 
 Pose transformPose(const Pose & pose, const TransformStamped & transform)
@@ -287,7 +287,7 @@ FreespacePlannerNode::FreespacePlannerNode(const rclcpp::NodeOptions & node_opti
       this, get_clock(), period_ns, std::bind(&FreespacePlannerNode::onTimer, this));
   }
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
 }
 
 PlannerCommonParam FreespacePlannerNode::getPlannerCommonParam()
@@ -395,7 +395,7 @@ bool FreespacePlannerNode::isPlanRequired()
 void FreespacePlannerNode::updateTargetIndex()
 {
   const auto is_near_target =
-    tier4_autoware_utils::calcDistance2d(trajectory_.points.at(target_index_), current_pose_) <
+    autoware_universe_utils::calcDistance2d(trajectory_.points.at(target_index_), current_pose_) <
     node_param_.th_arrived_distance_m;
 
   const auto is_stopped = isStopped(odom_buffer_, node_param_.th_stopped_velocity_mps);
diff --git a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp
index cb2e5122f8b4b..bca08f0d11c58 100644
--- a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp
+++ b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp
@@ -15,8 +15,8 @@
 #ifndef AUTOWARE__FREESPACE_PLANNING_ALGORITHMS__ABSTRACT_ALGORITHM_HPP_
 #define AUTOWARE__FREESPACE_PLANNING_ALGORITHMS__ABSTRACT_ALGORITHM_HPP_
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
diff --git a/planning/autoware_freespace_planning_algorithms/package.xml b/planning/autoware_freespace_planning_algorithms/package.xml
index 61173f0a877e4..05e906c998096 100644
--- a/planning/autoware_freespace_planning_algorithms/package.xml
+++ b/planning/autoware_freespace_planning_algorithms/package.xml
@@ -16,6 +16,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
   <buildtool_depend>python_cmake_module</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
@@ -25,7 +26,6 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp b/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp
index c153d4078be6a..dbab68be5f8be 100644
--- a/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp
+++ b/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp
@@ -14,15 +14,15 @@
 
 #include "autoware/freespace_planning_algorithms/abstract_algorithm.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
 
 #include <vector>
 
 namespace autoware::freespace_planning_algorithms
 {
-using tier4_autoware_utils::createQuaternionFromYaw;
-using tier4_autoware_utils::normalizeRadian;
+using autoware_universe_utils::createQuaternionFromYaw;
+using autoware_universe_utils::normalizeRadian;
 
 geometry_msgs::msg::Pose transformPose(
   const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::TransformStamped & transform)
@@ -97,7 +97,7 @@ double PlannerWaypoints::compute_length() const
   for (size_t i = 0; i < waypoints.size() - 1; ++i) {
     const auto pose_a = waypoints.at(i);
     const auto pose_b = waypoints.at(i + 1);
-    total_cost += tier4_autoware_utils::calcDistance2d(pose_a.pose, pose_b.pose);
+    total_cost += autoware_universe_utils::calcDistance2d(pose_a.pose, pose_b.pose);
   }
   return total_cost;
 }
diff --git a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp
index 1b7870d092208..5aa7f9889ccf8 100644
--- a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp
+++ b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp
@@ -14,8 +14,8 @@
 
 #include "autoware/freespace_planning_algorithms/astar_search.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #include <tf2/utils.h>
 
@@ -42,7 +42,7 @@ double calcReedsSheppDistance(
 
 void setYaw(geometry_msgs::msg::Quaternion * orientation, const double yaw)
 {
-  *orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw);
+  *orientation = autoware_universe_utils::createQuaternionFromYaw(yaw);
 }
 
 geometry_msgs::msg::Pose calcRelativePose(
@@ -209,7 +209,7 @@ double AstarSearch::estimateCost(const geometry_msgs::msg::Pose & pose) const
     total_cost +=
       calcReedsSheppDistance(pose, goal_pose_, radius) * astar_param_.distance_heuristic_weight;
   } else {
-    total_cost += tier4_autoware_utils::calcDistance2d(pose, goal_pose_) *
+    total_cost += autoware_universe_utils::calcDistance2d(pose, goal_pose_) *
                   astar_param_.distance_heuristic_weight;
   }
   return total_cost;
@@ -332,7 +332,7 @@ bool AstarSearch::isGoal(const AstarNode & node) const
   const double lateral_goal_range = planner_common_param_.lateral_goal_range / 2.0;
   const double longitudinal_goal_range = planner_common_param_.longitudinal_goal_range / 2.0;
   const double goal_angle =
-    tier4_autoware_utils::deg2rad(planner_common_param_.angle_goal_range / 2.0);
+    autoware_universe_utils::deg2rad(planner_common_param_.angle_goal_range / 2.0);
 
   const auto relative_pose = calcRelativePose(goal_pose_, node2pose(node));
 
@@ -348,7 +348,7 @@ bool AstarSearch::isGoal(const AstarNode & node) const
   }
 
   const auto angle_diff =
-    tier4_autoware_utils::normalizeRadian(tf2::getYaw(relative_pose.orientation));
+    autoware_universe_utils::normalizeRadian(tf2::getYaw(relative_pose.orientation));
   if (std::abs(angle_diff) > goal_angle) {
     return false;
   }
@@ -363,7 +363,7 @@ geometry_msgs::msg::Pose AstarSearch::node2pose(const AstarNode & node) const
   pose_local.position.x = node.x;
   pose_local.position.y = node.y;
   pose_local.position.z = goal_pose_.position.z;
-  pose_local.orientation = tier4_autoware_utils::createQuaternionFromYaw(node.theta);
+  pose_local.orientation = autoware_universe_utils::createQuaternionFromYaw(node.theta);
 
   return pose_local;
 }
diff --git a/planning/autoware_mission_planner/package.xml b/planning/autoware_mission_planner/package.xml
index 0a0491e75dd95..6fb7cca836fd8 100644
--- a/planning/autoware_mission_planner/package.xml
+++ b/planning/autoware_mission_planner/package.xml
@@ -21,6 +21,7 @@
   <depend>autoware_map_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
@@ -30,7 +31,6 @@
   <depend>rclcpp_components</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp b/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp
index e1c41eee2fb20..275d5cd825787 100644
--- a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp
+++ b/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp
@@ -16,16 +16,16 @@
 
 #include "utility_functions.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <lanelet2_extension/visualization/visualization.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_core/geometry/Lanelet.h>
@@ -190,13 +190,13 @@ PlannerPlugin::MarkerArray DefaultPlanner::visualize(const LaneletRoute & route)
   }
 
   const std_msgs::msg::ColorRGBA cl_route =
-    tier4_autoware_utils::createMarkerColor(0.8, 0.99, 0.8, 0.15);
+    autoware_universe_utils::createMarkerColor(0.8, 0.99, 0.8, 0.15);
   const std_msgs::msg::ColorRGBA cl_ll_borders =
-    tier4_autoware_utils::createMarkerColor(1.0, 1.0, 1.0, 0.999);
+    autoware_universe_utils::createMarkerColor(1.0, 1.0, 1.0, 0.999);
   const std_msgs::msg::ColorRGBA cl_end =
-    tier4_autoware_utils::createMarkerColor(0.2, 0.2, 0.4, 0.05);
+    autoware_universe_utils::createMarkerColor(0.2, 0.2, 0.4, 0.05);
   const std_msgs::msg::ColorRGBA cl_goal =
-    tier4_autoware_utils::createMarkerColor(0.2, 0.4, 0.4, 0.05);
+    autoware_universe_utils::createMarkerColor(0.2, 0.4, 0.4, 0.05);
 
   visualization_msgs::msg::MarkerArray route_marker_array;
   insert_marker_array(
@@ -216,27 +216,27 @@ PlannerPlugin::MarkerArray DefaultPlanner::visualize(const LaneletRoute & route)
 }
 
 visualization_msgs::msg::MarkerArray DefaultPlanner::visualize_debug_footprint(
-  tier4_autoware_utils::LinearRing2d goal_footprint) const
+  autoware_universe_utils::LinearRing2d goal_footprint) const
 {
   visualization_msgs::msg::MarkerArray msg;
-  auto marker = tier4_autoware_utils::createDefaultMarker(
+  auto marker = autoware_universe_utils::createDefaultMarker(
     "map", rclcpp::Clock().now(), "goal_footprint", 0, visualization_msgs::msg::Marker::LINE_STRIP,
-    tier4_autoware_utils::createMarkerScale(0.05, 0.0, 0.0),
-    tier4_autoware_utils::createMarkerColor(0.99, 0.99, 0.2, 1.0));
+    autoware_universe_utils::createMarkerScale(0.05, 0.0, 0.0),
+    autoware_universe_utils::createMarkerColor(0.99, 0.99, 0.2, 1.0));
   marker.lifetime = rclcpp::Duration::from_seconds(2.5);
 
   marker.points.push_back(
-    tier4_autoware_utils::createPoint(goal_footprint[0][0], goal_footprint[0][1], 0.0));
+    autoware_universe_utils::createPoint(goal_footprint[0][0], goal_footprint[0][1], 0.0));
   marker.points.push_back(
-    tier4_autoware_utils::createPoint(goal_footprint[1][0], goal_footprint[1][1], 0.0));
+    autoware_universe_utils::createPoint(goal_footprint[1][0], goal_footprint[1][1], 0.0));
   marker.points.push_back(
-    tier4_autoware_utils::createPoint(goal_footprint[2][0], goal_footprint[2][1], 0.0));
+    autoware_universe_utils::createPoint(goal_footprint[2][0], goal_footprint[2][1], 0.0));
   marker.points.push_back(
-    tier4_autoware_utils::createPoint(goal_footprint[3][0], goal_footprint[3][1], 0.0));
+    autoware_universe_utils::createPoint(goal_footprint[3][0], goal_footprint[3][1], 0.0));
   marker.points.push_back(
-    tier4_autoware_utils::createPoint(goal_footprint[4][0], goal_footprint[4][1], 0.0));
+    autoware_universe_utils::createPoint(goal_footprint[4][0], goal_footprint[4][1], 0.0));
   marker.points.push_back(
-    tier4_autoware_utils::createPoint(goal_footprint[5][0], goal_footprint[5][1], 0.0));
+    autoware_universe_utils::createPoint(goal_footprint[5][0], goal_footprint[5][1], 0.0));
   marker.points.push_back(marker.points.front());
 
   msg.markers.push_back(marker);
@@ -247,7 +247,7 @@ visualization_msgs::msg::MarkerArray DefaultPlanner::visualize_debug_footprint(
 bool DefaultPlanner::check_goal_footprint_inside_lanes(
   const lanelet::ConstLanelet & current_lanelet,
   const lanelet::ConstLanelet & combined_prev_lanelet,
-  const tier4_autoware_utils::Polygon2d & goal_footprint, double & next_lane_length,
+  const autoware_universe_utils::Polygon2d & goal_footprint, double & next_lane_length,
   const double search_margin)
 {
   // check if goal footprint is in current lane
@@ -302,8 +302,8 @@ bool DefaultPlanner::is_goal_valid(
         shoulder_lanelets, goal, &closest_shoulder_lanelet)) {
     const auto lane_yaw = lanelet::utils::getLaneletAngle(closest_shoulder_lanelet, goal.position);
     const auto goal_yaw = tf2::getYaw(goal.orientation);
-    const auto angle_diff = tier4_autoware_utils::normalizeRadian(lane_yaw - goal_yaw);
-    const double th_angle = tier4_autoware_utils::deg2rad(param_.goal_angle_threshold_deg);
+    const auto angle_diff = autoware_universe_utils::normalizeRadian(lane_yaw - goal_yaw);
+    const double th_angle = autoware_universe_utils::deg2rad(param_.goal_angle_threshold_deg);
     if (std::abs(angle_diff) < th_angle) {
       return true;
     }
@@ -332,8 +332,8 @@ bool DefaultPlanner::is_goal_valid(
   }
 
   const auto local_vehicle_footprint = vehicle_info_.createFootprint();
-  tier4_autoware_utils::LinearRing2d goal_footprint =
-    transformVector(local_vehicle_footprint, tier4_autoware_utils::pose2transform(goal));
+  autoware_universe_utils::LinearRing2d goal_footprint =
+    transformVector(local_vehicle_footprint, autoware_universe_utils::pose2transform(goal));
   pub_goal_footprint_marker_->publish(visualize_debug_footprint(goal_footprint));
   const auto polygon_footprint = convert_linear_ring_to_polygon(goal_footprint);
 
@@ -357,9 +357,9 @@ bool DefaultPlanner::is_goal_valid(
   if (is_in_lane(closest_lanelet, goal_lanelet_pt)) {
     const auto lane_yaw = lanelet::utils::getLaneletAngle(closest_lanelet, goal.position);
     const auto goal_yaw = tf2::getYaw(goal.orientation);
-    const auto angle_diff = tier4_autoware_utils::normalizeRadian(lane_yaw - goal_yaw);
+    const auto angle_diff = autoware_universe_utils::normalizeRadian(lane_yaw - goal_yaw);
 
-    const double th_angle = tier4_autoware_utils::deg2rad(param_.goal_angle_threshold_deg);
+    const double th_angle = autoware_universe_utils::deg2rad(param_.goal_angle_threshold_deg);
     if (std::abs(angle_diff) < th_angle) {
       return true;
     }
diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp b/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp
index 63bfac97672ea..0b7d889a24f83 100644
--- a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp
+++ b/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp
@@ -51,7 +51,8 @@ class DefaultPlanner : public mission_planner::PlannerPlugin
   void updateRoute(const PlannerPlugin::LaneletRoute & route) override;
   void clearRoute() override;
   MarkerArray visualize(const LaneletRoute & route) const override;
-  MarkerArray visualize_debug_footprint(tier4_autoware_utils::LinearRing2d goal_footprint_) const;
+  MarkerArray visualize_debug_footprint(
+    autoware_universe_utils::LinearRing2d goal_footprint_) const;
   autoware::vehicle_info_utils::VehicleInfo vehicle_info_;
 
 private:
@@ -85,7 +86,7 @@ class DefaultPlanner : public mission_planner::PlannerPlugin
   bool check_goal_footprint_inside_lanes(
     const lanelet::ConstLanelet & current_lanelet,
     const lanelet::ConstLanelet & combined_prev_lanelet,
-    const tier4_autoware_utils::Polygon2d & goal_footprint, double & next_lane_length,
+    const autoware_universe_utils::Polygon2d & goal_footprint, double & next_lane_length,
     const double search_margin = 2.0);
 
   /**
diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp
index 1f3b2077cc5eb..904e618f825fb 100644
--- a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp
+++ b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp
@@ -21,10 +21,10 @@
 #include <unordered_set>
 #include <utility>
 
-tier4_autoware_utils::Polygon2d convert_linear_ring_to_polygon(
-  tier4_autoware_utils::LinearRing2d footprint)
+autoware_universe_utils::Polygon2d convert_linear_ring_to_polygon(
+  autoware_universe_utils::LinearRing2d footprint)
 {
-  tier4_autoware_utils::Polygon2d footprint_polygon;
+  autoware_universe_utils::Polygon2d footprint_polygon;
   boost::geometry::append(footprint_polygon.outer(), footprint[0]);
   boost::geometry::append(footprint_polygon.outer(), footprint[1]);
   boost::geometry::append(footprint_polygon.outer(), footprint[2]);
@@ -120,7 +120,7 @@ geometry_msgs::msg::Pose convertBasicPoint3dToPose(
   pose.position.y = point.y();
   pose.position.z = point.z();
 
-  pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(lane_yaw);
+  pose.orientation = autoware_universe_utils::createQuaternionFromYaw(lane_yaw);
 
   return pose;
 }
diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp
index 4ff7cf16beb70..04f235a58206f 100644
--- a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp
+++ b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp
@@ -16,9 +16,9 @@
 #define LANELET2_PLUGINS__UTILITY_FUNCTIONS_HPP_
 
 #include <autoware/route_handler/route_handler.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <geometry_msgs/msg/pose.hpp>
 #include <std_msgs/msg/color_rgba.hpp>
@@ -42,8 +42,8 @@ bool exists(const std::vector<T> & vectors, const T & item)
   return false;
 }
 
-tier4_autoware_utils::Polygon2d convert_linear_ring_to_polygon(
-  tier4_autoware_utils::LinearRing2d footprint);
+autoware_universe_utils::Polygon2d convert_linear_ring_to_polygon(
+  autoware_universe_utils::LinearRing2d footprint);
 void insert_marker_array(
   visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2);
 
diff --git a/planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp b/planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp
index 54285bd1491f9..b0af480d10357 100644
--- a/planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp
+++ b/planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp
@@ -14,9 +14,9 @@
 
 #include "arrival_checker.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #include <tf2/utils.h>
 
@@ -26,7 +26,7 @@ namespace autoware::mission_planner
 ArrivalChecker::ArrivalChecker(rclcpp::Node * node) : vehicle_stop_checker_(node)
 {
   const double angle_deg = node->declare_parameter<double>("arrival_check_angle_deg");
-  angle_ = tier4_autoware_utils::deg2rad(angle_deg);
+  angle_ = autoware_universe_utils::deg2rad(angle_deg);
   distance_ = node->declare_parameter<double>("arrival_check_distance");
   duration_ = node->declare_parameter<double>("arrival_check_duration");
 }
@@ -67,14 +67,14 @@ bool ArrivalChecker::is_arrived(const PoseStamped & pose) const
   }
 
   // Check distance.
-  if (distance_ < tier4_autoware_utils::calcDistance2d(pose.pose, goal.pose)) {
+  if (distance_ < autoware_universe_utils::calcDistance2d(pose.pose, goal.pose)) {
     return false;
   }
 
   // Check angle.
   const double yaw_pose = tf2::getYaw(pose.pose.orientation);
   const double yaw_goal = tf2::getYaw(goal.pose.orientation);
-  const double yaw_diff = tier4_autoware_utils::normalizeRadian(yaw_pose - yaw_goal);
+  const double yaw_diff = autoware_universe_utils::normalizeRadian(yaw_pose - yaw_goal);
   if (angle_ < std::fabs(yaw_diff)) {
     return false;
   }
diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp
index 0500fa07ec31f..fc90b91f6d996 100644
--- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp
+++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp
@@ -78,7 +78,7 @@ MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options)
   const auto period = rclcpp::Rate(10).period();
   data_check_timer_ = create_wall_timer(period, [this] { check_initialization(); });
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
 }
 
 void MissionPlanner::publish_pose_log(const Pose & pose, const std::string & pose_type)
diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp
index 77896adde331d..ab108d07918d2 100644
--- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp
+++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp
@@ -16,13 +16,13 @@
 #define MISSION_PLANNER__MISSION_PLANNER_HPP_
 
 #include "arrival_checker.hpp"
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
 
 #include <autoware/mission_planner/mission_planner_plugin.hpp>
 #include <autoware/route_handler/route_handler.hpp>
+#include <autoware/universe_utils/ros/logger_level_configure.hpp>
 #include <pluginlib/class_loader.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/logger_level_configure.hpp>
 
 #include <autoware_adapi_v1_msgs/srv/set_route.hpp>
 #include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
@@ -85,7 +85,7 @@ class MissionPlanner : public rclcpp::Node
 
   rclcpp::Subscription<PoseWithUuidStamped>::SharedPtr sub_modified_goal_;
   rclcpp::Subscription<Odometry>::SharedPtr sub_odometry_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<RerouteAvailability>
+  autoware_universe_utils::InterProcessPollingSubscriber<RerouteAvailability>
     sub_reroute_availability_{this, "~/input/reroute_availability"};
 
   rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_vector_map_;
@@ -132,7 +132,7 @@ class MissionPlanner : public rclcpp::Node
   double minimum_reroute_length_;
   bool check_reroute_safety(const LaneletRoute & original_route, const LaneletRoute & target_route);
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 };
 
 }  // namespace autoware::mission_planner
diff --git a/planning/autoware_objects_of_interest_marker_interface/include/autoware/objects_of_interest_marker_interface/coloring.hpp b/planning/autoware_objects_of_interest_marker_interface/include/autoware/objects_of_interest_marker_interface/coloring.hpp
index c305b5d2e2732..e228b34cb9f5d 100644
--- a/planning/autoware_objects_of_interest_marker_interface/include/autoware/objects_of_interest_marker_interface/coloring.hpp
+++ b/planning/autoware_objects_of_interest_marker_interface/include/autoware/objects_of_interest_marker_interface/coloring.hpp
@@ -16,7 +16,7 @@
 #define AUTOWARE__OBJECTS_OF_INTEREST_MARKER_INTERFACE__COLORING_HPP_
 #include "autoware/objects_of_interest_marker_interface/marker_data.hpp"
 
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 
 #include <std_msgs/msg/color_rgba.hpp>
 
diff --git a/planning/autoware_objects_of_interest_marker_interface/include/autoware/objects_of_interest_marker_interface/marker_utils.hpp b/planning/autoware_objects_of_interest_marker_interface/include/autoware/objects_of_interest_marker_interface/marker_utils.hpp
index fcf91db9e794b..ace32e91287a4 100644
--- a/planning/autoware_objects_of_interest_marker_interface/include/autoware/objects_of_interest_marker_interface/marker_utils.hpp
+++ b/planning/autoware_objects_of_interest_marker_interface/include/autoware/objects_of_interest_marker_interface/marker_utils.hpp
@@ -17,11 +17,11 @@
 #include "autoware/objects_of_interest_marker_interface/coloring.hpp"
 #include "autoware/objects_of_interest_marker_interface/marker_data.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/constants.hpp>
-#include <tier4_autoware_utils/math/trigonometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/constants.hpp>
+#include <autoware/universe_utils/math/trigonometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
 #include <geometry_msgs/msg/pose.hpp>
diff --git a/planning/autoware_objects_of_interest_marker_interface/package.xml b/planning/autoware_objects_of_interest_marker_interface/package.xml
index a7701d159e824..8b62865ddace5 100644
--- a/planning/autoware_objects_of_interest_marker_interface/package.xml
+++ b/planning/autoware_objects_of_interest_marker_interface/package.xml
@@ -15,10 +15,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/planning/autoware_objects_of_interest_marker_interface/src/coloring.cpp b/planning/autoware_objects_of_interest_marker_interface/src/coloring.cpp
index 88a7b9bf3e4df..8dba7731649b4 100644
--- a/planning/autoware_objects_of_interest_marker_interface/src/coloring.cpp
+++ b/planning/autoware_objects_of_interest_marker_interface/src/coloring.cpp
@@ -22,7 +22,7 @@ std_msgs::msg::ColorRGBA convertFromColorCode(const uint64_t code, const float a
   const float g = static_cast<int>((code << 48) >> 56) / 255.0;
   const float b = static_cast<int>((code << 56) >> 56) / 255.0;
 
-  return tier4_autoware_utils::createMarkerColor(r, g, b, alpha);
+  return autoware_universe_utils::createMarkerColor(r, g, b, alpha);
 }
 }  // namespace
 
diff --git a/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp b/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp
index a01542b013e78..4cbf6924abf36 100644
--- a/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp
+++ b/planning/autoware_objects_of_interest_marker_interface/src/marker_utils.cpp
@@ -20,8 +20,8 @@ using geometry_msgs::msg::Point;
 
 using std_msgs::msg::ColorRGBA;
 
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerScale;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerScale;
 
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
@@ -66,9 +66,9 @@ Marker createCircleMarker(
   for (size_t i = 0; i < num_points; ++i) {
     Point point;
     const double ratio = static_cast<double>(i) / static_cast<double>(num_points);
-    const double theta = 2 * tier4_autoware_utils::pi * ratio;
-    point.x = data.pose.position.x + radius * tier4_autoware_utils::cos(theta);
-    point.y = data.pose.position.y + radius * tier4_autoware_utils::sin(theta);
+    const double theta = 2 * autoware_universe_utils::pi * ratio;
+    point.x = data.pose.position.x + radius * autoware_universe_utils::cos(theta);
+    point.y = data.pose.position.y + radius * autoware_universe_utils::sin(theta);
     point.z = data.pose.position.z + height + height_offset;
     marker.points.push_back(point);
   }
diff --git a/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp b/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp
index 881f3a8fcc6b8..253d2ec05c246 100644
--- a/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp
+++ b/planning/autoware_objects_of_interest_marker_interface/src/objects_of_interest_marker_interface.cpp
@@ -14,9 +14,9 @@
 
 #include "autoware/objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/constants.hpp>
-#include <tier4_autoware_utils/math/trigonometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/constants.hpp>
+#include <autoware/universe_utils/math/trigonometry.hpp>
 
 namespace autoware::objects_of_interest_marker_interface
 {
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp
index 8efc879727883..d0f78e695c8ce 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/common_structs.hpp
@@ -16,12 +16,12 @@
 #define AUTOWARE__OBSTACLE_CRUISE_PLANNER__COMMON_STRUCTS_HPP_
 
 #include "autoware/obstacle_cruise_planner/type_alias.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
+#include "autoware/universe_utils/ros/uuid_helper.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "motion_utils/trajectory/interpolation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
-#include "tier4_autoware_utils/ros/uuid_helper.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -63,7 +63,7 @@ struct Obstacle
     twist(object.kinematics.initial_twist_with_covariance.twist),
     twist_reliable(true),
     classification(object.classification.at(0)),
-    uuid(tier4_autoware_utils::toHexString(object.object_id)),
+    uuid(autoware_universe_utils::toHexString(object.object_id)),
     shape(object.shape),
     ego_to_obstacle_distance(ego_to_obstacle_distance),
     lat_dist_from_obstacle_to_traj(lat_dist_from_obstacle_to_traj)
@@ -74,7 +74,7 @@ struct Obstacle
     }
   }
 
-  Polygon2d toPolygon() const { return tier4_autoware_utils::toPolygon2d(pose, shape); }
+  Polygon2d toPolygon() const { return autoware_universe_utils::toPolygon2d(pose, shape); }
 
   rclcpp::Time stamp;  // This is not the current stamp, but when the object was observed.
   geometry_msgs::msg::Pose pose;  // interpolated with the current stamp
@@ -198,33 +198,33 @@ struct LongitudinalInfo
 
   void onParam(const std::vector<rclcpp::Parameter> & parameters)
   {
-    tier4_autoware_utils::updateParam<double>(parameters, "normal.max_accel", max_accel);
-    tier4_autoware_utils::updateParam<double>(parameters, "normal.min_accel", min_accel);
-    tier4_autoware_utils::updateParam<double>(parameters, "normal.max_jerk", max_jerk);
-    tier4_autoware_utils::updateParam<double>(parameters, "normal.min_jerk", min_jerk);
-    tier4_autoware_utils::updateParam<double>(parameters, "limit.max_accel", limit_max_accel);
-    tier4_autoware_utils::updateParam<double>(parameters, "limit.min_accel", limit_min_accel);
-    tier4_autoware_utils::updateParam<double>(parameters, "limit.max_jerk", limit_max_jerk);
-    tier4_autoware_utils::updateParam<double>(parameters, "limit.min_jerk", limit_min_jerk);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(parameters, "normal.max_accel", max_accel);
+    autoware_universe_utils::updateParam<double>(parameters, "normal.min_accel", min_accel);
+    autoware_universe_utils::updateParam<double>(parameters, "normal.max_jerk", max_jerk);
+    autoware_universe_utils::updateParam<double>(parameters, "normal.min_jerk", min_jerk);
+    autoware_universe_utils::updateParam<double>(parameters, "limit.max_accel", limit_max_accel);
+    autoware_universe_utils::updateParam<double>(parameters, "limit.min_accel", limit_min_accel);
+    autoware_universe_utils::updateParam<double>(parameters, "limit.max_jerk", limit_max_jerk);
+    autoware_universe_utils::updateParam<double>(parameters, "limit.min_jerk", limit_min_jerk);
+    autoware_universe_utils::updateParam<double>(
       parameters, "common.slow_down_min_accel", slow_down_min_accel);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "common.slow_down_min_jerk", slow_down_min_jerk);
 
-    tier4_autoware_utils::updateParam<double>(parameters, "common.idling_time", idling_time);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(parameters, "common.idling_time", idling_time);
+    autoware_universe_utils::updateParam<double>(
       parameters, "common.min_ego_accel_for_rss", min_ego_accel_for_rss);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "common.min_object_accel_for_rss", min_object_accel_for_rss);
 
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "common.safe_distance_margin", safe_distance_margin);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "common.terminal_safe_distance_margin", terminal_safe_distance_margin);
 
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "common.hold_stop_velocity_threshold", hold_stop_velocity_threshold);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "common.hold_stop_distance_threshold", hold_stop_distance_threshold);
   }
 
@@ -265,7 +265,7 @@ struct DebugData
   MarkerArray stop_wall_marker;
   MarkerArray cruise_wall_marker;
   MarkerArray slow_down_wall_marker;
-  std::vector<tier4_autoware_utils::Polygon2d> detection_polygons;
+  std::vector<autoware_universe_utils::Polygon2d> detection_polygons;
 };
 
 struct EgoNearestParam
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp
index 32164981eaf99..5d0d99a742d1c 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/node.hpp
@@ -19,13 +19,13 @@
 #include "autoware/obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp"
 #include "autoware/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp"
 #include "autoware/obstacle_cruise_planner/type_alias.hpp"
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 #include "signal_processing/lowpass_filter_1d.hpp"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
 
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <algorithm>
 #include <memory>
@@ -145,11 +145,11 @@ class ObstacleCruisePlannerNode : public rclcpp::Node
 
   // subscriber
   rclcpp::Subscription<Trajectory>::SharedPtr traj_sub_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> ego_odom_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Odometry> ego_odom_sub_{
     this, "~/input/odometry"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<PredictedObjects> objects_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<PredictedObjects> objects_sub_{
     this, "~/input/objects"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped> acc_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped> acc_sub_{
     this, "~/input/acceleration"};
 
   // Vehicle Parameters
@@ -161,7 +161,7 @@ class ObstacleCruisePlannerNode : public rclcpp::Node
   PlanningAlgorithm planning_algorithm_;
 
   // stop watch
-  mutable tier4_autoware_utils::StopWatch<
+  mutable autoware_universe_utils::StopWatch<
     std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock>
     stop_watch_;
   mutable std::shared_ptr<DebugData> debug_data_ptr_{nullptr};
@@ -274,9 +274,9 @@ class ObstacleCruisePlannerNode : public rclcpp::Node
 
   std::vector<StopObstacle> prev_closest_stop_obstacles_{};
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace autoware::motion_planning
 
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp
index 355deb7cc87c8..e342ed3b7495e 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/planner_interface.hpp
@@ -19,9 +19,9 @@
 #include "autoware/obstacle_cruise_planner/stop_planning_debug_info.hpp"
 #include "autoware/obstacle_cruise_planner/type_alias.hpp"
 #include "autoware/obstacle_cruise_planner/utils.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
 
 #include <algorithm>
 #include <limits>
@@ -125,7 +125,7 @@ class PlannerInterface
   bool suppress_sudden_obstacle_stop_;
 
   // stop watch
-  tier4_autoware_utils::StopWatch<
+  autoware_universe_utils::StopWatch<
     std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock>
     stop_watch_;
 
@@ -303,29 +303,29 @@ class PlannerInterface
           if (obstacle_to_param_struct_map.count(label + "." + movement_postfix) < 1) continue;
           auto & param_by_obstacle_label =
             obstacle_to_param_struct_map.at(label + "." + movement_postfix);
-          tier4_autoware_utils::updateParam<double>(
+          autoware_universe_utils::updateParam<double>(
             parameters, "slow_down." + label + "." + movement_postfix + ".max_lat_margin",
             param_by_obstacle_label.max_lat_margin);
-          tier4_autoware_utils::updateParam<double>(
+          autoware_universe_utils::updateParam<double>(
             parameters, "slow_down." + label + "." + movement_postfix + ".min_lat_margin",
             param_by_obstacle_label.min_lat_margin);
-          tier4_autoware_utils::updateParam<double>(
+          autoware_universe_utils::updateParam<double>(
             parameters, "slow_down." + label + "." + movement_postfix + ".max_ego_velocity",
             param_by_obstacle_label.max_ego_velocity);
-          tier4_autoware_utils::updateParam<double>(
+          autoware_universe_utils::updateParam<double>(
             parameters, "slow_down." + label + "." + movement_postfix + ".min_ego_velocity",
             param_by_obstacle_label.min_ego_velocity);
         }
       }
 
       // common parameters
-      tier4_autoware_utils::updateParam<double>(
+      autoware_universe_utils::updateParam<double>(
         parameters, "slow_down.time_margin_on_target_velocity", time_margin_on_target_velocity);
-      tier4_autoware_utils::updateParam<double>(
+      autoware_universe_utils::updateParam<double>(
         parameters, "slow_down.lpf_gain_slow_down_vel", lpf_gain_slow_down_vel);
-      tier4_autoware_utils::updateParam<double>(
+      autoware_universe_utils::updateParam<double>(
         parameters, "slow_down.lpf_gain_lat_dist", lpf_gain_lat_dist);
-      tier4_autoware_utils::updateParam<double>(
+      autoware_universe_utils::updateParam<double>(
         parameters, "slow_down.lpf_gain_dist_to_slow_down", lpf_gain_dist_to_slow_down);
     }
 
@@ -385,15 +385,15 @@ class PlannerInterface
         if (type_str == "default") {
           continue;
         }
-        tier4_autoware_utils::updateParam<double>(
+        autoware_universe_utils::updateParam<double>(
           parameters, param_prefix + type_str + ".limit_min_acc", param.limit_min_acc);
-        tier4_autoware_utils::updateParam<double>(
+        autoware_universe_utils::updateParam<double>(
           parameters, param_prefix + type_str + ".sudden_object_acc_threshold",
           param.sudden_object_acc_threshold);
-        tier4_autoware_utils::updateParam<double>(
+        autoware_universe_utils::updateParam<double>(
           parameters, param_prefix + type_str + ".sudden_object_dist_threshold",
           param.sudden_object_dist_threshold);
-        tier4_autoware_utils::updateParam<bool>(
+        autoware_universe_utils::updateParam<bool>(
           parameters, param_prefix + type_str + ".abandon_to_stop", param.abandon_to_stop);
 
         param.sudden_object_acc_threshold =
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/polygon_utils.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/polygon_utils.hpp
index ec6102a3e9807..e9c661d575733 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/polygon_utils.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/polygon_utils.hpp
@@ -17,8 +17,8 @@
 
 #include "autoware/obstacle_cruise_planner/common_structs.hpp"
 #include "autoware/obstacle_cruise_planner/type_alias.hpp"
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
 
 #include <boost/geometry.hpp>
 
@@ -30,8 +30,8 @@
 namespace polygon_utils
 {
 namespace bg = boost::geometry;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 
 Polygon2d createOneStepPolygon(
   const std::vector<geometry_msgs::msg::Pose> & last_poses,
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp
index 673a470decdb1..bc9f6070e159d 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp
@@ -60,7 +60,7 @@ using tier4_planning_msgs::msg::VelocityLimitClearCommand;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 namespace bg = boost::geometry;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 
 #endif  // AUTOWARE__OBSTACLE_CRUISE_PLANNER__TYPE_ALIAS_HPP_
diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/utils.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/utils.hpp
index e229f5c54c5ed..ceb5da13882bd 100644
--- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/utils.hpp
+++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/utils.hpp
@@ -16,8 +16,8 @@
 #define AUTOWARE__OBSTACLE_CRUISE_PLANNER__UTILS_HPP_
 
 #include "autoware/obstacle_cruise_planner/type_alias.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "common_structs.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -62,7 +62,7 @@ size_t getIndexWithLongitudinalOffset(
   if (longitudinal_offset > 0) {
     for (size_t i = *start_idx; i < points.size() - 1; ++i) {
       const double segment_length =
-        tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i + 1));
+        autoware_universe_utils::calcDistance2d(points.at(i), points.at(i + 1));
       sum_length += segment_length;
       if (sum_length >= longitudinal_offset) {
         const double back_length = sum_length - longitudinal_offset;
@@ -79,7 +79,7 @@ size_t getIndexWithLongitudinalOffset(
 
   for (size_t i = *start_idx; 0 < i; --i) {
     const double segment_length =
-      tier4_autoware_utils::calcDistance2d(points.at(i - 1), points.at(i));
+      autoware_universe_utils::calcDistance2d(points.at(i - 1), points.at(i));
     sum_length += segment_length;
     if (sum_length >= -longitudinal_offset) {
       const double back_length = sum_length + longitudinal_offset;
diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml
index 2d3a96abfd81d..564c4d7cbe6a6 100644
--- a/planning/autoware_obstacle_cruise_planner/package.xml
+++ b/planning/autoware_obstacle_cruise_planner/package.xml
@@ -21,6 +21,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
@@ -35,7 +36,6 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/autoware_obstacle_cruise_planner/src/node.cpp b/planning/autoware_obstacle_cruise_planner/src/node.cpp
index 710308218d207..3c64f18cc0f05 100644
--- a/planning/autoware_obstacle_cruise_planner/src/node.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/node.cpp
@@ -16,12 +16,12 @@
 
 #include "autoware/obstacle_cruise_planner/polygon_utils.hpp"
 #include "autoware/obstacle_cruise_planner/utils.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
+#include "autoware/universe_utils/ros/marker_helper.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
 
 #include <boost/format.hpp>
 
@@ -87,7 +87,7 @@ double calcDiffAngleAgainstTrajectory(
 
   const double target_yaw = tf2::getYaw(target_pose.orientation);
 
-  const double diff_yaw = tier4_autoware_utils::normalizeRadian(target_yaw - traj_yaw);
+  const double diff_yaw = autoware_universe_utils::normalizeRadian(target_yaw - traj_yaw);
   return diff_yaw;
 }
 
@@ -130,7 +130,7 @@ TrajectoryPoint getExtendTrajectoryPoint(
   const double extend_distance, const TrajectoryPoint & goal_point, const bool is_driving_forward)
 {
   TrajectoryPoint extend_trajectory_point;
-  extend_trajectory_point.pose = tier4_autoware_utils::calcOffsetPose(
+  extend_trajectory_point.pose = autoware_universe_utils::calcOffsetPose(
     goal_point.pose, extend_distance * (is_driving_forward ? 1.0 : -1.0), 0.0, 0.0);
   extend_trajectory_point.longitudinal_velocity_mps = goal_point.longitudinal_velocity_mps;
   extend_trajectory_point.lateral_velocity_mps = goal_point.lateral_velocity_mps;
@@ -191,7 +191,7 @@ std::vector<TrajectoryPoint> resampleTrajectoryPoints(
   return motion_utils::convertToTrajectoryPointArray(resampled_traj);
 }
 
-geometry_msgs::msg::Point toGeomPoint(const tier4_autoware_utils::Point2d & point)
+geometry_msgs::msg::Point toGeomPoint(const autoware_universe_utils::Point2d & point)
 {
   geometry_msgs::msg::Point geom_point;
   geom_point.x = point.x();
@@ -278,75 +278,75 @@ void ObstacleCruisePlannerNode::BehaviorDeterminationParam::onParam(
   const std::vector<rclcpp::Parameter> & parameters)
 {
   // behavior determination
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.decimate_trajectory_step_length",
     decimate_trajectory_step_length);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.crossing_obstacle.obstacle_velocity_threshold",
     crossing_obstacle_velocity_threshold);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.crossing_obstacle.obstacle_traj_angle_threshold",
     crossing_obstacle_traj_angle_threshold);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.stop.crossing_obstacle.collision_time_margin",
     collision_time_margin);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.cruise.outside_obstacle.obstacle_velocity_threshold",
     outside_obstacle_min_velocity_threshold);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters,
     "behavior_determination.cruise.outside_obstacle.ego_obstacle_overlap_time_threshold",
     ego_obstacle_overlap_time_threshold);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters,
     "behavior_determination.cruise.outside_obstacle.max_prediction_time_for_collision_check",
     max_prediction_time_for_collision_check);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.stop_obstacle_hold_time_threshold",
     stop_obstacle_hold_time_threshold);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.prediction_resampling_time_interval",
     prediction_resampling_time_interval);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.prediction_resampling_time_horizon",
     prediction_resampling_time_horizon);
 
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.stop.max_lat_margin", max_lat_margin_for_stop);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.stop.max_lat_margin_against_unknown",
     max_lat_margin_for_stop_against_unknown);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.cruise.max_lat_margin", max_lat_margin_for_cruise);
-  tier4_autoware_utils::updateParam<bool>(
+  autoware_universe_utils::updateParam<bool>(
     parameters, "behavior_determination.cruise.yield.enable_yield", enable_yield);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.cruise.yield.lat_distance_threshold",
     yield_lat_distance_threshold);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.cruise.yield.max_lat_dist_between_obstacles",
     max_lat_dist_between_obstacles);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.cruise.yield.stopped_obstacle_velocity_threshold",
     stopped_obstacle_velocity_threshold);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.cruise.yield.max_obstacles_collision_time",
     max_obstacles_collision_time);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.slow_down.max_lat_margin", max_lat_margin_for_slow_down);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.slow_down.lat_hysteresis_margin",
     lat_hysteresis_margin_for_slow_down);
-  tier4_autoware_utils::updateParam<int>(
+  autoware_universe_utils::updateParam<int>(
     parameters, "behavior_determination.slow_down.successive_num_to_entry_slow_down_condition",
     successive_num_to_entry_slow_down_condition);
-  tier4_autoware_utils::updateParam<int>(
+  autoware_universe_utils::updateParam<int>(
     parameters, "behavior_determination.slow_down.successive_num_to_exit_slow_down_condition",
     successive_num_to_exit_slow_down_condition);
-  tier4_autoware_utils::updateParam<bool>(
+  autoware_universe_utils::updateParam<bool>(
     parameters, "behavior_determination.consider_current_pose.enable_to_consider_current_pose",
     enable_to_consider_current_pose);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "behavior_determination.consider_current_pose.time_to_convergence",
     time_to_convergence);
 }
@@ -437,8 +437,9 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions &
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&ObstacleCruisePlannerNode::onParam, this, std::placeholders::_1));
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 ObstacleCruisePlannerNode::PlanningAlgorithm ObstacleCruisePlannerNode::getPlanningAlgorithmType(
@@ -457,17 +458,17 @@ rcl_interfaces::msg::SetParametersResult ObstacleCruisePlannerNode::onParam(
 {
   planner_ptr_->onParam(parameters);
 
-  tier4_autoware_utils::updateParam<bool>(
+  autoware_universe_utils::updateParam<bool>(
     parameters, "common.enable_debug_info", enable_debug_info_);
-  tier4_autoware_utils::updateParam<bool>(
+  autoware_universe_utils::updateParam<bool>(
     parameters, "common.enable_calculation_time_info", enable_calculation_time_info_);
 
-  tier4_autoware_utils::updateParam<bool>(
+  autoware_universe_utils::updateParam<bool>(
     parameters, "common.stop_on_curve.enable_approaching", enable_approaching_on_curve_);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "common.stop_on_curve.additional_safe_distance_margin",
     additional_safe_distance_margin_on_curve_);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "common.stop_on_curve.min_safe_distance_margin",
     min_safe_distance_margin_on_curve_);
 
@@ -476,7 +477,7 @@ rcl_interfaces::msg::SetParametersResult ObstacleCruisePlannerNode::onParam(
     enable_approaching_on_curve_, additional_safe_distance_margin_on_curve_,
     min_safe_distance_margin_on_curve_, suppress_sudden_obstacle_stop_);
 
-  tier4_autoware_utils::updateParam<bool>(
+  autoware_universe_utils::updateParam<bool>(
     parameters, "common.enable_slow_down_planning", enable_slow_down_planning_);
 
   behavior_determination_param_.onParam(parameters);
@@ -571,7 +572,7 @@ std::vector<Polygon2d> ObstacleCruisePlannerNode::createOneStepPolygons(
     motion_utils::findNearestSegmentIndex(traj_points, current_ego_pose.position);
   const auto nearest_pose = traj_points.at(nearest_idx).pose;
   const auto current_ego_pose_error =
-    tier4_autoware_utils::inverseTransformPose(current_ego_pose, nearest_pose);
+    autoware_universe_utils::inverseTransformPose(current_ego_pose, nearest_pose);
   const double current_ego_lat_error = current_ego_pose_error.position.y;
   const double current_ego_yaw_error = tf2::getYaw(current_ego_pose_error.orientation);
   double time_elapsed{0.0};
@@ -587,11 +588,11 @@ std::vector<Polygon2d> ObstacleCruisePlannerNode::createOneStepPolygons(
       const double rem_ratio = (p.time_to_convergence - time_elapsed) / p.time_to_convergence;
       geometry_msgs::msg::Pose indexed_pose_err;
       indexed_pose_err.set__orientation(
-        tier4_autoware_utils::createQuaternionFromYaw(current_ego_yaw_error * rem_ratio));
+        autoware_universe_utils::createQuaternionFromYaw(current_ego_yaw_error * rem_ratio));
       indexed_pose_err.set__position(
-        tier4_autoware_utils::createPoint(0.0, current_ego_lat_error * rem_ratio, 0.0));
+        autoware_universe_utils::createPoint(0.0, current_ego_lat_error * rem_ratio, 0.0));
       current_poses.push_back(
-        tier4_autoware_utils::transformPose(indexed_pose_err, traj_points.at(i).pose));
+        autoware_universe_utils::transformPose(indexed_pose_err, traj_points.at(i).pose));
       if (traj_points.at(i).longitudinal_velocity_mps != 0.0) {
         time_elapsed +=
           p.decimate_trajectory_step_length / std::abs(traj_points.at(i).longitudinal_velocity_mps);
@@ -605,23 +606,23 @@ std::vector<Polygon2d> ObstacleCruisePlannerNode::createOneStepPolygons(
       if (i == 0 && traj_points.at(i).longitudinal_velocity_mps > 1e-3) {
         boost::geometry::append(
           idx_poly,
-          tier4_autoware_utils::toFootprint(pose, front_length, rear_length, vehicle_width)
+          autoware_universe_utils::toFootprint(pose, front_length, rear_length, vehicle_width)
             .outer());
         boost::geometry::append(
-          idx_poly,
-          tier4_autoware_utils::fromMsg(tier4_autoware_utils::calcOffsetPose(
-                                          pose, front_length, vehicle_width * 0.5 + lat_margin, 0.0)
-                                          .position)
-            .to_2d());
+          idx_poly, autoware_universe_utils::fromMsg(
+                      autoware_universe_utils::calcOffsetPose(
+                        pose, front_length, vehicle_width * 0.5 + lat_margin, 0.0)
+                        .position)
+                      .to_2d());
         boost::geometry::append(
-          idx_poly, tier4_autoware_utils::fromMsg(
-                      tier4_autoware_utils::calcOffsetPose(
+          idx_poly, autoware_universe_utils::fromMsg(
+                      autoware_universe_utils::calcOffsetPose(
                         pose, front_length, -vehicle_width * 0.5 - lat_margin, 0.0)
                         .position)
                       .to_2d());
       } else {
         boost::geometry::append(
-          idx_poly, tier4_autoware_utils::toFootprint(
+          idx_poly, autoware_universe_utils::toFootprint(
                       pose, front_length, rear_length, vehicle_width + lat_margin * 2.0)
                       .outer());
       }
@@ -650,7 +651,7 @@ std::vector<Obstacle> ObstacleCruisePlannerNode::convertToObstacles(
   std::vector<Obstacle> target_obstacles;
   for (const auto & predicted_object : objects.objects) {
     const auto & object_id =
-      tier4_autoware_utils::toHexString(predicted_object.object_id).substr(0, 4);
+      autoware_universe_utils::toHexString(predicted_object.object_id).substr(0, 4);
     const auto & current_obstacle_pose =
       obstacle_cruise_utils::getCurrentObjectPose(predicted_object, obj_stamp, now(), true);
 
@@ -1390,7 +1391,8 @@ void ObstacleCruisePlannerNode::checkConsistency(
     const auto predicted_object_itr = std::find_if(
       predicted_objects.objects.begin(), predicted_objects.objects.end(),
       [&prev_closest_stop_obstacle](const PredictedObject & po) {
-        return tier4_autoware_utils::toHexString(po.object_id) == prev_closest_stop_obstacle.uuid;
+        return autoware_universe_utils::toHexString(po.object_id) ==
+               prev_closest_stop_obstacle.uuid;
       });
     // If previous closest obstacle disappear from the perception result, do nothing anymore.
     if (predicted_object_itr == predicted_objects.objects.end()) {
@@ -1524,10 +1526,10 @@ void ObstacleCruisePlannerNode::publishDebugMarker() const
     }
   }
   for (size_t i = 0; i < stop_collision_points.size(); ++i) {
-    auto collision_point_marker = tier4_autoware_utils::createDefaultMarker(
+    auto collision_point_marker = autoware_universe_utils::createDefaultMarker(
       "map", now(), "cruise_collision_points", i, Marker::SPHERE,
-      tier4_autoware_utils::createMarkerScale(0.25, 0.25, 0.25),
-      tier4_autoware_utils::createMarkerColor(1.0, 0.0, 0.0, 0.999));
+      autoware_universe_utils::createMarkerScale(0.25, 0.25, 0.25),
+      autoware_universe_utils::createMarkerColor(1.0, 0.0, 0.0, 0.999));
     collision_point_marker.pose.position = stop_collision_points.at(i);
     debug_marker.markers.push_back(collision_point_marker);
   }
@@ -1540,10 +1542,10 @@ void ObstacleCruisePlannerNode::publishDebugMarker() const
     debug_marker.markers.push_back(obstacle_marker);
 
     // collision point
-    auto collision_point_marker = tier4_autoware_utils::createDefaultMarker(
+    auto collision_point_marker = autoware_universe_utils::createDefaultMarker(
       "map", now(), "stop_collision_points", 0, Marker::SPHERE,
-      tier4_autoware_utils::createMarkerScale(0.25, 0.25, 0.25),
-      tier4_autoware_utils::createMarkerColor(1.0, 0.0, 0.0, 0.999));
+      autoware_universe_utils::createMarkerScale(0.25, 0.25, 0.25),
+      autoware_universe_utils::createMarkerColor(1.0, 0.0, 0.0, 0.999));
     collision_point_marker.pose.position = debug_data_ptr_->obstacles_to_stop.at(i).collision_point;
     debug_marker.markers.push_back(collision_point_marker);
   }
@@ -1557,16 +1559,16 @@ void ObstacleCruisePlannerNode::publishDebugMarker() const
     debug_marker.markers.push_back(obstacle_marker);
 
     // collision points
-    auto front_collision_point_marker = tier4_autoware_utils::createDefaultMarker(
+    auto front_collision_point_marker = autoware_universe_utils::createDefaultMarker(
       "map", now(), "slow_down_collision_points", i * 2 + 0, Marker::SPHERE,
-      tier4_autoware_utils::createMarkerScale(0.25, 0.25, 0.25),
-      tier4_autoware_utils::createMarkerColor(1.0, 0.0, 0.0, 0.999));
+      autoware_universe_utils::createMarkerScale(0.25, 0.25, 0.25),
+      autoware_universe_utils::createMarkerColor(1.0, 0.0, 0.0, 0.999));
     front_collision_point_marker.pose.position =
       debug_data_ptr_->obstacles_to_slow_down.at(i).front_collision_point;
-    auto back_collision_point_marker = tier4_autoware_utils::createDefaultMarker(
+    auto back_collision_point_marker = autoware_universe_utils::createDefaultMarker(
       "map", now(), "slow_down_collision_points", i * 2 + 1, Marker::SPHERE,
-      tier4_autoware_utils::createMarkerScale(0.25, 0.25, 0.25),
-      tier4_autoware_utils::createMarkerColor(1.0, 0.0, 0.0, 0.999));
+      autoware_universe_utils::createMarkerScale(0.25, 0.25, 0.25),
+      autoware_universe_utils::createMarkerColor(1.0, 0.0, 0.0, 0.999));
     back_collision_point_marker.pose.position =
       debug_data_ptr_->obstacles_to_slow_down.at(i).back_collision_point;
 
@@ -1583,10 +1585,10 @@ void ObstacleCruisePlannerNode::publishDebugMarker() const
   }
 
   {  // footprint polygons
-    auto marker = tier4_autoware_utils::createDefaultMarker(
+    auto marker = autoware_universe_utils::createDefaultMarker(
       "map", now(), "detection_polygons", 0, Marker::LINE_LIST,
-      tier4_autoware_utils::createMarkerScale(0.01, 0.0, 0.0),
-      tier4_autoware_utils::createMarkerColor(0.0, 1.0, 0.0, 0.999));
+      autoware_universe_utils::createMarkerScale(0.01, 0.0, 0.0),
+      autoware_universe_utils::createMarkerColor(0.0, 1.0, 0.0, 0.999));
 
     for (const auto & detection_polygon : debug_data_ptr_->detection_polygons) {
       for (size_t dp_idx = 0; dp_idx < detection_polygon.outer().size(); ++dp_idx) {
@@ -1595,16 +1597,16 @@ void ObstacleCruisePlannerNode::publishDebugMarker() const
           detection_polygon.outer().at((dp_idx + 1) % detection_polygon.outer().size());
 
         marker.points.push_back(
-          tier4_autoware_utils::createPoint(current_point.x(), current_point.y(), 0.0));
+          autoware_universe_utils::createPoint(current_point.x(), current_point.y(), 0.0));
         marker.points.push_back(
-          tier4_autoware_utils::createPoint(next_point.x(), next_point.y(), 0.0));
+          autoware_universe_utils::createPoint(next_point.x(), next_point.y(), 0.0));
       }
     }
     debug_marker.markers.push_back(marker);
   }
 
   // slow down debug wall marker
-  tier4_autoware_utils::appendMarkerArray(
+  autoware_universe_utils::appendMarkerArray(
     debug_data_ptr_->slow_down_debug_wall_marker, &debug_marker);
 
   debug_marker_pub_->publish(debug_marker);
diff --git a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
index 52daaa44936b4..032f3c0c536e2 100644
--- a/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/optimization_based_planner/optimization_based_planner.cpp
@@ -15,6 +15,8 @@
 #include "autoware/obstacle_cruise_planner/optimization_based_planner/optimization_based_planner.hpp"
 
 #include "autoware/obstacle_cruise_planner/utils.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/ros/marker_helper.hpp"
 #include "interpolation/linear_interpolation.hpp"
 #include "interpolation/spline_interpolation.hpp"
 #include "interpolation/zero_order_hold.hpp"
@@ -22,8 +24,6 @@
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/interpolation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
@@ -450,7 +450,7 @@ std::optional<SBoundaries> OptimizationBasedPlanner::getSBoundaries(
 
       const auto markers = motion_utils::createSlowDownVirtualWallMarker(
         marker_pose.value(), "obstacle to follow", current_time, 0);
-      tier4_autoware_utils::appendMarkerArray(markers, &wall_msg);
+      autoware_universe_utils::appendMarkerArray(markers, &wall_msg);
 
       // publish rviz marker
       debug_wall_marker_pub_->publish(wall_msg);
@@ -627,7 +627,7 @@ geometry_msgs::msg::Pose OptimizationBasedPlanner::transformBaseLink2Center(
 
   geometry_msgs::msg::Pose center_pose;
   center_pose.position =
-    tier4_autoware_utils::createPoint(map2center.x(), map2center.y(), map2center.z());
+    autoware_universe_utils::createPoint(map2center.x(), map2center.y(), map2center.z());
   center_pose.orientation = pose_base_link.orientation;
 
   return center_pose;
diff --git a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
index 06ac8f655a122..01cb454aa4692 100644
--- a/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
@@ -15,11 +15,11 @@
 #include "autoware/obstacle_cruise_planner/pid_based_planner/pid_based_planner.hpp"
 
 #include "autoware/obstacle_cruise_planner/utils.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/ros/marker_helper.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 #include "interpolation/spline_interpolation.hpp"
 #include "motion_utils/marker/marker_helper.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
 
 #include "tier4_planning_msgs/msg/velocity_limit.hpp"
 
@@ -317,8 +317,9 @@ std::vector<TrajectoryPoint> PIDBasedPlanner::planCruise(
         stop_traj_points.at(wall_idx).pose, "obstacle cruise", planner_data.current_time, 0);
       // NOTE: use a different color from slow down one to visualize cruise and slow down
       // separately.
-      markers.markers.front().color = tier4_autoware_utils::createMarkerColor(1.0, 0.6, 0.1, 0.5);
-      tier4_autoware_utils::appendMarkerArray(markers, &debug_data_ptr_->cruise_wall_marker);
+      markers.markers.front().color =
+        autoware_universe_utils::createMarkerColor(1.0, 0.6, 0.1, 0.5);
+      autoware_universe_utils::appendMarkerArray(markers, &debug_data_ptr_->cruise_wall_marker);
 
       // cruise obstacle
       debug_data_ptr_->obstacles_to_cruise.push_back(cruise_obstacle_info->obstacle);
@@ -345,7 +346,7 @@ std::vector<TrajectoryPoint> PIDBasedPlanner::planCruise(
   // delete marker
   const auto markers =
     motion_utils::createDeletedSlowDownVirtualWallMarker(planner_data.current_time, 0);
-  tier4_autoware_utils::appendMarkerArray(markers, &debug_data_ptr_->cruise_wall_marker);
+  autoware_universe_utils::appendMarkerArray(markers, &debug_data_ptr_->cruise_wall_marker);
 
   return stop_traj_points;
 }
@@ -598,7 +599,7 @@ std::vector<TrajectoryPoint> PIDBasedPlanner::getAccelerationLimitedTrajectory(
   double sum_dist = 0.0;
   for (size_t i = ego_seg_idx; i < acc_limited_traj_points.size(); ++i) {
     if (i != ego_seg_idx) {
-      sum_dist += tier4_autoware_utils::calcDistance2d(
+      sum_dist += autoware_universe_utils::calcDistance2d(
         acc_limited_traj_points.at(i - 1), acc_limited_traj_points.at(i));
     }
 
@@ -621,7 +622,7 @@ std::vector<TrajectoryPoint> PIDBasedPlanner::getAccelerationLimitedTrajectory(
 
 void PIDBasedPlanner::updateCruiseParam(const std::vector<rclcpp::Parameter> & parameters)
 {
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "cruise.pid_based_planner.min_accel_during_cruise", min_accel_during_cruise_);
 
   {  // velocity limit based planner
@@ -631,26 +632,26 @@ void PIDBasedPlanner::updateCruiseParam(const std::vector<rclcpp::Parameter> & p
     double ki = p.pid_vel_controller->getKi();
     double kd = p.pid_vel_controller->getKd();
 
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "cruise.pid_based_planner.velocity_limit_based_planner.kp", kp);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "cruise.pid_based_planner.velocity_limit_based_planner.ki", ki);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "cruise.pid_based_planner.velocity_limit_based_planner.kd", kd);
     p.pid_vel_controller->updateParam(kp, ki, kd);
 
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "cruise.pid_based_planner.velocity_limit_based_planner.output_ratio_during_accel",
       p.output_ratio_during_accel);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "cruise.pid_based_planner.vel_to_acc_weight", p.vel_to_acc_weight);
 
-    tier4_autoware_utils::updateParam<bool>(
+    autoware_universe_utils::updateParam<bool>(
       parameters,
       "cruise.pid_based_planner.velocity_limit_based_planner.enable_jerk_limit_to_output_acc",
       p.enable_jerk_limit_to_output_acc);
 
-    tier4_autoware_utils::updateParam<bool>(
+    autoware_universe_utils::updateParam<bool>(
       parameters,
       "cruise.pid_based_planner.velocity_limit_based_planner.disable_target_acceleration",
       p.disable_target_acceleration);
@@ -664,11 +665,11 @@ void PIDBasedPlanner::updateCruiseParam(const std::vector<rclcpp::Parameter> & p
     double ki_acc = p.pid_acc_controller->getKi();
     double kd_acc = p.pid_acc_controller->getKd();
 
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "cruise.pid_based_planner.velocity_insertion_based_planner.kp_acc", kp_acc);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "cruise.pid_based_planner.velocity_insertion_based_planner.ki_acc", ki_acc);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "cruise.pid_based_planner.velocity_insertion_based_planner.kd_acc", kd_acc);
     p.pid_acc_controller->updateParam(kp_acc, ki_acc, kd_acc);
 
@@ -677,32 +678,32 @@ void PIDBasedPlanner::updateCruiseParam(const std::vector<rclcpp::Parameter> & p
     double ki_jerk = p.pid_jerk_controller->getKi();
     double kd_jerk = p.pid_jerk_controller->getKd();
 
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "cruise.pid_based_planner.velocity_insertion_based_planner.kp_jerk", kp_jerk);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "cruise.pid_based_planner.velocity_insertion_based_planner.ki_jerk", ki_jerk);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters, "cruise.pid_based_planner.velocity_insertion_based_planner.kd_jerk", kd_jerk);
     p.pid_jerk_controller->updateParam(kp_jerk, ki_jerk, kd_jerk);
 
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters,
       "cruise.pid_based_planner.velocity_insertion_based_planner.output_acc_ratio_during_accel",
       p.output_acc_ratio_during_accel);
-    tier4_autoware_utils::updateParam<double>(
+    autoware_universe_utils::updateParam<double>(
       parameters,
       "cruise.pid_based_planner.velocity_insertion_based_planner.output_jerk_ratio_during_accel",
       p.output_jerk_ratio_during_accel);
 
-    tier4_autoware_utils::updateParam<bool>(
+    autoware_universe_utils::updateParam<bool>(
       parameters,
       "cruise.pid_based_planner.velocity_insertion_based_planner.enable_jerk_limit_to_output_acc",
       p.enable_jerk_limit_to_output_acc);
   }
 
   // min_cruise_target_vel
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "cruise.pid_based_planner.min_cruise_target_vel", min_cruise_target_vel_);
-  tier4_autoware_utils::updateParam<double>(
+  autoware_universe_utils::updateParam<double>(
     parameters, "cruise.pid_based_planner.time_to_evaluate_rss", time_to_evaluate_rss_);
 }
diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp
index f861928dae226..56cf204e64a51 100644
--- a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp
@@ -14,13 +14,13 @@
 
 #include "autoware/obstacle_cruise_planner/planner_interface.hpp"
 
+#include "autoware/universe_utils/ros/marker_helper.hpp"
 #include "motion_utils/distance/distance.hpp"
 #include "motion_utils/marker/marker_helper.hpp"
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "signal_processing/lowpass_filter_1d.hpp"
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
 
 #include <boost/geometry/algorithms/distance.hpp>
 #include <boost/geometry/strategies/strategies.hpp>
@@ -223,9 +223,9 @@ std::vector<TrajectoryPoint> resampleTrajectoryPoints(
   return motion_utils::convertToTrajectoryPointArray(resampled_traj);
 }
 
-tier4_autoware_utils::Point2d convertPoint(const geometry_msgs::msg::Point & p)
+autoware_universe_utils::Point2d convertPoint(const geometry_msgs::msg::Point & p)
 {
-  return tier4_autoware_utils::Point2d{p.x, p.y};
+  return autoware_universe_utils::Point2d{p.x, p.y};
 }
 }  // namespace
 
@@ -249,7 +249,7 @@ std::vector<TrajectoryPoint> PlannerInterface::generateStopTrajectory(
     // delete marker
     const auto markers =
       motion_utils::createDeletedStopVirtualWallMarker(planner_data.current_time, 0);
-    tier4_autoware_utils::appendMarkerArray(markers, &debug_data_ptr_->stop_wall_marker);
+    autoware_universe_utils::appendMarkerArray(markers, &debug_data_ptr_->stop_wall_marker);
 
     prev_stop_distance_info_ = std::nullopt;
     return planner_data.traj_points;
@@ -356,7 +356,7 @@ std::vector<TrajectoryPoint> PlannerInterface::generateStopTrajectory(
     // delete marker
     const auto markers =
       motion_utils::createDeletedStopVirtualWallMarker(planner_data.current_time, 0);
-    tier4_autoware_utils::appendMarkerArray(markers, &debug_data_ptr_->stop_wall_marker);
+    autoware_universe_utils::appendMarkerArray(markers, &debug_data_ptr_->stop_wall_marker);
 
     prev_stop_distance_info_ = std::nullopt;
     return planner_data.traj_points;
@@ -392,7 +392,7 @@ std::vector<TrajectoryPoint> PlannerInterface::generateStopTrajectory(
     const auto markers = motion_utils::createStopVirtualWallMarker(
       output_traj_points.at(*zero_vel_idx).pose, "obstacle stop", planner_data.current_time, 0,
       abs_ego_offset, "", planner_data.is_driving_forward);
-    tier4_autoware_utils::appendMarkerArray(markers, &debug_data_ptr_->stop_wall_marker);
+    autoware_universe_utils::appendMarkerArray(markers, &debug_data_ptr_->stop_wall_marker);
     debug_data_ptr_->obstacles_to_stop.push_back(*determined_stop_obstacle);
 
     // Publish Stop Reason
@@ -459,7 +459,7 @@ double PlannerInterface::calculateMarginFromObstacleOnCurve(
       longitudinal_info_.safe_distance_margin + abs_ego_offset < sum_short_traj_length) {
       break;
     }
-    sum_short_traj_length += tier4_autoware_utils::calcDistance2d(
+    sum_short_traj_length += autoware_universe_utils::calcDistance2d(
       planner_data.traj_points.at(i), planner_data.traj_points.at(i + 1));
   }
   std::reverse(short_traj_points.begin(), short_traj_points.end());
@@ -470,15 +470,15 @@ double PlannerInterface::calculateMarginFromObstacleOnCurve(
   // calculate collision index between straight line from ego pose and object
   const auto calculate_distance_from_straight_ego_path =
     [&](const auto & ego_pose, const auto & object_polygon) {
-      const auto forward_ego_pose = tier4_autoware_utils::calcOffsetPose(
+      const auto forward_ego_pose = autoware_universe_utils::calcOffsetPose(
         ego_pose, longitudinal_info_.safe_distance_margin + 3.0, 0.0, 0.0);
-      const auto ego_straight_segment = tier4_autoware_utils::Segment2d{
+      const auto ego_straight_segment = autoware_universe_utils::Segment2d{
         convertPoint(ego_pose.position), convertPoint(forward_ego_pose.position)};
       return boost::geometry::distance(ego_straight_segment, object_polygon);
     };
   const auto resampled_short_traj_points = resampleTrajectoryPoints(short_traj_points, 0.5);
   const auto object_polygon =
-    tier4_autoware_utils::toPolygon2d(stop_obstacle.pose, stop_obstacle.shape);
+    autoware_universe_utils::toPolygon2d(stop_obstacle.pose, stop_obstacle.shape);
   const auto collision_idx = [&]() -> std::optional<size_t> {
     for (size_t i = 0; i < resampled_short_traj_points.size(); ++i) {
       const double dist_to_obj = calculate_distance_from_straight_ego_path(
@@ -498,7 +498,7 @@ double PlannerInterface::calculateMarginFromObstacleOnCurve(
 
   // calculate margin from obstacle
   const double partial_segment_length = [&]() {
-    const double collision_segment_length = tier4_autoware_utils::calcDistance2d(
+    const double collision_segment_length = autoware_universe_utils::calcDistance2d(
       resampled_short_traj_points.at(*collision_idx - 1),
       resampled_short_traj_points.at(*collision_idx));
     const double prev_dist = calculate_distance_from_straight_ego_path(
@@ -649,7 +649,7 @@ std::vector<TrajectoryPoint> PlannerInterface::generateSlowDownTrajectory(
       const auto markers = motion_utils::createSlowDownVirtualWallMarker(
         slow_down_traj_points.at(slow_down_wall_idx).pose, "obstacle slow down",
         planner_data.current_time, i, abs_ego_offset, "", planner_data.is_driving_forward);
-      tier4_autoware_utils::appendMarkerArray(markers, &debug_data_ptr_->slow_down_wall_marker);
+      autoware_universe_utils::appendMarkerArray(markers, &debug_data_ptr_->slow_down_wall_marker);
     }
 
     // add debug virtual wall
@@ -657,14 +657,14 @@ std::vector<TrajectoryPoint> PlannerInterface::generateSlowDownTrajectory(
       const auto markers = motion_utils::createSlowDownVirtualWallMarker(
         slow_down_traj_points.at(*slow_down_start_idx).pose, "obstacle slow down start",
         planner_data.current_time, i * 2, abs_ego_offset, "", planner_data.is_driving_forward);
-      tier4_autoware_utils::appendMarkerArray(
+      autoware_universe_utils::appendMarkerArray(
         markers, &debug_data_ptr_->slow_down_debug_wall_marker);
     }
     if (slow_down_end_idx) {
       const auto markers = motion_utils::createSlowDownVirtualWallMarker(
         slow_down_traj_points.at(*slow_down_end_idx).pose, "obstacle slow down end",
         planner_data.current_time, i * 2 + 1, abs_ego_offset, "", planner_data.is_driving_forward);
-      tier4_autoware_utils::appendMarkerArray(
+      autoware_universe_utils::appendMarkerArray(
         markers, &debug_data_ptr_->slow_down_debug_wall_marker);
     }
 
diff --git a/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp b/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp
index 8580e10b19652..4ae0b8ba5f87c 100644
--- a/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/polygon_utils.cpp
@@ -14,9 +14,9 @@
 
 #include "autoware/obstacle_cruise_planner/polygon_utils.hpp"
 
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 namespace
 {
@@ -51,10 +51,10 @@ std::optional<std::pair<size_t, std::vector<PointWithStamp>>> getCollisionIndex(
   const geometry_msgs::msg::Pose & object_pose, const rclcpp::Time & object_time,
   const Shape & object_shape, const double max_dist = std::numeric_limits<double>::max())
 {
-  const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object_pose, object_shape);
+  const auto obj_polygon = autoware_universe_utils::toPolygon2d(object_pose, object_shape);
   for (size_t i = 0; i < traj_polygons.size(); ++i) {
     const double approximated_dist =
-      tier4_autoware_utils::calcDistance2d(traj_points.at(i).pose, object_pose);
+      autoware_universe_utils::calcDistance2d(traj_points.at(i).pose, object_pose);
     if (approximated_dist > max_dist) {
       continue;
     }
@@ -105,14 +105,14 @@ std::optional<std::pair<geometry_msgs::msg::Point, double>> getCollisionPoint(
 
   const double x_diff_to_bumper = is_driving_forward ? vehicle_info.max_longitudinal_offset_m
                                                      : vehicle_info.min_longitudinal_offset_m;
-  const auto bumper_pose = tier4_autoware_utils::calcOffsetPose(
+  const auto bumper_pose = autoware_universe_utils::calcOffsetPose(
     traj_points.at(collision_info->first).pose, x_diff_to_bumper, 0.0, 0.0);
 
   std::optional<double> max_collision_length = std::nullopt;
   std::optional<geometry_msgs::msg::Point> max_collision_point = std::nullopt;
   for (const auto & poly_vertex : collision_info->second) {
     const double dist_from_bumper =
-      std::abs(tier4_autoware_utils::inverseTransformPoint(poly_vertex.point, bumper_pose).x);
+      std::abs(autoware_universe_utils::inverseTransformPoint(poly_vertex.point, bumper_pose).x);
 
     if (!max_collision_length.has_value() || dist_from_bumper > *max_collision_length) {
       max_collision_length = dist_from_bumper;
diff --git a/planning/autoware_obstacle_cruise_planner/src/utils.cpp b/planning/autoware_obstacle_cruise_planner/src/utils.cpp
index d90ca80ced08c..b95fb6e5d29f9 100644
--- a/planning/autoware_obstacle_cruise_planner/src/utils.cpp
+++ b/planning/autoware_obstacle_cruise_planner/src/utils.cpp
@@ -14,8 +14,8 @@
 
 #include "autoware/obstacle_cruise_planner/utils.hpp"
 
+#include "autoware/universe_utils/ros/marker_helper.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
 
 namespace obstacle_cruise_utils
 {
@@ -59,10 +59,10 @@ visualization_msgs::msg::Marker getObjectMarker(
 {
   const auto current_time = rclcpp::Clock().now();
 
-  auto marker = tier4_autoware_utils::createDefaultMarker(
+  auto marker = autoware_universe_utils::createDefaultMarker(
     "map", current_time, ns, idx, visualization_msgs::msg::Marker::SPHERE,
-    tier4_autoware_utils::createMarkerScale(2.0, 2.0, 2.0),
-    tier4_autoware_utils::createMarkerColor(r, g, b, 0.8));
+    autoware_universe_utils::createMarkerScale(2.0, 2.0, 2.0),
+    autoware_universe_utils::createMarkerColor(r, g, b, 0.8));
 
   marker.pose = obj_pose;
 
diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/common_structs.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/common_structs.hpp
index 67a58fabaa0f3..df9dec3cf3b75 100644
--- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/common_structs.hpp
+++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/common_structs.hpp
@@ -16,9 +16,9 @@
 #define AUTOWARE__PATH_OPTIMIZER__COMMON_STRUCTS_HPP_
 
 #include "autoware/path_optimizer/type_alias.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
 
 #include <memory>
 #include <optional>
@@ -89,7 +89,7 @@ struct TimeKeeper
 
   double accumulated_time{0.0};
 
-  tier4_autoware_utils::StopWatch<
+  autoware_universe_utils::StopWatch<
     std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock>
     stop_watch_;
 };
@@ -122,7 +122,7 @@ struct TrajectoryParam
 
   void onParam(const std::vector<rclcpp::Parameter> & parameters)
   {
-    using tier4_autoware_utils::updateParam;
+    using autoware_universe_utils::updateParam;
 
     // common
     updateParam<double>(
@@ -145,7 +145,7 @@ struct EgoNearestParam
 
   void onParam(const std::vector<rclcpp::Parameter> & parameters)
   {
-    using tier4_autoware_utils::updateParam;
+    using autoware_universe_utils::updateParam;
     updateParam<double>(parameters, "ego_nearest_dist_threshold", dist_threshold);
     updateParam<double>(parameters, "ego_nearest_yaw_threshold", yaw_threshold);
   }
diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/debug_marker.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/debug_marker.hpp
index 4022b6b24f02d..487320330f953 100644
--- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/debug_marker.hpp
+++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/debug_marker.hpp
@@ -16,10 +16,10 @@
 
 #include "autoware/path_optimizer/common_structs.hpp"
 #include "autoware/path_optimizer/type_alias.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/ros/marker_helper.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 #include "rclcpp/clock.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
 
 #include <memory>
 #include <string>
diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp
index f2354e9c4c3c3..cece0142bc29a 100644
--- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp
+++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp
@@ -18,12 +18,12 @@
 #include "autoware/path_optimizer/common_structs.hpp"
 #include "autoware/path_optimizer/state_equation_generator.hpp"
 #include "autoware/path_optimizer/type_alias.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 #include "gtest/gtest.h"
 #include "interpolation/linear_interpolation.hpp"
 #include "interpolation/spline_interpolation_points_2d.hpp"
 #include "osqp_interface/osqp_interface.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <Eigen/Core>
 #include <Eigen/Sparse>
@@ -93,9 +93,9 @@ struct ReferencePoint
 
   geometry_msgs::msg::Pose offsetDeviation(const double lat_dev, const double yaw_dev) const
   {
-    auto pose_with_deviation = tier4_autoware_utils::calcOffsetPose(pose, 0.0, lat_dev, 0.0);
+    auto pose_with_deviation = autoware_universe_utils::calcOffsetPose(pose, 0.0, lat_dev, 0.0);
     pose_with_deviation.orientation =
-      tier4_autoware_utils::createQuaternionFromYaw(getYaw() + yaw_dev);
+      autoware_universe_utils::createQuaternionFromYaw(getYaw() + yaw_dev);
     return pose_with_deviation;
   }
 };
diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp
index 100c7b6fb1755..7f8755fd043d9 100644
--- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp
+++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/node.hpp
@@ -19,13 +19,13 @@
 #include "autoware/path_optimizer/mpt_optimizer.hpp"
 #include "autoware/path_optimizer/replan_checker.hpp"
 #include "autoware/path_optimizer/type_alias.hpp"
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 
 #include <algorithm>
 #include <memory>
@@ -90,7 +90,7 @@ class PathOptimizer : public rclcpp::Node
 
   // interface subscriber
   rclcpp::Subscription<Path>::SharedPtr path_sub_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> ego_odom_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Odometry> ego_odom_sub_{
     this, "~/input/odometry"};
 
   // debug publisher
@@ -137,9 +137,9 @@ class PathOptimizer : public rclcpp::Node
 private:
   double vehicle_stop_margin_outside_drivable_area_;
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace autoware::path_optimizer
 
diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp
index bfca87604551b..9737137ad8183 100644
--- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp
+++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/geometry_utils.hpp
@@ -36,14 +36,14 @@
 #include <string>
 #include <vector>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 template <>
 geometry_msgs::msg::Point getPoint(const autoware::path_optimizer::ReferencePoint & p);
 
 template <>
 geometry_msgs::msg::Pose getPose(const autoware::path_optimizer::ReferencePoint & p);
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
 namespace autoware::path_optimizer
 {
@@ -52,8 +52,8 @@ namespace geometry_utils
 template <typename T1, typename T2>
 bool isSamePoint(const T1 & t1, const T2 & t2)
 {
-  const auto p1 = tier4_autoware_utils::getPoint(t1);
-  const auto p2 = tier4_autoware_utils::getPoint(t2);
+  const auto p1 = autoware_universe_utils::getPoint(t1);
+  const auto p2 = autoware_universe_utils::getPoint(t2);
 
   constexpr double epsilon = 1e-6;
   if (epsilon < std::abs(p1.x - p2.x) || epsilon < std::abs(p1.y - p2.y)) {
diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp
index 6c38a3e8e0c05..ef22f668b6a09 100644
--- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp
+++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp
@@ -35,7 +35,7 @@
 #include <string>
 #include <vector>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 template <>
 geometry_msgs::msg::Point getPoint(const autoware::path_optimizer::ReferencePoint & p);
@@ -45,7 +45,7 @@ geometry_msgs::msg::Pose getPose(const autoware::path_optimizer::ReferencePoint
 
 template <>
 double getLongitudinalVelocity(const autoware::path_optimizer::ReferencePoint & p);
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
 namespace autoware::path_optimizer
 {
@@ -68,7 +68,7 @@ std::optional<size_t> getPointIndexAfter(
   // search forward
   if (sum_length < min_offset) {
     for (size_t i = target_seg_idx + 1; i < points.size(); ++i) {
-      sum_length += tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i - 1));
+      sum_length += autoware_universe_utils::calcDistance2d(points.at(i), points.at(i - 1));
       if (min_offset < sum_length) {
         output_idx = i - 1;
       }
@@ -82,7 +82,7 @@ std::optional<size_t> getPointIndexAfter(
   // search backward
   for (size_t i = target_seg_idx; 0 < i;
        --i) {  // NOTE: use size_t since i is always positive value
-    sum_length -= tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i - 1));
+    sum_length -= autoware_universe_utils::calcDistance2d(points.at(i), points.at(i - 1));
     if (sum_length < min_offset) {
       output_idx = i - 1;
     }
@@ -98,7 +98,7 @@ template <typename T>
 TrajectoryPoint convertToTrajectoryPoint(const T & point)
 {
   TrajectoryPoint traj_point;
-  traj_point.pose = tier4_autoware_utils::getPose(point);
+  traj_point.pose = autoware_universe_utils::getPose(point);
   traj_point.longitudinal_velocity_mps = point.longitudinal_velocity_mps;
   traj_point.lateral_velocity_mps = point.lateral_velocity_mps;
   traj_point.heading_rate_rps = point.heading_rate_rps;
@@ -109,8 +109,9 @@ template <>
 inline TrajectoryPoint convertToTrajectoryPoint(const ReferencePoint & ref_point)
 {
   TrajectoryPoint traj_point;
-  traj_point.pose = tier4_autoware_utils::getPose(ref_point);
-  traj_point.longitudinal_velocity_mps = tier4_autoware_utils::getLongitudinalVelocity(ref_point);
+  traj_point.pose = autoware_universe_utils::getPose(ref_point);
+  traj_point.longitudinal_velocity_mps =
+    autoware_universe_utils::getLongitudinalVelocity(ref_point);
   return traj_point;
 }
 
@@ -172,7 +173,7 @@ std::optional<size_t> updateFrontPointForFix(
 {
   // calculate front point to insert in points as a fixed point
   const size_t front_seg_idx_for_fix = trajectory_utils::findEgoSegmentIndex(
-    points_for_fix, tier4_autoware_utils::getPose(points.front()), ego_nearest_param);
+    points_for_fix, autoware_universe_utils::getPose(points.front()), ego_nearest_param);
   const size_t front_point_idx_for_fix = front_seg_idx_for_fix;
   const auto & front_fix_point = points_for_fix.at(front_point_idx_for_fix);
 
@@ -186,7 +187,7 @@ std::optional<size_t> updateFrontPointForFix(
     return std::nullopt;
   }
 
-  const double dist = tier4_autoware_utils::calcDistance2d(points.front(), front_fix_point);
+  const double dist = autoware_universe_utils::calcDistance2d(points.front(), front_fix_point);
 
   // check if deviation is not too large
   constexpr double max_lat_error = 3.0;
diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml
index c158815999398..39d967df8f077 100644
--- a/planning/autoware_path_optimizer/package.xml
+++ b/planning/autoware_path_optimizer/package.xml
@@ -16,6 +16,7 @@
 
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
@@ -26,7 +27,6 @@
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/autoware_path_optimizer/src/debug_marker.cpp b/planning/autoware_path_optimizer/src/debug_marker.cpp
index 8068f705799ab..eea6ada555044 100644
--- a/planning/autoware_path_optimizer/src/debug_marker.cpp
+++ b/planning/autoware_path_optimizer/src/debug_marker.cpp
@@ -20,10 +20,10 @@
 
 namespace autoware::path_optimizer
 {
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerScale;
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
 
 namespace
 {
@@ -53,16 +53,16 @@ MarkerArray getFootprintsMarkerArray(
     const double base_to_rear = vehicle_info.rear_overhang_m;
 
     marker.points.push_back(
-      tier4_autoware_utils::calcOffsetPose(traj_point.pose, base_to_front, base_to_left, 0.0)
+      autoware_universe_utils::calcOffsetPose(traj_point.pose, base_to_front, base_to_left, 0.0)
         .position);
     marker.points.push_back(
-      tier4_autoware_utils::calcOffsetPose(traj_point.pose, base_to_front, -base_to_right, 0.0)
+      autoware_universe_utils::calcOffsetPose(traj_point.pose, base_to_front, -base_to_right, 0.0)
         .position);
     marker.points.push_back(
-      tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, -base_to_right, 0.0)
+      autoware_universe_utils::calcOffsetPose(traj_point.pose, -base_to_rear, -base_to_right, 0.0)
         .position);
     marker.points.push_back(
-      tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, base_to_left, 0.0)
+      autoware_universe_utils::calcOffsetPose(traj_point.pose, -base_to_rear, base_to_left, 0.0)
         .position);
     marker.points.push_back(marker.points.front());
 
@@ -110,7 +110,7 @@ MarkerArray getBoundsWidthMarkerArray(
           (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.right_overhang_m;
         const double lb_y =
           ref_points.at(i).bounds_on_constraints.at(bound_idx).lower_bound - base_to_right;
-        const auto lb = tier4_autoware_utils::calcOffsetPose(pose, 0.0, lb_y, 0.0).position;
+        const auto lb = autoware_universe_utils::calcOffsetPose(pose, 0.0, lb_y, 0.0).position;
 
         lb_marker.points.push_back(pose.position);
         lb_marker.points.push_back(lb);
@@ -132,7 +132,7 @@ MarkerArray getBoundsWidthMarkerArray(
           (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.left_overhang_m;
         const double ub_y =
           ref_points.at(i).bounds_on_constraints.at(bound_idx).upper_bound + base_to_left;
-        const auto ub = tier4_autoware_utils::calcOffsetPose(pose, 0.0, ub_y, 0.0).position;
+        const auto ub = autoware_universe_utils::calcOffsetPose(pose, 0.0, ub_y, 0.0).position;
 
         ub_marker.points.push_back(pose.position);
         ub_marker.points.push_back(ub);
@@ -167,11 +167,11 @@ MarkerArray getBoundsLineMarkerArray(
     const double base_to_right = (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.right_overhang_m;
     const double base_to_left = (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.left_overhang_m;
     const double ub_y = ref_points.at(i).bounds.upper_bound + base_to_left;
-    const auto ub = tier4_autoware_utils::calcOffsetPose(pose, 0.0, ub_y, 0.0).position;
+    const auto ub = autoware_universe_utils::calcOffsetPose(pose, 0.0, ub_y, 0.0).position;
     ub_marker.points.push_back(ub);
 
     const double lb_y = ref_points.at(i).bounds.lower_bound - base_to_right;
-    const auto lb = tier4_autoware_utils::calcOffsetPose(pose, 0.0, lb_y, 0.0).position;
+    const auto lb = autoware_universe_utils::calcOffsetPose(pose, 0.0, lb_y, 0.0).position;
     lb_marker.points.push_back(lb);
   }
   marker_array.markers.push_back(ub_marker);
@@ -205,22 +205,22 @@ MarkerArray getVehicleCircleLinesMarkerArray(
 
     // apply lateral and yaw deviation
     auto pose_with_deviation =
-      tier4_autoware_utils::calcOffsetPose(ref_point.pose, 0.0, lat_dev, 0.0);
+      autoware_universe_utils::calcOffsetPose(ref_point.pose, 0.0, lat_dev, 0.0);
     pose_with_deviation.orientation =
-      tier4_autoware_utils::createQuaternionFromYaw(ref_point.getYaw() + yaw_dev);
+      autoware_universe_utils::createQuaternionFromYaw(ref_point.getYaw() + yaw_dev);
 
     for (const double d : vehicle_circle_longitudinal_offsets) {
       // apply longitudinal offset
-      auto base_pose = tier4_autoware_utils::calcOffsetPose(pose_with_deviation, d, 0.0, 0.0);
+      auto base_pose = autoware_universe_utils::calcOffsetPose(pose_with_deviation, d, 0.0, 0.0);
       base_pose.orientation =
-        tier4_autoware_utils::createQuaternionFromYaw(ref_point.getYaw() + ref_point.alpha);
+        autoware_universe_utils::createQuaternionFromYaw(ref_point.getYaw() + ref_point.alpha);
       const double base_to_right =
         (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.right_overhang_m;
       const double base_to_left = (vehicle_info.wheel_tread_m / 2.0) + vehicle_info.left_overhang_m;
       const auto ub =
-        tier4_autoware_utils::calcOffsetPose(base_pose, 0.0, base_to_left, 0.0).position;
+        autoware_universe_utils::calcOffsetPose(base_pose, 0.0, base_to_left, 0.0).position;
       const auto lb =
-        tier4_autoware_utils::calcOffsetPose(base_pose, 0.0, -base_to_right, 0.0).position;
+        autoware_universe_utils::calcOffsetPose(base_pose, 0.0, -base_to_right, 0.0).position;
 
       marker.points.push_back(ub);
       marker.points.push_back(lb);
@@ -247,7 +247,7 @@ MarkerArray getCurrentVehicleCirclesMarkerArray(
       "map", rclcpp::Clock().now(), ns, id, Marker::LINE_STRIP, createMarkerScale(0.05, 0.0, 0.0),
       createMarkerColor(r, g, b, 0.8));
     marker.lifetime = rclcpp::Duration::from_seconds(1.5);
-    marker.pose = tier4_autoware_utils::calcOffsetPose(ego_pose, offset, 0.0, 0.0);
+    marker.pose = autoware_universe_utils::calcOffsetPose(ego_pose, offset, 0.0, 0.0);
 
     constexpr size_t circle_dividing_num = 16;
     for (size_t e_idx = 0; e_idx < circle_dividing_num + 1; ++e_idx) {
@@ -289,7 +289,7 @@ MarkerArray getVehicleCirclesMarkerArray(
         "map", rclcpp::Clock().now(), ns, id, Marker::LINE_STRIP, createMarkerScale(0.05, 0.0, 0.0),
         createMarkerColor(r, g, b, 0.8));
       marker.lifetime = rclcpp::Duration::from_seconds(1.5);
-      marker.pose = tier4_autoware_utils::calcOffsetPose(mpt_traj_point.pose, offset, 0.0, 0.0);
+      marker.pose = autoware_universe_utils::calcOffsetPose(mpt_traj_point.pose, offset, 0.0, 0.0);
 
       constexpr size_t circle_dividing_num = 16;
       for (size_t e_idx = 0; e_idx < circle_dividing_num + 1; ++e_idx) {
@@ -356,13 +356,15 @@ visualization_msgs::msg::MarkerArray getFootprintByDrivableAreaMarkerArray(
   const double base_to_rear = vehicle_info.rear_overhang_m;
 
   marker.points.push_back(
-    tier4_autoware_utils::calcOffsetPose(stop_pose, base_to_front, base_to_left, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(stop_pose, base_to_front, base_to_left, 0.0).position);
   marker.points.push_back(
-    tier4_autoware_utils::calcOffsetPose(stop_pose, base_to_front, -base_to_right, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(stop_pose, base_to_front, -base_to_right, 0.0)
+      .position);
   marker.points.push_back(
-    tier4_autoware_utils::calcOffsetPose(stop_pose, -base_to_rear, -base_to_right, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(stop_pose, -base_to_rear, -base_to_right, 0.0)
+      .position);
   marker.points.push_back(
-    tier4_autoware_utils::calcOffsetPose(stop_pose, -base_to_rear, base_to_left, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(stop_pose, -base_to_rear, base_to_left, 0.0).position);
   marker.points.push_back(marker.points.front());
 
   msg.markers.push_back(marker);
diff --git a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp
index 4696802bfca0b..38d1dc1309cf3 100644
--- a/planning/autoware_path_optimizer/src/mpt_optimizer.cpp
+++ b/planning/autoware_path_optimizer/src/mpt_optimizer.cpp
@@ -16,12 +16,12 @@
 
 #include "autoware/path_optimizer/utils/geometry_utils.hpp"
 #include "autoware/path_optimizer/utils/trajectory_utils.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/normalization.hpp"
 #include "interpolation/spline_interpolation_points_2d.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "tf2/utils.h"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/normalization.hpp"
 
 #include <algorithm>
 #include <chrono>
@@ -125,8 +125,8 @@ std::vector<double> toStdVector(const Eigen::VectorXd & eigen_vec)
 bool isLeft(const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Point & target_pos)
 {
   const double base_theta = tf2::getYaw(pose.orientation);
-  const double target_theta = tier4_autoware_utils::calcAzimuthAngle(pose.position, target_pos);
-  const double diff_theta = tier4_autoware_utils::normalizeRadian(target_theta - base_theta);
+  const double target_theta = autoware_universe_utils::calcAzimuthAngle(pose.position, target_pos);
+  const double diff_theta = autoware_universe_utils::normalizeRadian(target_theta - base_theta);
   return diff_theta > 0;
 }
 
@@ -141,18 +141,18 @@ double calcLateralDistToBounds(
   const double max_lat_offset = is_left_bound ? max_lat_offset_for_left : -max_lat_offset_for_left;
   const double min_lat_offset = is_left_bound ? min_lat_offset_for_left : -min_lat_offset_for_left;
   const auto max_lat_offset_point =
-    tier4_autoware_utils::calcOffsetPose(pose, 0.0, max_lat_offset, 0.0).position;
+    autoware_universe_utils::calcOffsetPose(pose, 0.0, max_lat_offset, 0.0).position;
   const auto min_lat_offset_point =
-    tier4_autoware_utils::calcOffsetPose(pose, 0.0, min_lat_offset, 0.0).position;
+    autoware_universe_utils::calcOffsetPose(pose, 0.0, min_lat_offset, 0.0).position;
 
   double closest_dist_to_bound = max_lat_offset;
   for (size_t i = 0; i < bound.size() - 1; ++i) {
-    const auto intersect_point = tier4_autoware_utils::intersect(
+    const auto intersect_point = autoware_universe_utils::intersect(
       min_lat_offset_point, max_lat_offset_point, bound.at(i), bound.at(i + 1));
     if (intersect_point) {
       const bool is_point_left = isLeft(pose, *intersect_point);
       const double dist_to_bound =
-        tier4_autoware_utils::calcDistance2d(pose.position, *intersect_point) *
+        autoware_universe_utils::calcDistance2d(pose.position, *intersect_point) *
         (is_point_left ? 1.0 : -1.0);
 
       // the bound which is closest to the centerline will be chosen
@@ -283,7 +283,7 @@ MPTOptimizer::MPTParam::MPTParam(
 
 void MPTOptimizer::MPTParam::onParam(const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   {  // option
     updateParam<bool>(parameters, "mpt.option.steer_limit_constraint", steer_limit_constraint);
@@ -623,7 +623,7 @@ void MPTOptimizer::updateOrientation(
   const auto yaw_vec = ref_points_spline.getSplineInterpolatedYaws();
   for (size_t i = 0; i < ref_points.size(); ++i) {
     ref_points.at(i).pose.orientation =
-      tier4_autoware_utils::createQuaternionFromYaw(yaw_vec.at(i));
+      autoware_universe_utils::createQuaternionFromYaw(yaw_vec.at(i));
   }
 }
 
@@ -691,7 +691,7 @@ void MPTOptimizer::updateDeltaArcLength(std::vector<ReferencePoint> & ref_points
     ref_points.at(i).delta_arc_length =
       (i == ref_points.size() - 1)
         ? 0.0
-        : tier4_autoware_utils::calcDistance2d(ref_points.at(i + 1), ref_points.at(i));
+        : autoware_universe_utils::calcDistance2d(ref_points.at(i + 1), ref_points.at(i));
   }
 }
 
@@ -704,14 +704,14 @@ void MPTOptimizer::updateExtraPoints(std::vector<ReferencePoint> & ref_points) c
     const auto front_wheel_pos =
       trajectory_utils::getNearestPosition(ref_points, i, vehicle_info_.wheel_base_m);
 
-    const bool are_too_close_points =
-      tier4_autoware_utils::calcDistance2d(front_wheel_pos, ref_points.at(i).pose.position) < 1e-03;
-    const auto front_wheel_yaw =
-      are_too_close_points
-        ? ref_points.at(i).getYaw()
-        : tier4_autoware_utils::calcAzimuthAngle(ref_points.at(i).pose.position, front_wheel_pos);
+    const bool are_too_close_points = autoware_universe_utils::calcDistance2d(
+                                        front_wheel_pos, ref_points.at(i).pose.position) < 1e-03;
+    const auto front_wheel_yaw = are_too_close_points
+                                   ? ref_points.at(i).getYaw()
+                                   : autoware_universe_utils::calcAzimuthAngle(
+                                       ref_points.at(i).pose.position, front_wheel_pos);
     ref_points.at(i).alpha =
-      tier4_autoware_utils::normalizeRadian(front_wheel_yaw - ref_points.at(i).getYaw());
+      autoware_universe_utils::normalizeRadian(front_wheel_yaw - ref_points.at(i).getYaw());
   }
 
   {  // avoidance
@@ -771,10 +771,10 @@ void MPTOptimizer::updateExtraPoints(std::vector<ReferencePoint> & ref_points) c
     if (prev_ref_points_ptr_ && !prev_ref_points_ptr_->empty()) {
       for (int i = 0; i < static_cast<int>(ref_points.size()); ++i) {
         const size_t prev_idx = trajectory_utils::findEgoIndex(
-          *prev_ref_points_ptr_, tier4_autoware_utils::getPose(ref_points.at(i)),
+          *prev_ref_points_ptr_, autoware_universe_utils::getPose(ref_points.at(i)),
           ego_nearest_param_);
 
-        const double dist_to_prev = tier4_autoware_utils::calcDistance2d(
+        const double dist_to_prev = autoware_universe_utils::calcDistance2d(
           ref_points.at(i), prev_ref_points_ptr_->at(prev_idx));
         if (max_dist_threshold < dist_to_prev) {
           continue;
@@ -1081,7 +1081,8 @@ void MPTOptimizer::avoidSuddenSteering(
     return;
   }
   const size_t prev_ego_idx = trajectory_utils::findEgoIndex(
-    *prev_ref_points_ptr_, tier4_autoware_utils::getPose(ref_points.front()), ego_nearest_param_);
+    *prev_ref_points_ptr_, autoware_universe_utils::getPose(ref_points.front()),
+    ego_nearest_param_);
 
   const double max_bound_fixing_length = ego_vel * mpt_param_.max_bound_fixing_time;
   const int max_bound_fixing_idx =
@@ -1128,11 +1129,11 @@ void MPTOptimizer::updateVehicleBounds(
         collision_check_pose.position.y - ref_point.pose.position.y,
         collision_check_pose.position.x - ref_point.pose.position.x);
       const double offset_y =
-        -tier4_autoware_utils::calcDistance2d(ref_point, collision_check_pose) *
+        -autoware_universe_utils::calcDistance2d(ref_point, collision_check_pose) *
         std::sin(tmp_yaw - collision_check_yaw);
 
       const auto vehicle_bounds_pose =
-        tier4_autoware_utils::calcOffsetPose(collision_check_pose, 0.0, offset_y, 0.0);
+        autoware_universe_utils::calcOffsetPose(collision_check_pose, 0.0, offset_y, 0.0);
 
       // interpolate bounds
       const auto bounds = [&]() {
diff --git a/planning/autoware_path_optimizer/src/node.cpp b/planning/autoware_path_optimizer/src/node.cpp
index 7ae169f35d8b5..c6c6511c91133 100644
--- a/planning/autoware_path_optimizer/src/node.cpp
+++ b/planning/autoware_path_optimizer/src/node.cpp
@@ -75,7 +75,7 @@ std::vector<double> calcSegmentLengthVector(const std::vector<TrajectoryPoint> &
   std::vector<double> segment_length_vector;
   for (size_t i = 0; i < points.size() - 1; ++i) {
     const double segment_length =
-      tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i + 1));
+      autoware_universe_utils::calcDistance2d(points.at(i), points.at(i + 1));
     segment_length_vector.push_back(segment_length);
   }
   return segment_length_vector;
@@ -150,14 +150,15 @@ PathOptimizer::PathOptimizer(const rclcpp::NodeOptions & node_options)
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&PathOptimizer::onParam, this, std::placeholders::_1));
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 rcl_interfaces::msg::SetParametersResult PathOptimizer::onParam(
   const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   // parameters for option
   updateParam<bool>(
@@ -562,7 +563,7 @@ void PathOptimizer::publishVirtualWall(const geometry_msgs::msg::Pose & stop_pos
     stop_pose, "outside drivable area", now(), 0, vehicle_info_.max_longitudinal_offset_m);
   if (!enable_outside_drivable_area_stop_) {
     virtual_wall_marker.markers.front().color =
-      tier4_autoware_utils::createMarkerColor(0.0, 1.0, 0.0, 0.5);
+      autoware_universe_utils::createMarkerColor(0.0, 1.0, 0.0, 0.5);
   }
 
   virtual_wall_pub_->publish(virtual_wall_marker);
diff --git a/planning/autoware_path_optimizer/src/replan_checker.cpp b/planning/autoware_path_optimizer/src/replan_checker.cpp
index 706c55679196e..dda0a9142d3dc 100644
--- a/planning/autoware_path_optimizer/src/replan_checker.cpp
+++ b/planning/autoware_path_optimizer/src/replan_checker.cpp
@@ -15,9 +15,9 @@
 #include "autoware/path_optimizer/replan_checker.hpp"
 
 #include "autoware/path_optimizer/utils/trajectory_utils.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
 
 #include <vector>
 
@@ -39,7 +39,7 @@ ReplanChecker::ReplanChecker(rclcpp::Node * node, const EgoNearestParam & ego_ne
 
 void ReplanChecker::onParam(const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   updateParam<double>(
     parameters, "replan.max_path_shape_around_ego_lat_dist", max_path_shape_around_ego_lat_dist_);
@@ -78,7 +78,7 @@ bool ReplanChecker::isResetRequired(const PlannerData & planner_data) const
 
     // ego pose is lost or new ego pose is designated in simulation
     const double delta_dist =
-      tier4_autoware_utils::calcDistance2d(p.ego_pose, prev_ego_pose_ptr_->position);
+      autoware_universe_utils::calcDistance2d(p.ego_pose, prev_ego_pose_ptr_->position);
     if (max_ego_moving_dist_ < delta_dist) {
       RCLCPP_DEBUG(
         logger_,
@@ -205,7 +205,7 @@ bool ReplanChecker::isPathGoalChanged(
   }
 
   const double goal_moving_dist =
-    tier4_autoware_utils::calcDistance2d(p.traj_points.back(), prev_traj_points.back());
+    autoware_universe_utils::calcDistance2d(p.traj_points.back(), prev_traj_points.back());
   if (goal_moving_dist < max_goal_moving_dist_) {
     return false;
   }
diff --git a/planning/autoware_path_optimizer/src/utils/geometry_utils.cpp b/planning/autoware_path_optimizer/src/utils/geometry_utils.cpp
index 9c87117e9cf81..4b51a9cee5282 100644
--- a/planning/autoware_path_optimizer/src/utils/geometry_utils.cpp
+++ b/planning/autoware_path_optimizer/src/utils/geometry_utils.cpp
@@ -18,7 +18,7 @@
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "tf2/utils.h"
 
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 
 #include "autoware_planning_msgs/msg/path_point.hpp"
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
@@ -39,10 +39,10 @@
 namespace autoware::path_optimizer
 {
 namespace bg = boost::geometry;
-using tier4_autoware_utils::LinearRing2d;
-using tier4_autoware_utils::LineString2d;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
+using autoware_universe_utils::LinearRing2d;
+using autoware_universe_utils::LineString2d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 
 namespace
 {
@@ -134,13 +134,13 @@ bool isOutsideDrivableAreaFromRectangleFootprint(
 
   // calculate footprint corner points
   const auto top_left_pos =
-    tier4_autoware_utils::calcOffsetPose(pose, base_to_front, base_to_left, 0.0).position;
+    autoware_universe_utils::calcOffsetPose(pose, base_to_front, base_to_left, 0.0).position;
   const auto top_right_pos =
-    tier4_autoware_utils::calcOffsetPose(pose, base_to_front, -base_to_right, 0.0).position;
+    autoware_universe_utils::calcOffsetPose(pose, base_to_front, -base_to_right, 0.0).position;
   const auto bottom_right_pos =
-    tier4_autoware_utils::calcOffsetPose(pose, -base_to_rear, -base_to_right, 0.0).position;
+    autoware_universe_utils::calcOffsetPose(pose, -base_to_rear, -base_to_right, 0.0).position;
   const auto bottom_left_pos =
-    tier4_autoware_utils::calcOffsetPose(pose, -base_to_rear, base_to_left, 0.0).position;
+    autoware_universe_utils::calcOffsetPose(pose, -base_to_rear, base_to_left, 0.0).position;
 
   if (use_footprint_polygon_for_outside_drivable_area_check) {
     // calculate footprint polygon
diff --git a/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp b/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp
index 08fa7542b490b..fe377b60f5030 100644
--- a/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp
+++ b/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp
@@ -33,7 +33,7 @@
 #include <stack>
 #include <vector>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 template <>
 geometry_msgs::msg::Point getPoint(const autoware::path_optimizer::ReferencePoint & p)
@@ -52,7 +52,7 @@ double getLongitudinalVelocity(const autoware::path_optimizer::ReferencePoint &
 {
   return p.longitudinal_velocity_mps;
 }
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
 namespace autoware::path_optimizer
 {
@@ -109,11 +109,11 @@ void compensateLastPose(
   const geometry_msgs::msg::Pose last_traj_pose = traj_points.back().pose;
 
   const double dist =
-    tier4_autoware_utils::calcDistance2d(last_path_point.pose.position, last_traj_pose.position);
+    autoware_universe_utils::calcDistance2d(last_path_point.pose.position, last_traj_pose.position);
   const double norm_diff_yaw = [&]() {
     const double diff_yaw =
       tf2::getYaw(last_path_point.pose.orientation) - tf2::getYaw(last_traj_pose.orientation);
-    return tier4_autoware_utils::normalizeRadian(diff_yaw);
+    return autoware_universe_utils::normalizeRadian(diff_yaw);
   }();
   if (dist > delta_dist_threshold || std::fabs(norm_diff_yaw) > delta_yaw_threshold) {
     traj_points.push_back(convertToTrajectoryPoint(last_path_point));
@@ -175,7 +175,7 @@ std::vector<ReferencePoint> resampleReferencePoints(
       base_keys.push_back(0.0);
     } else {
       const double delta_arc_length =
-        tier4_autoware_utils::calcDistance2d(ref_points.at(i), ref_points.at(i - 1));
+        autoware_universe_utils::calcDistance2d(ref_points.at(i), ref_points.at(i - 1));
       base_keys.push_back(base_keys.back() + delta_arc_length);
     }
 
@@ -187,7 +187,7 @@ std::vector<ReferencePoint> resampleReferencePoints(
     if (i == 0) {
       query_keys.push_back(0.0);
     } else {
-      const double delta_arc_length = tier4_autoware_utils::calcDistance2d(
+      const double delta_arc_length = autoware_universe_utils::calcDistance2d(
         resampled_ref_points.at(i), resampled_ref_points.at(i - 1));
       const double key = query_keys.back() + delta_arc_length;
       if (base_keys.back() < key) {
diff --git a/planning/autoware_path_smoother/include/autoware/path_smoother/common_structs.hpp b/planning/autoware_path_smoother/include/autoware/path_smoother/common_structs.hpp
index c845a1c8e7454..e26d13b94ecb0 100644
--- a/planning/autoware_path_smoother/include/autoware/path_smoother/common_structs.hpp
+++ b/planning/autoware_path_smoother/include/autoware/path_smoother/common_structs.hpp
@@ -16,9 +16,9 @@
 #define AUTOWARE__PATH_SMOOTHER__COMMON_STRUCTS_HPP_
 
 #include "autoware/path_smoother/type_alias.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
 
 #include <memory>
 #include <optional>
@@ -83,7 +83,7 @@ struct TimeKeeper
 
   double accumulated_time{0.0};
 
-  tier4_autoware_utils::StopWatch<
+  autoware_universe_utils::StopWatch<
     std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock>
     stop_watch_;
 };
@@ -100,7 +100,7 @@ struct CommonParam
 
   void onParam(const std::vector<rclcpp::Parameter> & parameters)
   {
-    using tier4_autoware_utils::updateParam;
+    using autoware_universe_utils::updateParam;
 
     // common
     updateParam<double>(
@@ -123,7 +123,7 @@ struct EgoNearestParam
 
   void onParam(const std::vector<rclcpp::Parameter> & parameters)
   {
-    using tier4_autoware_utils::updateParam;
+    using autoware_universe_utils::updateParam;
     updateParam<double>(parameters, "ego_nearest_dist_threshold", dist_threshold);
     updateParam<double>(parameters, "ego_nearest_yaw_threshold", yaw_threshold);
   }
diff --git a/planning/autoware_path_smoother/include/autoware/path_smoother/elastic_band_smoother.hpp b/planning/autoware_path_smoother/include/autoware/path_smoother/elastic_band_smoother.hpp
index 89200fddd57e7..defaae9977b7d 100644
--- a/planning/autoware_path_smoother/include/autoware/path_smoother/elastic_band_smoother.hpp
+++ b/planning/autoware_path_smoother/include/autoware/path_smoother/elastic_band_smoother.hpp
@@ -19,12 +19,12 @@
 #include "autoware/path_smoother/elastic_band.hpp"
 #include "autoware/path_smoother/replan_checker.hpp"
 #include "autoware/path_smoother/type_alias.hpp"
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 
 #include <algorithm>
 #include <memory>
@@ -82,7 +82,8 @@ class ElasticBandSmoother : public rclcpp::Node
 
   // interface subscriber
   rclcpp::Subscription<Path>::SharedPtr path_sub_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> odom_sub_{this, "~/input/odometry"};
+  autoware_universe_utils::InterProcessPollingSubscriber<Odometry> odom_sub_{
+    this, "~/input/odometry"};
 
   // debug publisher
   rclcpp::Publisher<Trajectory>::SharedPtr debug_extended_traj_pub_;
@@ -112,9 +113,9 @@ class ElasticBandSmoother : public rclcpp::Node
     const std::vector<TrajectoryPoint> & traj_points,
     const std::vector<TrajectoryPoint> & optimized_points) const;
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace autoware::path_smoother
 
diff --git a/planning/autoware_path_smoother/include/autoware/path_smoother/utils/geometry_utils.hpp b/planning/autoware_path_smoother/include/autoware/path_smoother/utils/geometry_utils.hpp
index ad6dbfb5cab74..df9dbdf7f7e49 100644
--- a/planning/autoware_path_smoother/include/autoware/path_smoother/utils/geometry_utils.hpp
+++ b/planning/autoware_path_smoother/include/autoware/path_smoother/utils/geometry_utils.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__PATH_SMOOTHER__UTILS__GEOMETRY_UTILS_HPP_
 #define AUTOWARE__PATH_SMOOTHER__UTILS__GEOMETRY_UTILS_HPP_
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 namespace autoware::path_smoother
 {
@@ -24,8 +24,8 @@ namespace geometry_utils
 template <typename T1, typename T2>
 bool isSamePoint(const T1 & t1, const T2 & t2)
 {
-  const auto p1 = tier4_autoware_utils::getPoint(t1);
-  const auto p2 = tier4_autoware_utils::getPoint(t2);
+  const auto p1 = autoware_universe_utils::getPoint(t1);
+  const auto p2 = autoware_universe_utils::getPoint(t2);
 
   constexpr double epsilon = 1e-6;
   return (std::abs(p1.x - p2.x) <= epsilon && std::abs(p1.y - p2.y) <= epsilon);
diff --git a/planning/autoware_path_smoother/include/autoware/path_smoother/utils/trajectory_utils.hpp b/planning/autoware_path_smoother/include/autoware/path_smoother/utils/trajectory_utils.hpp
index 23a46cc842f75..6c76593b78328 100644
--- a/planning/autoware_path_smoother/include/autoware/path_smoother/utils/trajectory_utils.hpp
+++ b/planning/autoware_path_smoother/include/autoware/path_smoother/utils/trajectory_utils.hpp
@@ -56,7 +56,7 @@ std::optional<size_t> getPointIndexAfter(
   // search forward
   if (sum_length < min_offset) {
     for (size_t i = target_seg_idx + 1; i < points.size(); ++i) {
-      sum_length += tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i - 1));
+      sum_length += autoware_universe_utils::calcDistance2d(points.at(i), points.at(i - 1));
       if (min_offset < sum_length) {
         output_idx = i - 1;
       }
@@ -70,7 +70,7 @@ std::optional<size_t> getPointIndexAfter(
   // search backward
   for (size_t i = target_seg_idx; 0 < i;
        --i) {  // NOTE: use size_t since i is always positive value
-    sum_length -= tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i - 1));
+    sum_length -= autoware_universe_utils::calcDistance2d(points.at(i), points.at(i - 1));
     if (sum_length < min_offset) {
       output_idx = i - 1;
     }
@@ -86,7 +86,7 @@ template <typename T>
 TrajectoryPoint convertToTrajectoryPoint(const T & point)
 {
   TrajectoryPoint traj_point;
-  traj_point.pose = tier4_autoware_utils::getPose(point);
+  traj_point.pose = autoware_universe_utils::getPose(point);
   traj_point.longitudinal_velocity_mps = point.longitudinal_velocity_mps;
   traj_point.lateral_velocity_mps = point.lateral_velocity_mps;
   traj_point.heading_rate_rps = point.heading_rate_rps;
@@ -128,7 +128,7 @@ std::optional<size_t> updateFrontPointForFix(
 {
   // calculate front point to insert in points as a fixed point
   const size_t front_seg_idx_for_fix = trajectory_utils::findEgoSegmentIndex(
-    points_for_fix, tier4_autoware_utils::getPose(points.front()), ego_nearest_param);
+    points_for_fix, autoware_universe_utils::getPose(points.front()), ego_nearest_param);
   const size_t front_point_idx_for_fix = front_seg_idx_for_fix;
   const auto & front_fix_point = points_for_fix.at(front_point_idx_for_fix);
 
@@ -142,7 +142,7 @@ std::optional<size_t> updateFrontPointForFix(
     return std::nullopt;
   }
 
-  const double dist = tier4_autoware_utils::calcDistance2d(points.front(), front_fix_point);
+  const double dist = autoware_universe_utils::calcDistance2d(points.front(), front_fix_point);
 
   // check if deviation is not too large
   constexpr double max_lat_error = 3.0;
diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml
index 445f8a0e6e736..62a59a79c2bc9 100644
--- a/planning/autoware_path_smoother/package.xml
+++ b/planning/autoware_path_smoother/package.xml
@@ -16,6 +16,7 @@
 
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
   <depend>motion_utils</depend>
@@ -25,7 +26,6 @@
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/planning/autoware_path_smoother/src/elastic_band.cpp b/planning/autoware_path_smoother/src/elastic_band.cpp
index cb9f33281f60f..151a0252945f2 100644
--- a/planning/autoware_path_smoother/src/elastic_band.cpp
+++ b/planning/autoware_path_smoother/src/elastic_band.cpp
@@ -125,7 +125,7 @@ EBPathSmoother::EBParam::EBParam(rclcpp::Node * node)
 
 void EBPathSmoother::EBParam::onParam(const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   {  // option
     updateParam<bool>(parameters, "elastic_band.option.enable_warm_start", enable_warm_start);
@@ -443,7 +443,7 @@ std::optional<std::vector<TrajectoryPoint>> EBPathSmoother::convertOptimizedPoin
 
     auto eb_traj_point = traj_points.at(i);
     eb_traj_point.pose =
-      tier4_autoware_utils::calcOffsetPose(eb_traj_point.pose, 0.0, lat_offset, 0.0);
+      autoware_universe_utils::calcOffsetPose(eb_traj_point.pose, 0.0, lat_offset, 0.0);
     eb_traj_points.push_back(eb_traj_point);
   }
 
diff --git a/planning/autoware_path_smoother/src/elastic_band_smoother.cpp b/planning/autoware_path_smoother/src/elastic_band_smoother.cpp
index 11de66ef541fe..e5f30784a97c5 100644
--- a/planning/autoware_path_smoother/src/elastic_band_smoother.cpp
+++ b/planning/autoware_path_smoother/src/elastic_band_smoother.cpp
@@ -105,14 +105,15 @@ ElasticBandSmoother::ElasticBandSmoother(const rclcpp::NodeOptions & node_option
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&ElasticBandSmoother::onParam, this, std::placeholders::_1));
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 rcl_interfaces::msg::SetParametersResult ElasticBandSmoother::onParam(
   const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   // parameters for ego nearest search
   ego_nearest_param_.onParam(parameters);
diff --git a/planning/autoware_path_smoother/src/replan_checker.cpp b/planning/autoware_path_smoother/src/replan_checker.cpp
index 719d7f1376c25..d9f7f4fb6ca18 100644
--- a/planning/autoware_path_smoother/src/replan_checker.cpp
+++ b/planning/autoware_path_smoother/src/replan_checker.cpp
@@ -15,9 +15,9 @@
 #include "autoware/path_smoother/replan_checker.hpp"
 
 #include "autoware/path_smoother/utils/trajectory_utils.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
 
 #include <vector>
 
@@ -40,7 +40,7 @@ ReplanChecker::ReplanChecker(rclcpp::Node * node, const EgoNearestParam & ego_ne
 
 void ReplanChecker::onParam(const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   updateParam<bool>(parameters, "replan.enable", enable_);
   updateParam<double>(
@@ -80,7 +80,7 @@ bool ReplanChecker::isResetRequired(const PlannerData & planner_data) const
 
     // ego pose is lost or new ego pose is designated in simulation
     const double delta_dist =
-      tier4_autoware_utils::calcDistance2d(p.ego_pose, prev_ego_pose_ptr_->position);
+      autoware_universe_utils::calcDistance2d(p.ego_pose, prev_ego_pose_ptr_->position);
     if (max_ego_moving_dist_ < delta_dist) {
       RCLCPP_DEBUG(
         logger_,
@@ -201,7 +201,7 @@ bool ReplanChecker::isPathGoalChanged(
   }
 
   const double goal_moving_dist =
-    tier4_autoware_utils::calcDistance2d(p.traj_points.back(), prev_traj_points.back());
+    autoware_universe_utils::calcDistance2d(p.traj_points.back(), prev_traj_points.back());
   if (goal_moving_dist < max_goal_moving_dist_) {
     return false;
   }
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 0f107a97d09f0..dfaefd7c882d1 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
@@ -57,8 +57,8 @@ Pose createPoseFromLaneID(const lanelet::Id & lane_id)
   // calculate middle pose
   geometry_msgs::msg::Pose middle_pose;
   middle_pose.position = middle_pos;
-  const double yaw = tier4_autoware_utils::calcAzimuthAngle(middle_pos, next_middle_pos);
-  middle_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw);
+  const double yaw = autoware_universe_utils::calcAzimuthAngle(middle_pos, next_middle_pos);
+  middle_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(yaw);
 
   return middle_pose;
 }
diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml
index 6ccebfc2f56fe..0dac02e92e617 100644
--- a/planning/autoware_planning_test_manager/package.xml
+++ b/planning/autoware_planning_test_manager/package.xml
@@ -19,6 +19,7 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_test_utils</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>component_interface_specs</depend>
   <depend>component_interface_utils</depend>
@@ -30,7 +31,6 @@
   <depend>tf2_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_api_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_v2x_msgs</depend>
   <depend>unique_identifier_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 715dc6277f419..5002b8fa08fc1 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
@@ -14,10 +14,10 @@
 
 #include "motion_utils/trajectory/conversion.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
 #include <autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp>
 #include <autoware_test_utils/autoware_test_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 namespace autoware::planning_test_manager
 {
diff --git a/planning/autoware_planning_topic_converter/package.xml b/planning/autoware_planning_topic_converter/package.xml
index be44523fa9852..c6d7c08ca2a08 100644
--- a/planning/autoware_planning_topic_converter/package.xml
+++ b/planning/autoware_planning_topic_converter/package.xml
@@ -15,10 +15,10 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>motion_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/planning/autoware_planning_topic_converter/src/path_to_trajectory.cpp b/planning/autoware_planning_topic_converter/src/path_to_trajectory.cpp
index d0ea18e079057..b9e260205632e 100644
--- a/planning/autoware_planning_topic_converter/src/path_to_trajectory.cpp
+++ b/planning/autoware_planning_topic_converter/src/path_to_trajectory.cpp
@@ -14,8 +14,8 @@
 
 #include "autoware/planning_topic_converter/path_to_trajectory.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <motion_utils/trajectory/conversion.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 namespace autoware::planning_topic_converter
 {
@@ -24,7 +24,7 @@ namespace
 TrajectoryPoint convertToTrajectoryPoint(const PathPoint & point)
 {
   TrajectoryPoint traj_point;
-  traj_point.pose = tier4_autoware_utils::getPose(point);
+  traj_point.pose = autoware_universe_utils::getPose(point);
   traj_point.longitudinal_velocity_mps = point.longitudinal_velocity_mps;
   traj_point.lateral_velocity_mps = point.lateral_velocity_mps;
   traj_point.heading_rate_rps = point.heading_rate_rps;
diff --git a/planning/autoware_planning_validator/include/autoware/planning_validator/planning_validator.hpp b/planning/autoware_planning_validator/include/autoware/planning_validator/planning_validator.hpp
index df25332328228..1d47aefaa31e4 100644
--- a/planning/autoware_planning_validator/include/autoware/planning_validator/planning_validator.hpp
+++ b/planning/autoware_planning_validator/include/autoware/planning_validator/planning_validator.hpp
@@ -16,15 +16,15 @@
 #define AUTOWARE__PLANNING_VALIDATOR__PLANNING_VALIDATOR_HPP_
 
 #include "autoware/planning_validator/debug_marker.hpp"
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 #include "autoware_planning_validator/msg/planning_validator_status.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
 
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
@@ -39,10 +39,10 @@ namespace autoware::planning_validator
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
 using autoware_planning_validator::msg::PlanningValidatorStatus;
+using autoware_universe_utils::StopWatch;
 using diagnostic_updater::DiagnosticStatusWrapper;
 using diagnostic_updater::Updater;
 using nav_msgs::msg::Odometry;
-using tier4_autoware_utils::StopWatch;
 using tier4_debug_msgs::msg::Float64Stamped;
 
 struct ValidationParams
@@ -103,7 +103,7 @@ class PlanningValidator : public rclcpp::Node
 
   void setStatus(DiagnosticStatusWrapper & stat, const bool & is_ok, const std::string & msg);
 
-  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> sub_kinematics_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Odometry> sub_kinematics_{
     this, "~/input/kinematics"};
   rclcpp::Subscription<Trajectory>::SharedPtr sub_traj_;
   rclcpp::Publisher<Trajectory>::SharedPtr pub_traj_;
@@ -137,9 +137,9 @@ class PlanningValidator : public rclcpp::Node
 
   std::shared_ptr<PlanningValidatorDebugMarkerPublisher> debug_pose_publisher_;
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 
   StopWatch<std::chrono::milliseconds> stop_watch_;
 };
diff --git a/planning/autoware_planning_validator/package.xml b/planning/autoware_planning_validator/package.xml
index 541396b52b02b..3bd1574b5a38e 100644
--- a/planning/autoware_planning_validator/package.xml
+++ b/planning/autoware_planning_validator/package.xml
@@ -17,6 +17,7 @@
 
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
@@ -24,7 +25,6 @@
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/planning/autoware_planning_validator/src/debug_marker.cpp b/planning/autoware_planning_validator/src/debug_marker.cpp
index 3dc1012ee4a22..0defa72684c92 100644
--- a/planning/autoware_planning_validator/src/debug_marker.cpp
+++ b/planning/autoware_planning_validator/src/debug_marker.cpp
@@ -14,8 +14,8 @@
 
 #include "autoware/planning_validator/debug_marker.hpp"
 
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/marker_helper.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <memory>
 #include <string>
@@ -48,7 +48,7 @@ void PlanningValidatorDebugMarkerPublisher::pushPoseMarker(
 void PlanningValidatorDebugMarkerPublisher::pushPoseMarker(
   const geometry_msgs::msg::Pose & pose, const std::string & ns, int id)
 {
-  using tier4_autoware_utils::createMarkerColor;
+  using autoware_universe_utils::createMarkerColor;
 
   // append arrow marker
   std_msgs::msg::ColorRGBA color;
@@ -64,9 +64,9 @@ void PlanningValidatorDebugMarkerPublisher::pushPoseMarker(
   {
     color = createMarkerColor(0.0, 0.0, 1.0, 0.999);
   }
-  Marker marker = tier4_autoware_utils::createDefaultMarker(
+  Marker marker = autoware_universe_utils::createDefaultMarker(
     "map", node_->get_clock()->now(), ns, getMarkerId(ns), Marker::ARROW,
-    tier4_autoware_utils::createMarkerScale(0.2, 0.1, 0.3), color);
+    autoware_universe_utils::createMarkerScale(0.2, 0.1, 0.3), color);
   marker.lifetime = rclcpp::Duration::from_seconds(0.2);
   marker.pose = pose;
 
@@ -76,10 +76,10 @@ void PlanningValidatorDebugMarkerPublisher::pushPoseMarker(
 void PlanningValidatorDebugMarkerPublisher::pushWarningMsg(
   const geometry_msgs::msg::Pose & pose, const std::string & msg)
 {
-  visualization_msgs::msg::Marker marker = tier4_autoware_utils::createDefaultMarker(
+  visualization_msgs::msg::Marker marker = autoware_universe_utils::createDefaultMarker(
     "map", node_->get_clock()->now(), "warning_msg", 0, Marker::TEXT_VIEW_FACING,
-    tier4_autoware_utils::createMarkerScale(0.0, 0.0, 1.0),
-    tier4_autoware_utils::createMarkerColor(1.0, 0.1, 0.1, 0.999));
+    autoware_universe_utils::createMarkerScale(0.0, 0.0, 1.0),
+    autoware_universe_utils::createMarkerColor(1.0, 0.1, 0.1, 0.999));
   marker.lifetime = rclcpp::Duration::from_seconds(0.2);
   marker.pose = pose;
   marker.text = msg;
@@ -91,7 +91,7 @@ void PlanningValidatorDebugMarkerPublisher::pushVirtualWall(const geometry_msgs:
   const auto now = node_->get_clock()->now();
   const auto stop_wall_marker =
     motion_utils::createStopVirtualWallMarker(pose, "autoware_planning_validator", now, 0);
-  tier4_autoware_utils::appendMarkerArray(stop_wall_marker, &marker_array_virtual_wall_, now);
+  autoware_universe_utils::appendMarkerArray(stop_wall_marker, &marker_array_virtual_wall_, now);
 }
 
 void PlanningValidatorDebugMarkerPublisher::publish()
diff --git a/planning/autoware_planning_validator/src/planning_validator.cpp b/planning/autoware_planning_validator/src/planning_validator.cpp
index e140f35d0e9f4..1e095e2fa424e 100644
--- a/planning/autoware_planning_validator/src/planning_validator.cpp
+++ b/planning/autoware_planning_validator/src/planning_validator.cpp
@@ -16,8 +16,8 @@
 
 #include "autoware/planning_validator/utils.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <memory>
 #include <string>
@@ -44,8 +44,9 @@ PlanningValidator::PlanningValidator(const rclcpp::NodeOptions & options)
 
   setupParameters();
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void PlanningValidator::setupParameters()
@@ -468,8 +469,8 @@ bool PlanningValidator::checkValidDistanceDeviation(const Trajectory & trajector
   const auto idx = motion_utils::findFirstNearestIndexWithSoftConstraints(
     trajectory.points, current_kinematics_->pose.pose);
 
-  validation_status_.distance_deviation =
-    tier4_autoware_utils::calcDistance2d(trajectory.points.at(idx), current_kinematics_->pose.pose);
+  validation_status_.distance_deviation = autoware_universe_utils::calcDistance2d(
+    trajectory.points.at(idx), current_kinematics_->pose.pose);
 
   if (validation_status_.distance_deviation > validation_params_.distance_deviation_threshold) {
     return false;
@@ -500,7 +501,7 @@ bool PlanningValidator::checkValidLongitudinalDistanceDeviation(const Trajectory
     // for last, need to remove distance for the last segment.
     if (is_last) {
       const auto size = trajectory.points.size();
-      long_offset -= tier4_autoware_utils::calcDistance2d(
+      long_offset -= autoware_universe_utils::calcDistance2d(
         trajectory.points.at(size - 1), trajectory.points.at(size - 2));
     }
 
diff --git a/planning/autoware_planning_validator/src/utils.cpp b/planning/autoware_planning_validator/src/utils.cpp
index d94598aa5951d..1f64e7c4ad078 100644
--- a/planning/autoware_planning_validator/src/utils.cpp
+++ b/planning/autoware_planning_validator/src/utils.cpp
@@ -14,8 +14,8 @@
 
 #include "autoware/planning_validator/utils.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <memory>
 #include <string>
@@ -24,9 +24,9 @@
 
 namespace autoware::planning_validator
 {
-using tier4_autoware_utils::calcCurvature;
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::getPoint;
+using autoware_universe_utils::calcCurvature;
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::getPoint;
 
 namespace
 {
@@ -138,7 +138,7 @@ void calcCurvature(
     const auto p2 = getPoint(trajectory.points.at(i));
     const auto p3 = getPoint(trajectory.points.at(next_idx));
     try {
-      curvature_arr.at(i) = tier4_autoware_utils::calcCurvature(p1, p2, p3);
+      curvature_arr.at(i) = autoware_universe_utils::calcCurvature(p1, p2, p3);
     } catch (...) {
       curvature_arr.at(i) = 0.0;  // maybe distance is too close
     }
@@ -236,11 +236,12 @@ std::pair<double, size_t> calcMaxRelativeAngles(const Trajectory & trajectory)
     const auto & p2 = trajectory.points.at(i + 1).pose.position;
     const auto & p3 = trajectory.points.at(i + 2).pose.position;
 
-    const auto angle_a = tier4_autoware_utils::calcAzimuthAngle(p1, p2);
-    const auto angle_b = tier4_autoware_utils::calcAzimuthAngle(p2, p3);
+    const auto angle_a = autoware_universe_utils::calcAzimuthAngle(p1, p2);
+    const auto angle_b = autoware_universe_utils::calcAzimuthAngle(p2, p3);
 
     // convert relative angle to [-pi ~ pi]
-    const auto relative_angle = std::abs(tier4_autoware_utils::normalizeRadian(angle_b - angle_a));
+    const auto relative_angle =
+      std::abs(autoware_universe_utils::normalizeRadian(angle_b - angle_a));
 
     takeBigger(max_relative_angles, max_index, std::abs(relative_angle), i);
   }
diff --git a/planning/autoware_planning_validator/test/src/test_planning_validator_helper.cpp b/planning/autoware_planning_validator/test/src/test_planning_validator_helper.cpp
index de7d8293286d7..b4985700fdcb6 100644
--- a/planning/autoware_planning_validator/test/src/test_planning_validator_helper.cpp
+++ b/planning/autoware_planning_validator/test/src/test_planning_validator_helper.cpp
@@ -14,14 +14,14 @@
 
 #include "test_planning_validator_helper.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "test_parameter.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <math.h>
 
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_autoware_utils::createQuaternionFromYaw;
+using autoware_universe_utils::createQuaternionFromYaw;
 
 Trajectory generateTrajectoryWithConstantAcceleration(
   const double interval_distance, const double speed, const double yaw, const size_t size,
diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml
index 0e5ae5aa63c3e..494c0a58e1e02 100644
--- a/planning/autoware_remaining_distance_time_calculator/package.xml
+++ b/planning/autoware_remaining_distance_time_calculator/package.xml
@@ -15,6 +15,7 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_test_utils</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>motion_utils</depend>
@@ -22,7 +23,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp
index 327bd0ff3b582..4c1eb1d1c4ef6 100644
--- a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp
+++ b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp
@@ -14,12 +14,12 @@
 
 #include "remaining_distance_time_calculator_node.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/timer.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 
@@ -143,8 +143,8 @@ void RemainingDistanceTimeCalculatorNode::calculate_remaining_distance()
 
   for (auto & llt : remaining_shortest_path) {
     if (remaining_shortest_path.size() == 1) {
-      remaining_distance_ +=
-        tier4_autoware_utils::calcDistance2d(current_vehicle_pose_.position, goal_pose_.position);
+      remaining_distance_ += autoware_universe_utils::calcDistance2d(
+        current_vehicle_pose_.position, goal_pose_.position);
       break;
     }
 
diff --git a/planning/autoware_route_handler/package.xml b/planning/autoware_route_handler/package.xml
index 64cdaf596b52d..f7d10a519ed4e 100644
--- a/planning/autoware_route_handler/package.xml
+++ b/planning/autoware_route_handler/package.xml
@@ -26,12 +26,12 @@
   <depend>autoware_map_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_test_utils</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>yaml-cpp</depend>
 
   <export>
diff --git a/planning/autoware_route_handler/src/route_handler.cpp b/planning/autoware_route_handler/src/route_handler.cpp
index 12adab590e9bd..cffac44b6947e 100644
--- a/planning/autoware_route_handler/src/route_handler.cpp
+++ b/planning/autoware_route_handler/src/route_handler.cpp
@@ -14,13 +14,13 @@
 
 #include "autoware/route_handler/route_handler.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware_utils/math/normalization.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/route_checker.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <autoware_planning_msgs/msg/lanelet_primitive.hpp>
 #include <autoware_planning_msgs/msg/path.hpp>
@@ -110,7 +110,7 @@ PathWithLaneId removeOverlappingPoints(const PathWithLaneId & input_path)
 
     constexpr double min_dist = 0.001;
     if (
-      tier4_autoware_utils::calcDistance3d(filtered_path.points.back().point, pt.point) <
+      autoware_universe_utils::calcDistance3d(filtered_path.points.back().point, pt.point) <
       min_dist) {
       filtered_path.points.back().lane_ids.push_back(pt.lane_ids.front());
       filtered_path.points.back().point.longitudinal_velocity_mps = std::min(
@@ -1725,14 +1725,14 @@ PathWithLaneId RouteHandler::getCenterLinePath(
     double angle{0.0};
     const auto & pts = reference_path.points;
     if (i + 1 < reference_path.points.size()) {
-      angle = tier4_autoware_utils::calcAzimuthAngle(
+      angle = autoware_universe_utils::calcAzimuthAngle(
         pts.at(i).point.pose.position, pts.at(i + 1).point.pose.position);
     } else if (i != 0) {
-      angle = tier4_autoware_utils::calcAzimuthAngle(
+      angle = autoware_universe_utils::calcAzimuthAngle(
         pts.at(i - 1).point.pose.position, pts.at(i).point.pose.position);
     }
     reference_path.points.at(i).point.pose.orientation =
-      tier4_autoware_utils::createQuaternionFromYaw(angle);
+      autoware_universe_utils::createQuaternionFromYaw(angle);
   }
 
   return reference_path;
diff --git a/planning/autoware_route_handler/test/test_route_handler.cpp b/planning/autoware_route_handler/test/test_route_handler.cpp
index eb39b37a81fc3..056d46056f452 100644
--- a/planning/autoware_route_handler/test/test_route_handler.cpp
+++ b/planning/autoware_route_handler/test/test_route_handler.cpp
@@ -14,7 +14,7 @@
 
 #include "test_route_handler.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -53,10 +53,10 @@ TEST_F(TestRouteHandler, getLaneletSequenceWhenOverlappingRoute)
   ASSERT_FALSE(route_handler_->isHandlerReady());
 
   geometry_msgs::msg::Pose start_pose, goal_pose;
-  start_pose.position = tier4_autoware_utils::createPoint(3728.870361, 73739.281250, 0);
-  start_pose.orientation = tier4_autoware_utils::createQuaternion(0, 0, -0.513117, 0.858319);
-  goal_pose.position = tier4_autoware_utils::createPoint(3729.961182, 73727.328125, 0);
-  goal_pose.orientation = tier4_autoware_utils::createQuaternion(0, 0, 0.234831, 0.972036);
+  start_pose.position = autoware_universe_utils::createPoint(3728.870361, 73739.281250, 0);
+  start_pose.orientation = autoware_universe_utils::createQuaternion(0, 0, -0.513117, 0.858319);
+  goal_pose.position = autoware_universe_utils::createPoint(3729.961182, 73727.328125, 0);
+  goal_pose.orientation = autoware_universe_utils::createQuaternion(0, 0, 0.234831, 0.972036);
 
   lanelet::ConstLanelets path_lanelets;
   ASSERT_TRUE(
@@ -86,16 +86,16 @@ TEST_F(TestRouteHandler, getClosestRouteLaneletFromLaneletWhenOverlappingRoute)
   geometry_msgs::msg::Pose reference_pose, search_pose;
 
   lanelet::ConstLanelet reference_lanelet;
-  reference_pose.position = tier4_autoware_utils::createPoint(3730.88, 73735.3, 0);
-  reference_pose.orientation = tier4_autoware_utils::createQuaternion(0, 0, -0.504626, 0.863338);
+  reference_pose.position = autoware_universe_utils::createPoint(3730.88, 73735.3, 0);
+  reference_pose.orientation = autoware_universe_utils::createQuaternion(0, 0, -0.504626, 0.863338);
   const auto found_reference_lanelet =
     route_handler_->getClosestLaneletWithinRoute(reference_pose, &reference_lanelet);
   ASSERT_TRUE(found_reference_lanelet);
   ASSERT_EQ(reference_lanelet.id(), 168);
 
   lanelet::ConstLanelet closest_lanelet;
-  search_pose.position = tier4_autoware_utils::createPoint(3736.89, 73730.8, 0);
-  search_pose.orientation = tier4_autoware_utils::createQuaternion(0, 0, 0.223244, 0.974763);
+  search_pose.position = autoware_universe_utils::createPoint(3736.89, 73730.8, 0);
+  search_pose.orientation = autoware_universe_utils::createQuaternion(0, 0, 0.223244, 0.974763);
   bool found_lanelet = route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lanelet);
   ASSERT_TRUE(found_lanelet);
   ASSERT_EQ(closest_lanelet.id(), 345);
@@ -112,56 +112,56 @@ TEST_F(TestRouteHandler, getClosestRouteLaneletFromLaneletWhenOverlappingRoute)
 
 //   Pose search_pose;
 
-//   search_pose.position = tier4_autoware_utils::createPoint(-1.0, 1.75, 0);
-//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//   search_pose.position = autoware_universe_utils::createPoint(-1.0, 1.75, 0);
+//   search_pose.orientation = autoware_universe_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
 //   const auto closest_lane_obtained7 =
 //     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
 
 //   ASSERT_TRUE(closest_lane_obtained7);
 //   ASSERT_EQ(closest_lane.id(), 4775);
 
-//   search_pose.position = tier4_autoware_utils::createPoint(-0.5, 1.75, 0);
+//   search_pose.position = autoware_universe_utils::createPoint(-0.5, 1.75, 0);
 //   const auto closest_lane_obtained =
-//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//   search_pose.orientation = autoware_universe_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
 //     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
 
 //   ASSERT_TRUE(closest_lane_obtained);
 //   ASSERT_EQ(closest_lane.id(), 4775);
 
-//   search_pose.position = tier4_autoware_utils::createPoint(-.01, 1.75, 0);
-//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//   search_pose.position = autoware_universe_utils::createPoint(-.01, 1.75, 0);
+//   search_pose.orientation = autoware_universe_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
 //   const auto closest_lane_obtained3 =
 //     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
 
 //   ASSERT_TRUE(closest_lane_obtained3);
 //   ASSERT_EQ(closest_lane.id(), 4775);
 
-//   search_pose.position = tier4_autoware_utils::createPoint(0.0, 1.75, 0);
-//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//   search_pose.position = autoware_universe_utils::createPoint(0.0, 1.75, 0);
+//   search_pose.orientation = autoware_universe_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
 //   const auto closest_lane_obtained1 =
 //     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
 
 //   ASSERT_TRUE(closest_lane_obtained1);
 //   ASSERT_EQ(closest_lane.id(), 4775);
 
-//   search_pose.position = tier4_autoware_utils::createPoint(0.01, 1.75, 0);
-//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//   search_pose.position = autoware_universe_utils::createPoint(0.01, 1.75, 0);
+//   search_pose.orientation = autoware_universe_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
 //   const auto closest_lane_obtained2 =
 //     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
 
 //   ASSERT_TRUE(closest_lane_obtained2);
 //   ASSERT_EQ(closest_lane.id(), 4424);
 
-//   search_pose.position = tier4_autoware_utils::createPoint(0.5, 1.75, 0);
-//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//   search_pose.position = autoware_universe_utils::createPoint(0.5, 1.75, 0);
+//   search_pose.orientation = autoware_universe_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
 //   const auto closest_lane_obtained4 =
 //     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
 
 //   ASSERT_TRUE(closest_lane_obtained4);
 //   ASSERT_EQ(closest_lane.id(), 4424);
 
-//   search_pose.position = tier4_autoware_utils::createPoint(1.0, 1.75, 0);
-//   search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
+//   search_pose.position = autoware_universe_utils::createPoint(1.0, 1.75, 0);
+//   search_pose.orientation = autoware_universe_utils::createQuaternion(0.0, 0.0, 0.0, 1.0);
 //   const auto closest_lane_obtained5 =
 //     route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane);
 
diff --git a/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp b/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp
index 51ec514b9f284..e008a3d647436 100644
--- a/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp
+++ b/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp
@@ -15,8 +15,8 @@
 #ifndef AUTOWARE__SCENARIO_SELECTOR__NODE_HPP_
 #define AUTOWARE__SCENARIO_SELECTOR__NODE_HPP_
 
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
@@ -35,7 +35,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 #include <autoware/route_handler/route_handler.hpp>
-#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
 
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
@@ -73,12 +73,12 @@ class ScenarioSelectorNode : public rclcpp::Node
 
   rclcpp::Subscription<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr sub_lanelet_map_;
   rclcpp::Subscription<autoware_planning_msgs::msg::LaneletRoute>::SharedPtr sub_route_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry, 100>::SharedPtr
+  autoware_universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry, 100>::SharedPtr
     sub_odom_;
   rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr
     sub_lane_driving_trajectory_;
   rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr sub_parking_trajectory_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<std_msgs::msg::Bool>::SharedPtr
+  autoware_universe_utils::InterProcessPollingSubscriber<std_msgs::msg::Bool>::SharedPtr
     sub_parking_state_;
   rclcpp::Publisher<autoware_planning_msgs::msg::Trajectory>::SharedPtr pub_trajectory_;
   rclcpp::Publisher<tier4_planning_msgs::msg::Scenario>::SharedPtr pub_scenario_;
@@ -93,7 +93,7 @@ class ScenarioSelectorNode : public rclcpp::Node
   std::deque<geometry_msgs::msg::TwistStamped::ConstSharedPtr> twist_buffer_;
 
   std::shared_ptr<autoware::route_handler::RouteHandler> route_handler_;
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 
   // Parameters
   double update_rate_;
diff --git a/planning/autoware_scenario_selector/package.xml b/planning/autoware_scenario_selector/package.xml
index 03a0e92b5a33f..4a3c0c5c99eaf 100644
--- a/planning/autoware_scenario_selector/package.xml
+++ b/planning/autoware_scenario_selector/package.xml
@@ -20,6 +20,7 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>lanelet2_extension</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
@@ -27,7 +28,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
 
   <exec_depend>ros2cli</exec_depend>
diff --git a/planning/autoware_scenario_selector/src/node.cpp b/planning/autoware_scenario_selector/src/node.cpp
index 08f85ea4245ee..d1516c68050c1 100644
--- a/planning/autoware_scenario_selector/src/node.cpp
+++ b/planning/autoware_scenario_selector/src/node.cpp
@@ -381,7 +381,8 @@ ScenarioSelectorNode::ScenarioSelectorNode(const rclcpp::NodeOptions & node_opti
 
   timer_ = rclcpp::create_timer(
     this, get_clock(), period_ns, std::bind(&ScenarioSelectorNode::onTimer, this));
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 }  // namespace autoware::scenario_selector
 
diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml
index e6b812ff9b388..684d146c141ba 100644
--- a/planning/autoware_static_centerline_generator/package.xml
+++ b/planning/autoware_static_centerline_generator/package.xml
@@ -23,6 +23,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geography_utils</depend>
   <depend>geometry_msgs</depend>
@@ -35,7 +36,6 @@
   <depend>osqp_interface</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_map_msgs</depend>
 
   <exec_depend>python3-flask-cors</exec_depend>
diff --git a/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp b/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp
index 447773d7a6535..d73573833d1fa 100644
--- a/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp
+++ b/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp
@@ -73,10 +73,10 @@ std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node)
           centerline_traj_points.at(i - 1).pose.orientation;
       }
     } else {
-      const double yaw_angle = tier4_autoware_utils::calcAzimuthAngle(
+      const double yaw_angle = autoware_universe_utils::calcAzimuthAngle(
         centerline_traj_points.at(i).pose.position, centerline_traj_points.at(i + 1).pose.position);
       centerline_traj_points.at(i).pose.orientation =
-        tier4_autoware_utils::createQuaternionFromYaw(yaw_angle);
+        autoware_universe_utils::createQuaternionFromYaw(yaw_angle);
     }
   }
 
diff --git a/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp
index 8b403bbfe5c73..40dc817d2d671 100644
--- a/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp
+++ b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp
@@ -16,10 +16,10 @@
 
 #include "autoware/path_optimizer/node.hpp"
 #include "autoware/path_smoother/elastic_band_smoother.hpp"
+#include "autoware/universe_utils/ros/parameter.hpp"
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "static_centerline_generator_node.hpp"
-#include "tier4_autoware_utils/ros/parameter.hpp"
 #include "utils.hpp"
 
 #include <algorithm>
@@ -82,13 +82,13 @@ OptimizationTrajectoryBasedCenterline::generate_centerline_with_optimization(
 
   // get ego nearest search parameters and resample interval in behavior_path_planner
   const double ego_nearest_dist_threshold =
-    tier4_autoware_utils::getOrDeclareParameter<double>(node, "ego_nearest_dist_threshold");
+    autoware_universe_utils::getOrDeclareParameter<double>(node, "ego_nearest_dist_threshold");
   const double ego_nearest_yaw_threshold =
-    tier4_autoware_utils::getOrDeclareParameter<double>(node, "ego_nearest_yaw_threshold");
+    autoware_universe_utils::getOrDeclareParameter<double>(node, "ego_nearest_yaw_threshold");
   const double behavior_path_interval =
-    tier4_autoware_utils::getOrDeclareParameter<double>(node, "output_path_interval");
+    autoware_universe_utils::getOrDeclareParameter<double>(node, "output_path_interval");
   const double behavior_vel_interval =
-    tier4_autoware_utils::getOrDeclareParameter<double>(node, "behavior_output_path_interval");
+    autoware_universe_utils::getOrDeclareParameter<double>(node, "behavior_output_path_interval");
 
   // extract path with lane id from lanelets
   const auto raw_path_with_lane_id = [&]() {
@@ -165,7 +165,7 @@ std::vector<TrajectoryPoint> OptimizationTrajectoryBasedCenterline::optimize_tra
 
     // connect the previously and currently optimized trajectory points
     for (size_t j = 0; j < whole_optimized_traj_points.size(); ++j) {
-      const double dist = tier4_autoware_utils::calcDistance2d(
+      const double dist = autoware_universe_utils::calcDistance2d(
         whole_optimized_traj_points.at(j), optimized_traj_points.front());
       if (dist < 0.5) {
         const std::vector<TrajectoryPoint> extracted_whole_optimized_traj_points{
diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
index f5771b9b0b4e8..b67e7cbc0a680 100644
--- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
+++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp
@@ -14,6 +14,8 @@
 
 #include "static_centerline_generator_node.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/ros/parameter.hpp"
 #include "autoware_static_centerline_generator/msg/points_with_lane_id.hpp"
 #include "centerline_source/bag_ego_trajectory_based_centerline.hpp"
 #include "lanelet2_extension/utility/message_conversion.hpp"
@@ -24,15 +26,13 @@
 #include "map_projection_loader/map_projection_loader.hpp"
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/ros/parameter.hpp"
 #include "type_alias.hpp"
 #include "utils.hpp"
 
 #include <autoware/mission_planner/mission_planner_plugin.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <geography_utils/lanelet2_projector.hpp>
 #include <pluginlib/class_loader.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include "std_msgs/msg/bool.hpp"
 #include "std_msgs/msg/float32.hpp"
@@ -88,10 +88,14 @@ LinearRing2d create_vehicle_footprint(
   const double y_right = -(i.wheel_tread_m / 2.0 + i.right_overhang_m + margin);
 
   std::vector<geometry_msgs::msg::Point> geom_points;
-  geom_points.push_back(tier4_autoware_utils::calcOffsetPose(pose, x_front, y_left, 0.0).position);
-  geom_points.push_back(tier4_autoware_utils::calcOffsetPose(pose, x_front, y_right, 0.0).position);
-  geom_points.push_back(tier4_autoware_utils::calcOffsetPose(pose, x_rear, y_right, 0.0).position);
-  geom_points.push_back(tier4_autoware_utils::calcOffsetPose(pose, x_rear, y_left, 0.0).position);
+  geom_points.push_back(
+    autoware_universe_utils::calcOffsetPose(pose, x_front, y_left, 0.0).position);
+  geom_points.push_back(
+    autoware_universe_utils::calcOffsetPose(pose, x_front, y_right, 0.0).position);
+  geom_points.push_back(
+    autoware_universe_utils::calcOffsetPose(pose, x_rear, y_right, 0.0).position);
+  geom_points.push_back(
+    autoware_universe_utils::calcOffsetPose(pose, x_rear, y_left, 0.0).position);
 
   LinearRing2d footprint;
   for (const auto & geom_point : geom_points) {
@@ -113,7 +117,7 @@ geometry_msgs::msg::Pose get_text_pose(
   const double x_front = i.front_overhang_m + i.wheel_base_m;
   const double y_left = i.wheel_tread_m / 2.0 + i.left_overhang_m + 1.0;
 
-  return tier4_autoware_utils::calcOffsetPose(pose, x_front, y_left, 0.0);
+  return autoware_universe_utils::calcOffsetPose(pose, x_front, y_left, 0.0);
 }
 
 std::array<double, 3> convert_hex_string_to_decimal(const std::string & hex_str_color)
@@ -198,7 +202,7 @@ StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode(
   sub_save_map_ = create_subscription<std_msgs::msg::Bool>(
     "/centerline_updater_helper/save_map", rclcpp::QoS{1}, [this](const std_msgs::msg::Bool & msg) {
       const auto lanelet2_output_file_path =
-        tier4_autoware_utils::getOrDeclareParameter<std::string>(
+        autoware_universe_utils::getOrDeclareParameter<std::string>(
           *this, "lanelet2_output_file_path");
       if (!centerline_with_route_ || msg.data) {
         const auto & c = *centerline_with_route_;
@@ -572,10 +576,10 @@ void StaticCenterlineGeneratorNode::evaluate(
   const std::vector<TrajectoryPoint> & optimized_traj_points)
 {
   const auto route_lanelets = utils::get_lanelets_from_ids(*route_handler_ptr_, route_lane_ids);
-  const auto dist_thresh_vec = tier4_autoware_utils::getOrDeclareParameter<std::vector<double>>(
+  const auto dist_thresh_vec = autoware_universe_utils::getOrDeclareParameter<std::vector<double>>(
     *this, "marker_color_dist_thresh");
   const auto marker_color_vec =
-    tier4_autoware_utils::getOrDeclareParameter<std::vector<std::string>>(*this, "marker_color");
+    autoware_universe_utils::getOrDeclareParameter<std::vector<std::string>>(*this, "marker_color");
   const auto get_marker_color = [&](const double dist) -> boost::optional<std::array<double, 3>> {
     for (size_t i = 0; i < dist_thresh_vec.size(); ++i) {
       const double dist_thresh = dist_thresh_vec.at(i);
@@ -622,13 +626,13 @@ void StaticCenterlineGeneratorNode::evaluate(
       // add footprint marker
       const auto footprint_marker =
         utils::create_footprint_marker(footprint_poly, marker_color, now(), i);
-      tier4_autoware_utils::appendMarkerArray(footprint_marker, &marker_array);
+      autoware_universe_utils::appendMarkerArray(footprint_marker, &marker_array);
 
       // add text of distance to bounds marker
       const auto text_pose = get_text_pose(traj_point.pose, vehicle_info_);
       const auto text_marker =
         utils::create_distance_text_marker(text_pose, min_dist_to_bound, marker_color, now(), i);
-      tier4_autoware_utils::appendMarkerArray(text_marker, &marker_array);
+      autoware_universe_utils::appendMarkerArray(text_marker, &marker_array);
     }
   }
 
diff --git a/planning/autoware_static_centerline_generator/src/type_alias.hpp b/planning/autoware_static_centerline_generator/src/type_alias.hpp
index 4a1b39387b4fc..88b4d3ffa14b4 100644
--- a/planning/autoware_static_centerline_generator/src/type_alias.hpp
+++ b/planning/autoware_static_centerline_generator/src/type_alias.hpp
@@ -15,7 +15,7 @@
 #define TYPE_ALIAS_HPP_
 
 #include "autoware/route_handler/route_handler.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include "autoware_map_msgs/msg/lanelet_map_bin.hpp"
 #include "autoware_perception_msgs/msg/predicted_objects.hpp"
@@ -36,9 +36,9 @@ using autoware_planning_msgs::msg::Path;
 using autoware_planning_msgs::msg::PathPoint;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_autoware_utils::LinearRing2d;
-using tier4_autoware_utils::LineString2d;
-using tier4_autoware_utils::Point2d;
+using autoware_universe_utils::LinearRing2d;
+using autoware_universe_utils::LineString2d;
+using autoware_universe_utils::Point2d;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using visualization_msgs::msg::MarkerArray;
 }  // namespace autoware::static_centerline_generator
diff --git a/planning/autoware_static_centerline_generator/src/utils.cpp b/planning/autoware_static_centerline_generator/src/utils.cpp
index 7539cf69fae80..10b2589f3bf7b 100644
--- a/planning/autoware_static_centerline_generator/src/utils.cpp
+++ b/planning/autoware_static_centerline_generator/src/utils.cpp
@@ -16,8 +16,8 @@
 
 #include "autoware/behavior_path_planner_common/data_manager.hpp"
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/ros/marker_helper.hpp"
 
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_core/geometry/Lanelet.h>
@@ -94,8 +94,8 @@ geometry_msgs::msg::Pose get_center_pose(
   // calculate middle pose
   geometry_msgs::msg::Pose middle_pose;
   middle_pose.position = middle_pos;
-  const double yaw = tier4_autoware_utils::calcAzimuthAngle(middle_pos, next_middle_pos);
-  middle_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw);
+  const double yaw = autoware_universe_utils::calcAzimuthAngle(middle_pos, next_middle_pos);
+  middle_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(yaw);
 
   return middle_pose;
 }
@@ -189,11 +189,11 @@ MarkerArray create_footprint_marker(
   const double g = marker_color.at(1);
   const double b = marker_color.at(2);
 
-  auto marker = tier4_autoware_utils::createDefaultMarker(
+  auto marker = autoware_universe_utils::createDefaultMarker(
     "map", rclcpp::Clock().now(), "unsafe_footprints", idx,
     visualization_msgs::msg::Marker::LINE_STRIP,
-    tier4_autoware_utils::createMarkerScale(0.1, 0.0, 0.0),
-    tier4_autoware_utils::createMarkerColor(r, g, b, 0.999));
+    autoware_universe_utils::createMarkerScale(0.1, 0.0, 0.0),
+    autoware_universe_utils::createMarkerColor(r, g, b, 0.999));
   marker.header.stamp = now;
   marker.lifetime = rclcpp::Duration(0, 0);
 
@@ -221,11 +221,11 @@ MarkerArray create_distance_text_marker(
   const double g = marker_color.at(1);
   const double b = marker_color.at(2);
 
-  auto marker = tier4_autoware_utils::createDefaultMarker(
+  auto marker = autoware_universe_utils::createDefaultMarker(
     "map", rclcpp::Clock().now(), "unsafe_footprints_distance", idx,
     visualization_msgs::msg::Marker::TEXT_VIEW_FACING,
-    tier4_autoware_utils::createMarkerScale(0.5, 0.5, 0.5),
-    tier4_autoware_utils::createMarkerColor(r, g, b, 0.999));
+    autoware_universe_utils::createMarkerScale(0.5, 0.5, 0.5),
+    autoware_universe_utils::createMarkerColor(r, g, b, 0.999));
   marker.pose = pose;
   marker.header.stamp = now;
   marker.lifetime = rclcpp::Duration(0, 0);
diff --git a/planning/autoware_surround_obstacle_checker/package.xml b/planning/autoware_surround_obstacle_checker/package.xml
index 530f850a3c34a..1984615333775 100644
--- a/planning/autoware_surround_obstacle_checker/package.xml
+++ b/planning/autoware_surround_obstacle_checker/package.xml
@@ -17,6 +17,7 @@
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
@@ -31,7 +32,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp
index 718e72845ade3..0559d39c7073c 100644
--- a/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp
+++ b/planning/autoware_surround_obstacle_checker/src/debug_marker.cpp
@@ -14,9 +14,9 @@
 
 #include "debug_marker.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/marker_helper.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #else
@@ -52,12 +52,12 @@ Polygon2d createSelfPolygon(
 }
 }  // namespace
 
-using tier4_autoware_utils::appendMarkerArray;
-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;
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
+using autoware_universe_utils::createPoint;
 
 SurroundObstacleCheckerDebugNode::SurroundObstacleCheckerDebugNode(
   const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double base_link2front,
diff --git a/planning/autoware_surround_obstacle_checker/src/node.cpp b/planning/autoware_surround_obstacle_checker/src/node.cpp
index 5375b1f736fd3..8a02c6d686736 100644
--- a/planning/autoware_surround_obstacle_checker/src/node.cpp
+++ b/planning/autoware_surround_obstacle_checker/src/node.cpp
@@ -14,9 +14,9 @@
 
 #include "node.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/update_param.hpp>
-#include <tier4_autoware_utils/transform/transforms.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/update_param.hpp>
+#include <autoware/universe_utils/transform/transforms.hpp>
 
 #include <boost/assert.hpp>
 #include <boost/assign/list_of.hpp>
@@ -52,8 +52,8 @@ namespace bg = boost::geometry;
 using Point2d = bg::model::d2::point_xy<double>;
 using Polygon2d = bg::model::polygon<Point2d>;
 using autoware_perception_msgs::msg::ObjectClassification;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::pose2transform;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::pose2transform;
 
 namespace
 {
@@ -193,7 +193,7 @@ SurroundObstacleCheckerNode::SurroundObstacleCheckerNode(const rclcpp::NodeOptio
     p.publish_debug_footprints = this->declare_parameter<bool>("publish_debug_footprints");
     p.debug_footprint_label = this->declare_parameter<std::string>("debug_footprint_label");
 
-    logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+    logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
   }
 
   vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo();
@@ -251,12 +251,12 @@ rcl_interfaces::msg::SetParametersResult SurroundObstacleCheckerNode::onParam(
   use_dynamic_object_ = false;
   for (const auto & label_pair : label_map_) {
     bool & check_current_label = node_param_.enable_check_map.at(label_pair.second);
-    tier4_autoware_utils::updateParam<bool>(
+    autoware_universe_utils::updateParam<bool>(
       parameters, label_pair.first + ".enable_check", check_current_label);
     use_dynamic_object_ = use_dynamic_object_ || check_current_label;
   }
 
-  tier4_autoware_utils::updateParam<std::string>(
+  autoware_universe_utils::updateParam<std::string>(
     parameters, "debug_footprint_label", node_param_.debug_footprint_label);
   const auto check_distances = getCheckDistances(node_param_.debug_footprint_label);
   debug_ptr_->updateFootprintMargin(
@@ -411,7 +411,7 @@ std::optional<Obstacle> SurroundObstacleCheckerNode::getNearestObstacleByPointCl
     tf2::transformToEigen(transform_stamped.value().transform).cast<float>();
   pcl::PointCloud<pcl::PointXYZ> transformed_pointcloud;
   pcl::fromROSMsg(*pointcloud_ptr_, transformed_pointcloud);
-  tier4_autoware_utils::transformPointCloud(
+  autoware_universe_utils::transformPointCloud(
     transformed_pointcloud, transformed_pointcloud, isometry);
 
   const double front_margin = node_param_.pointcloud_surround_check_front_distance;
diff --git a/planning/autoware_surround_obstacle_checker/src/node.hpp b/planning/autoware_surround_obstacle_checker/src/node.hpp
index b28d0fa6fff70..798470fe4568a 100644
--- a/planning/autoware_surround_obstacle_checker/src/node.hpp
+++ b/planning/autoware_surround_obstacle_checker/src/node.hpp
@@ -15,9 +15,9 @@
 #ifndef NODE_HPP_
 #define NODE_HPP_
 
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
 #include "debug_marker.hpp"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <motion_utils/vehicle/vehicle_state_checker.hpp>
@@ -111,11 +111,11 @@ class SurroundObstacleCheckerNode : public rclcpp::Node
   rclcpp::TimerBase::SharedPtr timer_;
 
   // publisher and subscriber
-  tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odometry_{
+  autoware_universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odometry_{
     this, "~/input/odometry"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<sensor_msgs::msg::PointCloud2>
-    sub_pointcloud_{this, "~/input/pointcloud", tier4_autoware_utils::SingleDepthSensorQoS()};
-  tier4_autoware_utils::InterProcessPollingSubscriber<PredictedObjects> sub_dynamic_objects_{
+  autoware_universe_utils::InterProcessPollingSubscriber<sensor_msgs::msg::PointCloud2>
+    sub_pointcloud_{this, "~/input/pointcloud", autoware_universe_utils::SingleDepthSensorQoS()};
+  autoware_universe_utils::InterProcessPollingSubscriber<PredictedObjects> sub_dynamic_objects_{
     this, "~/input/objects"};
   rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticStatus>::SharedPtr pub_stop_reason_;
   rclcpp::Publisher<VelocityLimitClearCommand>::SharedPtr pub_clear_velocity_limit_;
@@ -143,7 +143,7 @@ class SurroundObstacleCheckerNode : public rclcpp::Node
   State state_ = State::PASS;
   std::shared_ptr<const rclcpp::Time> last_obstacle_found_time_;
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
   bool use_dynamic_object_;
 
diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp
index 106279c186db5..6f6ed564d5eab 100644
--- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp
+++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp
@@ -15,6 +15,12 @@
 #ifndef AUTOWARE__VELOCITY_SMOOTHER__NODE_HPP_
 #define AUTOWARE__VELOCITY_SMOOTHER__NODE_HPP_
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
+#include "autoware/universe_utils/ros/self_pose_listener.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 #include "autoware/velocity_smoother/resample.hpp"
 #include "autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp"
 #include "autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp"
@@ -28,14 +34,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
 #include "tf2_ros/transform_listener.h"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
-#include "tier4_autoware_utils/ros/self_pose_listener.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
 
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 
 #include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
@@ -88,13 +88,13 @@ class VelocitySmootherNode : public rclcpp::Node
   rclcpp::Publisher<MarkerArray>::SharedPtr pub_virtual_wall_;
   rclcpp::Publisher<StopSpeedExceeded>::SharedPtr pub_over_stop_velocity_;
   rclcpp::Subscription<Trajectory>::SharedPtr sub_current_trajectory_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> sub_current_odometry_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Odometry> sub_current_odometry_{
     this, "/localization/kinematic_state"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped>
+  autoware_universe_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped>
     sub_current_acceleration_{this, "~/input/acceleration"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<VelocityLimit> sub_external_velocity_limit_{
-    this, "~/input/external_velocity_limit_mps"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<OperationModeState> sub_operation_mode_{
+  autoware_universe_utils::InterProcessPollingSubscriber<VelocityLimit>
+    sub_external_velocity_limit_{this, "~/input/external_velocity_limit_mps"};
+  autoware_universe_utils::InterProcessPollingSubscriber<OperationModeState> sub_operation_mode_{
     this, "~/input/operation_mode_state"};
 
   Odometry::ConstSharedPtr current_odometry_ptr_;  // current odometry
@@ -245,7 +245,7 @@ class VelocitySmootherNode : public rclcpp::Node
   void initCommonParam();
 
   // debug
-  tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch_;
+  autoware_universe_utils::StopWatch<std::chrono::milliseconds> stop_watch_;
   std::shared_ptr<rclcpp::Time> prev_time_;
   double prev_acc_;
   rclcpp::Publisher<Float32Stamped>::SharedPtr pub_dist_to_stopline_;
@@ -273,8 +273,8 @@ class VelocitySmootherNode : public rclcpp::Node
   void flipVelocity(TrajectoryPoints & points) const;
   void publishStopWatchTime();
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace autoware::velocity_smoother
 
diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp
index 7dadd537b70aa..e8b866af673d0 100644
--- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp
+++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp
@@ -15,10 +15,10 @@
 #ifndef AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__JERK_FILTERED_SMOOTHER_HPP_
 #define AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__JERK_FILTERED_SMOOTHER_HPP_
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/velocity_smoother/smoother/smoother_base.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "osqp_interface/osqp_interface.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
 
diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp
index 11604da0dfa6c..1dd79054b975b 100644
--- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp
+++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp
@@ -15,10 +15,10 @@
 #ifndef AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__L2_PSEUDO_JERK_SMOOTHER_HPP_
 #define AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__L2_PSEUDO_JERK_SMOOTHER_HPP_
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/velocity_smoother/smoother/smoother_base.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "osqp_interface/osqp_interface.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
 
diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp
index 02fbba87b1a94..4651b95c54488 100644
--- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp
+++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp
@@ -15,10 +15,10 @@
 #ifndef AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__LINF_PSEUDO_JERK_SMOOTHER_HPP_
 #define AUTOWARE__VELOCITY_SMOOTHER__SMOOTHER__LINF_PSEUDO_JERK_SMOOTHER_HPP_
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware/velocity_smoother/smoother/smoother_base.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "osqp_interface/osqp_interface.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
 
diff --git a/planning/autoware_velocity_smoother/package.xml b/planning/autoware_velocity_smoother/package.xml
index 2bfc32ec90a5f..1a8d93fb29743 100644
--- a/planning/autoware_velocity_smoother/package.xml
+++ b/planning/autoware_velocity_smoother/package.xml
@@ -22,6 +22,7 @@
 
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
@@ -31,7 +32,6 @@
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>
 
diff --git a/planning/autoware_velocity_smoother/src/node.cpp b/planning/autoware_velocity_smoother/src/node.cpp
index 00df3ef6f3a54..c80ea2a67ba7e 100644
--- a/planning/autoware_velocity_smoother/src/node.cpp
+++ b/planning/autoware_velocity_smoother/src/node.cpp
@@ -14,11 +14,11 @@
 
 #include "autoware/velocity_smoother/node.hpp"
 
+#include "autoware/universe_utils/ros/update_param.hpp"
 #include "autoware/velocity_smoother/smoother/jerk_filtered_smoother.hpp"
 #include "autoware/velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp"
 #include "autoware/velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp"
 #include "motion_utils/marker/marker_helper.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
 
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 
@@ -90,8 +90,9 @@ VelocitySmootherNode::VelocitySmootherNode(const rclcpp::NodeOptions & node_opti
 
   clock_ = get_clock();
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void VelocitySmootherNode::setupSmoother(const double wheelbase)
@@ -908,7 +909,7 @@ void VelocitySmootherNode::applyStopApproachingVelocity(TrajectoryPoints & traj)
   }
   double distance_sum = 0.0;
   for (size_t i = *stop_idx - 1; i < traj.size(); --i) {  // search backward
-    distance_sum += tier4_autoware_utils::calcDistance2d(traj.at(i), traj.at(i + 1));
+    distance_sum += autoware_universe_utils::calcDistance2d(traj.at(i), traj.at(i + 1));
     if (distance_sum > node_param_.stopping_distance) {
       break;
     }
@@ -1019,7 +1020,7 @@ double VelocitySmootherNode::calcTravelDistance() const
 
   if (prev_closest_point_) {
     const double travel_dist =
-      tier4_autoware_utils::calcDistance2d(*prev_closest_point_, closest_point);
+      autoware_universe_utils::calcDistance2d(*prev_closest_point_, closest_point);
     return travel_dist;
   }
 
diff --git a/planning/autoware_velocity_smoother/src/resample.cpp b/planning/autoware_velocity_smoother/src/resample.cpp
index 229f93980af70..00934f6648d7c 100644
--- a/planning/autoware_velocity_smoother/src/resample.cpp
+++ b/planning/autoware_velocity_smoother/src/resample.cpp
@@ -134,7 +134,7 @@ TrajectoryPoints resampleTrajectory(
   // add end point directly to consider the endpoint velocity.
   if (is_endpoint_included) {
     constexpr double ep_dist = 1.0E-3;
-    if (tier4_autoware_utils::calcDistance2d(output.back(), input.back()) < ep_dist) {
+    if (autoware_universe_utils::calcDistance2d(output.back(), input.back()) < ep_dist) {
       output.back() = input.back();
     } else {
       output.push_back(input.back());
@@ -253,7 +253,7 @@ TrajectoryPoints resampleTrajectory(
   // add end point directly to consider the endpoint velocity.
   if (is_endpoint_included) {
     constexpr double ep_dist = 1.0E-3;
-    if (tier4_autoware_utils::calcDistance2d(output.back(), input.back()) < ep_dist) {
+    if (autoware_universe_utils::calcDistance2d(output.back(), input.back()) < ep_dist) {
       output.back() = input.back();
     } else {
       output.push_back(input.back());
diff --git a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp
index 9d300487900a6..1124fedbdd285 100644
--- a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp
+++ b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.cpp
@@ -252,7 +252,7 @@ TrajectoryPoints AnalyticalJerkConstrainedSmoother::resampleTrajectory(
     const auto tp1 = input.at(i + 1);
 
     const double dist_thr = 0.001;  // 1mm
-    const double dist_tp0_tp1 = tier4_autoware_utils::calcDistance2d(tp0, tp1);
+    const double dist_tp0_tp1 = autoware_universe_utils::calcDistance2d(tp0, tp1);
     if (std::fabs(dist_tp0_tp1) < dist_thr) {
       output.push_back(input.at(i));
       continue;
@@ -355,7 +355,7 @@ TrajectoryPoints AnalyticalJerkConstrainedSmoother::applyLateralAccelerationFilt
     }
 
     if (
-      tier4_autoware_utils::calcDistance2d(output.at(end_index), output.at(index)) <
+      autoware_universe_utils::calcDistance2d(output.at(end_index), output.at(index)) <
       dist_threshold) {
       end_index = index;
       min_latacc_velocity = std::min(
@@ -441,7 +441,7 @@ bool AnalyticalJerkConstrainedSmoother::applyForwardJerkFilter(
   for (size_t i = start_index + 1; i < base_trajectory.size(); ++i) {
     const double prev_vel = output_trajectory.at(i - 1).longitudinal_velocity_mps;
     const double ds =
-      tier4_autoware_utils::calcDistance2d(base_trajectory.at(i - 1), base_trajectory.at(i));
+      autoware_universe_utils::calcDistance2d(base_trajectory.at(i - 1), base_trajectory.at(i));
     const double dt = ds / std::max(prev_vel, 1.0);
 
     const double prev_acc = output_trajectory.at(i - 1).acceleration_mps2;
@@ -487,8 +487,8 @@ bool AnalyticalJerkConstrainedSmoother::applyBackwardDecelFilter(
       }
     }
     for (size_t i = decel_target_index; i > start_index; --i) {
-      dist +=
-        tier4_autoware_utils::calcDistance2d(output_trajectory.at(i - 1), output_trajectory.at(i));
+      dist += autoware_universe_utils::calcDistance2d(
+        output_trajectory.at(i - 1), output_trajectory.at(i));
       dist_to_target.at(i - 1) = dist;
     }
 
diff --git a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp
index c8802bd69d52c..fd9c4f34b4dc7 100644
--- a/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp
+++ b/planning/autoware_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp
@@ -226,7 +226,7 @@ bool calcStopVelocityWithConstantJerkAccLimit(
   distances.push_back(distance);
   for (size_t i = start_index; i < output_trajectory.size() - 1; ++i) {
     distance +=
-      tier4_autoware_utils::calcDistance2d(output_trajectory.at(i), output_trajectory.at(i + 1));
+      autoware_universe_utils::calcDistance2d(output_trajectory.at(i), output_trajectory.at(i + 1));
     if (distance > xs.back()) {
       break;
     }
diff --git a/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp b/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp
index a826b47136bd3..3761d16d7936e 100644
--- a/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp
+++ b/planning/autoware_velocity_smoother/src/smoother/jerk_filtered_smoother.cpp
@@ -385,7 +385,7 @@ TrajectoryPoints JerkFilteredSmoother::forwardJerkFilter(
   output.front().longitudinal_velocity_mps = current_vel;
   output.front().acceleration_mps2 = current_acc;
   for (size_t i = 1; i < input.size(); ++i) {
-    const double ds = tier4_autoware_utils::calcDistance2d(input.at(i), input.at(i - 1));
+    const double ds = autoware_universe_utils::calcDistance2d(input.at(i), input.at(i - 1));
     const double max_dt = std::pow(6.0 * ds / j_max, 1.0 / 3.0);  // assuming v0 = a0 = 0.
     const double dt = std::min(ds / std::max(current_vel, 1.0e-6), max_dt);
 
@@ -440,7 +440,7 @@ TrajectoryPoints JerkFilteredSmoother::mergeFilteredTrajectory(
       merged.at(i).acceleration_mps2 = current_acc;
 
       const double ds =
-        tier4_autoware_utils::calcDistance2d(forward_filtered.at(i + 1), forward_filtered.at(i));
+        autoware_universe_utils::calcDistance2d(forward_filtered.at(i + 1), forward_filtered.at(i));
       const double max_dt =
         std::pow(6.0 * ds / std::fabs(j_min), 1.0 / 3.0);  // assuming v0 = a0 = 0.
       const double dt = std::min(ds / std::max(current_vel, 1.0e-6), max_dt);
diff --git a/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp b/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp
index f274444af88e2..d0e6ffa94df29 100644
--- a/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp
+++ b/planning/autoware_velocity_smoother/src/smoother/smoother_base.cpp
@@ -14,13 +14,13 @@
 
 #include "autoware/velocity_smoother/smoother/smoother_base.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "autoware/velocity_smoother/resample.hpp"
 #include "autoware/velocity_smoother/trajectory_utils.hpp"
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
 
 #include <algorithm>
 #include <cmath>
@@ -249,14 +249,15 @@ TrajectoryPoints SmootherBase::applySteeringRateLimit(
     }
 
     const auto steer_rate = steer_rate_arr.at(i);
-    if (steer_rate < tier4_autoware_utils::deg2rad(base_param_.max_steering_angle_rate)) {
+    if (steer_rate < autoware_universe_utils::deg2rad(base_param_.max_steering_angle_rate)) {
       continue;
     }
 
     const auto mean_vel =
       (output.at(i).longitudinal_velocity_mps + output.at(i + 1).longitudinal_velocity_mps) / 2.0;
     const auto target_mean_vel =
-      mean_vel * (tier4_autoware_utils::deg2rad(base_param_.max_steering_angle_rate) / steer_rate);
+      mean_vel *
+      (autoware_universe_utils::deg2rad(base_param_.max_steering_angle_rate) / steer_rate);
 
     for (size_t k = 0; k < 2; k++) {
       auto & velocity = output.at(i + k).longitudinal_velocity_mps;
diff --git a/planning/autoware_velocity_smoother/src/trajectory_utils.cpp b/planning/autoware_velocity_smoother/src/trajectory_utils.cpp
index 305e651117515..35ba7d3972fd7 100644
--- a/planning/autoware_velocity_smoother/src/trajectory_utils.cpp
+++ b/planning/autoware_velocity_smoother/src/trajectory_utils.cpp
@@ -14,9 +14,9 @@
 
 #include "autoware/velocity_smoother/trajectory_utils.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "interpolation/linear_interpolation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <algorithm>
 #include <limits>
@@ -34,7 +34,7 @@ inline void convertEulerAngleToMonotonic(std::vector<double> & a)
 {
   for (unsigned int i = 1; i < a.size(); ++i) {
     const double da = a[i] - a[i - 1];
-    a[i] = a[i - 1] + tier4_autoware_utils::normalizeRadian(da);
+    a[i] = a[i - 1] + autoware_universe_utils::normalizeRadian(da);
   }
 }
 
@@ -87,7 +87,7 @@ TrajectoryPoint calcInterpolatedTrajectoryPoint(
   {
     const auto & seg_pt = trajectory.at(seg_idx);
     const auto & next_pt = trajectory.at(seg_idx + 1);
-    traj_p.pose = tier4_autoware_utils::calcInterpolatedPose(seg_pt.pose, next_pt.pose, prop);
+    traj_p.pose = autoware_universe_utils::calcInterpolatedPose(seg_pt.pose, next_pt.pose, prop);
     traj_p.longitudinal_velocity_mps = interpolation::lerp(
       seg_pt.longitudinal_velocity_mps, next_pt.longitudinal_velocity_mps, prop);
     traj_p.acceleration_mps2 =
@@ -110,7 +110,7 @@ TrajectoryPoints extractPathAroundIndex(
   {
     double dist_sum = 0.0;
     for (size_t i = index; i < trajectory.size() - 1; ++i) {
-      dist_sum += tier4_autoware_utils::calcDistance2d(trajectory.at(i), trajectory.at(i + 1));
+      dist_sum += autoware_universe_utils::calcDistance2d(trajectory.at(i), trajectory.at(i + 1));
       if (dist_sum > ahead_length) {
         ahead_index = i + 1;
         break;
@@ -123,7 +123,7 @@ TrajectoryPoints extractPathAroundIndex(
   {
     double dist_sum{0.0};
     for (size_t i = index; i != 0; --i) {
-      dist_sum += tier4_autoware_utils::calcDistance2d(trajectory.at(i), trajectory[i - 1]);
+      dist_sum += autoware_universe_utils::calcDistance2d(trajectory.at(i), trajectory[i - 1]);
       if (dist_sum > behind_length) {
         behind_index = i - 1;
         break;
@@ -152,7 +152,7 @@ std::vector<double> calcArclengthArray(const TrajectoryPoints & trajectory)
   for (unsigned int i = 1; i < trajectory.size(); ++i) {
     const TrajectoryPoint tp = trajectory.at(i);
     const TrajectoryPoint tp_prev = trajectory.at(i - 1);
-    dist += tier4_autoware_utils::calcDistance2d(tp.pose, tp_prev.pose);
+    dist += autoware_universe_utils::calcDistance2d(tp.pose, tp_prev.pose);
     arclength.at(i) = dist;
   }
   return arclength;
@@ -164,7 +164,7 @@ std::vector<double> calcTrajectoryIntervalDistance(const TrajectoryPoints & traj
   for (unsigned int i = 1; i < trajectory.size(); ++i) {
     const TrajectoryPoint tp = trajectory.at(i);
     const TrajectoryPoint tp_prev = trajectory.at(i - 1);
-    const double dist = tier4_autoware_utils::calcDistance2d(tp.pose, tp_prev.pose);
+    const double dist = autoware_universe_utils::calcDistance2d(tp.pose, tp_prev.pose);
     intervals.push_back(dist);
   }
   return intervals;
@@ -173,8 +173,8 @@ std::vector<double> calcTrajectoryIntervalDistance(const TrajectoryPoints & traj
 std::vector<double> calcTrajectoryCurvatureFrom3Points(
   const TrajectoryPoints & trajectory, size_t idx_dist)
 {
-  using tier4_autoware_utils::calcCurvature;
-  using tier4_autoware_utils::getPoint;
+  using autoware_universe_utils::calcCurvature;
+  using autoware_universe_utils::getPoint;
 
   if (trajectory.size() < 3) {
     const std::vector<double> k_arr(trajectory.size(), 0.0);
@@ -604,7 +604,7 @@ double calcStopDistance(const TrajectoryPoints & trajectory, const size_t closes
 
   // TODO(Horibe): use arc length distance
   const double stop_dist =
-    tier4_autoware_utils::calcDistance2d(trajectory.at(*idx), trajectory.at(closest));
+    autoware_universe_utils::calcDistance2d(trajectory.at(*idx), trajectory.at(closest));
 
   return stop_dist;
 }
diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
index 8bb9e96c881c1..a4561b1c960d2 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/package.xml
@@ -23,11 +23,11 @@
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_behavior_path_static_obstacle_avoidance_module</depend>
   <depend>autoware_rtc_interface</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>lanelet2_extension</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp
index a31316b4861c5..267963dc32681 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp
@@ -15,9 +15,9 @@
 #include "manager.hpp"
 
 #include "autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp"
+#include "autoware/universe_utils/ros/parameter.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 #include "data_structs.hpp"
-#include "tier4_autoware_utils/ros/parameter.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -33,7 +33,7 @@ using autoware::behavior_path_planner::ObjectParameter;
 void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node)
 {
   using autoware_perception_msgs::msg::ObjectClassification;
-  using tier4_autoware_utils::getOrDeclareParameter;
+  using autoware_universe_utils::getOrDeclareParameter;
 
   // init manager interface
   initInterface(node, {"left", "right"});
diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp
index 25c6f46bd4c72..769154ec9e105 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/scene.cpp
@@ -195,10 +195,10 @@ void AvoidanceByLaneChange::fillAvoidanceTargetObjects(
 std::optional<ObjectData> AvoidanceByLaneChange::createObjectData(
   const AvoidancePlanningData & data, const PredictedObject & object) const
 {
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::calcLateralDeviation;
   using boost::geometry::return_centroid;
   using motion_utils::findNearestIndex;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::calcLateralDeviation;
 
   const auto p = std::dynamic_pointer_cast<AvoidanceParameters>(avoidance_parameters_);
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp
index a42d273c512ba..53ecf19b8215f 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp
@@ -16,10 +16,10 @@
 #define AUTOWARE__BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__SCENE_HPP_
 
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
 #include <autoware_perception_msgs/msg/predicted_path.hpp>
@@ -58,7 +58,7 @@ std::vector<T> getAllKeys(const std::unordered_map<T, S> & map)
 namespace autoware::behavior_path_planner
 {
 using autoware_perception_msgs::msg::PredictedPath;
-using tier4_autoware_utils::Polygon2d;
+using autoware_universe_utils::Polygon2d;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 struct MinMaxValue
@@ -176,7 +176,7 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface
       const PredictedObject & predicted_object, const double arg_vel, const double arg_lat_vel,
       const bool arg_is_object_on_ego_path,
       const std::optional<rclcpp::Time> & arg_latest_time_inside_ego_path)
-    : uuid(tier4_autoware_utils::toHexString(predicted_object.object_id)),
+    : uuid(autoware_universe_utils::toHexString(predicted_object.object_id)),
       label(predicted_object.classification.front().label),
       pose(predicted_object.kinematics.initial_pose_with_covariance.pose),
       shape(predicted_object.shape),
@@ -374,8 +374,8 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface
   };
   struct EgoPathReservePoly
   {
-    const tier4_autoware_utils::Polygon2d left_avoid;
-    const tier4_autoware_utils::Polygon2d right_avoid;
+    const autoware_universe_utils::Polygon2d left_avoid;
+    const autoware_universe_utils::Polygon2d right_avoid;
   };
 
   bool canTransitSuccessState() override;
@@ -431,11 +431,11 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface
     const DynamicAvoidanceObject & object) const;
   std::pair<lanelet::ConstLanelets, lanelet::ConstLanelets> getAdjacentLanes(
     const double forward_distance, const double backward_distance) const;
-  std::optional<tier4_autoware_utils::Polygon2d> calcEgoPathBasedDynamicObstaclePolygon(
+  std::optional<autoware_universe_utils::Polygon2d> calcEgoPathBasedDynamicObstaclePolygon(
     const DynamicAvoidanceObject & object) const;
-  std::optional<tier4_autoware_utils::Polygon2d> calcObjectPathBasedDynamicObstaclePolygon(
+  std::optional<autoware_universe_utils::Polygon2d> calcObjectPathBasedDynamicObstaclePolygon(
     const DynamicAvoidanceObject & object) const;
-  std::optional<tier4_autoware_utils::Polygon2d> calcPredictedPathBasedDynamicObstaclePolygon(
+  std::optional<autoware_universe_utils::Polygon2d> calcPredictedPathBasedDynamicObstaclePolygon(
     const DynamicAvoidanceObject & object, const EgoPathReservePoly & ego_path_poly) const;
   EgoPathReservePoly calcEgoPathReservePoly(const PathWithLaneId & ego_path) const;
 
@@ -455,7 +455,7 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface
 
   TargetObjectsManager target_objects_manager_;
 
-  mutable tier4_autoware_utils::StopWatch<
+  mutable autoware_universe_utils::StopWatch<
     std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock>
     stop_watch_;
 };
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
index a22e34f20a922..9ec4b0c716506 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml
@@ -20,6 +20,7 @@
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_core</depend>
@@ -29,7 +30,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>signal_processing</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/manager.cpp
index c67a90bdc2d8b..9b0db95bb0df5 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/manager.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/manager.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp"
 
-#include "tier4_autoware_utils/ros/update_param.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -152,7 +152,7 @@ void DynamicObstacleAvoidanceModuleManager::init(rclcpp::Node * node)
 void DynamicObstacleAvoidanceModuleManager::updateModuleParams(
   [[maybe_unused]] const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
   auto & p = parameters_;
 
   {  // common
diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp
index d230f58b45e06..2643166350a19 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp
@@ -16,9 +16,9 @@
 
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
 #include "signal_processing/lowpass_filter_1d.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 
@@ -41,7 +41,7 @@ namespace autoware::behavior_path_planner
 {
 namespace
 {
-geometry_msgs::msg::Point toGeometryPoint(const tier4_autoware_utils::Point2d & point)
+geometry_msgs::msg::Point toGeometryPoint(const autoware_universe_utils::Point2d & point)
 {
   geometry_msgs::msg::Point geom_obj_point;
   geom_obj_point.x = point.x();
@@ -65,24 +65,25 @@ MinMaxValue combineMinMaxValues(const MinMaxValue & r1, const MinMaxValue & r2)
 
 void appendObjectMarker(MarkerArray & marker_array, const geometry_msgs::msg::Pose & obj_pose)
 {
-  auto marker = tier4_autoware_utils::createDefaultMarker(
+  auto marker = autoware_universe_utils::createDefaultMarker(
     "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "dynamic_objects_to_avoid",
     marker_array.markers.size(), visualization_msgs::msg::Marker::CUBE,
-    tier4_autoware_utils::createMarkerScale(3.0, 1.0, 1.0),
-    tier4_autoware_utils::createMarkerColor(1.0, 0.5, 0.6, 0.8));
+    autoware_universe_utils::createMarkerScale(3.0, 1.0, 1.0),
+    autoware_universe_utils::createMarkerColor(1.0, 0.5, 0.6, 0.8));
   marker.pose = obj_pose;
 
   marker_array.markers.push_back(marker);
 }
 
 void appendExtractedPolygonMarker(
-  MarkerArray & marker_array, const tier4_autoware_utils::Polygon2d & obj_poly, const double obj_z)
+  MarkerArray & marker_array, const autoware_universe_utils::Polygon2d & obj_poly,
+  const double obj_z)
 {
-  auto marker = tier4_autoware_utils::createDefaultMarker(
+  auto marker = autoware_universe_utils::createDefaultMarker(
     "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "extracted_polygons", marker_array.markers.size(),
     visualization_msgs::msg::Marker::LINE_STRIP,
-    tier4_autoware_utils::createMarkerScale(0.1, 0.0, 0.0),
-    tier4_autoware_utils::createMarkerColor(1.0, 0.5, 0.6, 0.8));
+    autoware_universe_utils::createMarkerScale(0.1, 0.0, 0.0),
+    autoware_universe_utils::createMarkerColor(1.0, 0.5, 0.6, 0.8));
 
   // NOTE: obj_poly.outer() has already duplicated points to close the polygon.
   for (size_t i = 0; i < obj_poly.outer().size(); ++i) {
@@ -176,7 +177,7 @@ double calcDiffAngleAgainstPath(
 
   const double target_yaw = tf2::getYaw(target_pose.orientation);
 
-  const double diff_yaw = tier4_autoware_utils::normalizeRadian(target_yaw - traj_yaw);
+  const double diff_yaw = autoware_universe_utils::normalizeRadian(target_yaw - traj_yaw);
   return diff_yaw;
 }
 
@@ -191,7 +192,7 @@ double calcDiffAngleAgainstPath(
   double signed_max_angle{0.0};
   for (size_t i = 0; i < std::min(max_predicted_path_size, predicted_path.path.size()); ++i) {
     const double obj_yaw = tf2::getYaw(predicted_path.path.at(i).orientation);
-    const double diff_yaw = tier4_autoware_utils::normalizeRadian(obj_yaw - ego_yaw);
+    const double diff_yaw = autoware_universe_utils::normalizeRadian(obj_yaw - ego_yaw);
     if (std::abs(signed_max_angle) < std::abs(diff_yaw)) {
       signed_max_angle = diff_yaw;
     }
@@ -206,14 +207,15 @@ double calcDistanceToPath(
   const size_t target_idx = motion_utils::findNearestIndex(path_points, target_pos);
   if (target_idx == 0 || target_idx == path_points.size() - 1) {
     const double target_yaw = tf2::getYaw(path_points.at(target_idx).point.pose.orientation);
-    const double angle_to_target_pos = tier4_autoware_utils::calcAzimuthAngle(
+    const double angle_to_target_pos = autoware_universe_utils::calcAzimuthAngle(
       path_points.at(target_idx).point.pose.position, target_pos);
-    const double diff_yaw = tier4_autoware_utils::normalizeRadian(angle_to_target_pos - target_yaw);
+    const double diff_yaw =
+      autoware_universe_utils::normalizeRadian(angle_to_target_pos - target_yaw);
 
     if (
       (target_idx == 0 && (diff_yaw < -M_PI_2 || M_PI_2 < diff_yaw)) ||
       (target_idx == path_points.size() - 1 && (-M_PI_2 < diff_yaw && diff_yaw < M_PI_2))) {
-      return tier4_autoware_utils::calcDistance2d(path_points.at(target_idx), target_pos);
+      return autoware_universe_utils::calcDistance2d(path_points.at(target_idx), target_pos);
     }
   }
 
@@ -226,9 +228,10 @@ bool isLeft(
 {
   const size_t target_idx = motion_utils::findNearestIndex(path_points, target_pos);
   const double target_yaw = tf2::getYaw(path_points.at(target_idx).point.pose.orientation);
-  const double angle_to_target_pos = tier4_autoware_utils::calcAzimuthAngle(
+  const double angle_to_target_pos = autoware_universe_utils::calcAzimuthAngle(
     path_points.at(target_idx).point.pose.position, target_pos);
-  const double diff_yaw = tier4_autoware_utils::normalizeRadian(angle_to_target_pos - target_yaw);
+  const double diff_yaw =
+    autoware_universe_utils::normalizeRadian(angle_to_target_pos - target_yaw);
 
   if (0 < diff_yaw) {
     return true;
@@ -279,7 +282,7 @@ std::optional<std::pair<size_t, geometry_msgs::msg::Point>> intersectLines(
        ++source_seg_idx) {
     for (int target_seg_idx = 0; target_seg_idx < static_cast<int>(target_line.size()) - 1;
          ++target_seg_idx) {
-      const auto intersect_point = tier4_autoware_utils::intersect(
+      const auto intersect_point = autoware_universe_utils::intersect(
         source_line.at(source_seg_idx).position, source_line.at(source_seg_idx + 1).position,
         target_line.at(target_seg_idx), target_line.at(target_seg_idx + 1));
       if (intersect_point) {
@@ -494,7 +497,7 @@ void DynamicObstacleAvoidanceModule::registerRegulatedObjects(
   const auto & predicted_objects = planner_data_->dynamic_object->objects;
 
   for (const auto & predicted_object : predicted_objects) {
-    const auto obj_uuid = tier4_autoware_utils::toHexString(predicted_object.object_id);
+    const auto obj_uuid = autoware_universe_utils::toHexString(predicted_object.object_id);
     const auto & obj_pose = predicted_object.kinematics.initial_pose_with_covariance.pose;
     const double obj_vel_norm = std::hypot(
       predicted_object.kinematics.initial_twist_with_covariance.twist.linear.x,
@@ -582,7 +585,7 @@ void DynamicObstacleAvoidanceModule::registerUnregulatedObjects(
   const auto & predicted_objects = planner_data_->dynamic_object->objects;
 
   for (const auto & predicted_object : predicted_objects) {
-    const auto obj_uuid = tier4_autoware_utils::toHexString(predicted_object.object_id);
+    const auto obj_uuid = autoware_universe_utils::toHexString(predicted_object.object_id);
     const auto & obj_pose = predicted_object.kinematics.initial_pose_with_covariance.pose;
     const double obj_vel_norm = std::hypot(
       predicted_object.kinematics.initial_twist_with_covariance.twist.linear.x,
@@ -784,7 +787,7 @@ void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObje
 
     // 2.h. calculate longitudinal and lateral offset to avoid to generate object polygon by
     // "ego_path_base"
-    const auto obj_points = tier4_autoware_utils::toPolygon2d(object.pose, object.shape);
+    const auto obj_points = autoware_universe_utils::toPolygon2d(object.pose, object.shape);
     const auto lon_offset_to_avoid = calcMinMaxLongitudinalOffsetToAvoid(
       ref_path_points_for_obj_poly, object.pose, obj_points, object.vel, obj_path, object.shape,
       time_while_collision);
@@ -887,19 +890,19 @@ LatFeasiblePaths DynamicObstacleAvoidanceModule::generateLateralFeasiblePaths(
     const double y = feasible_lat_offset;
 
     const auto feasible_left_bound_point =
-      tier4_autoware_utils::calcOffsetPose(ego_pose, x, -y, 0.0).position;
+      autoware_universe_utils::calcOffsetPose(ego_pose, x, -y, 0.0).position;
     ego_lat_feasible_paths.left_path.push_back(feasible_left_bound_point);
 
     const auto feasible_right_bound_point =
-      tier4_autoware_utils::calcOffsetPose(ego_pose, x, y, 0.0).position;
+      autoware_universe_utils::calcOffsetPose(ego_pose, x, y, 0.0).position;
     ego_lat_feasible_paths.right_path.push_back(feasible_right_bound_point);
   }
 
-  tier4_autoware_utils::appendMarkerArray(
+  autoware_universe_utils::appendMarkerArray(
     marker_utils::createPointsMarkerArray(
       ego_lat_feasible_paths.left_path, "ego_lat_feasible_left_path", 0, 0.6, 0.9, 0.9),
     &debug_marker_);
-  tier4_autoware_utils::appendMarkerArray(
+  autoware_universe_utils::appendMarkerArray(
     marker_utils::createPointsMarkerArray(
       ego_lat_feasible_paths.right_path, "ego_lat_feasible_right_path", 0, 0.6, 0.9, 0.9),
     &debug_marker_);
@@ -943,7 +946,7 @@ DynamicObstacleAvoidanceModule::calcCollisionSection(
   std::optional<size_t> collision_start_idx{std::nullopt};
   double lon_dist = 0.0;
   for (size_t i = ego_idx; i < ego_path.size() - 1; ++i) {
-    lon_dist += tier4_autoware_utils::calcDistance2d(ego_path.at(i), ego_path.at(i + 1));
+    lon_dist += autoware_universe_utils::calcDistance2d(ego_path.at(i), ego_path.at(i + 1));
     const double elapsed_time = lon_dist / ego_vel;
 
     const auto future_ego_pose = ego_path.at(i);
@@ -952,7 +955,7 @@ DynamicObstacleAvoidanceModule::calcCollisionSection(
 
     if (future_obj_pose) {
       const double dist_ego_to_obj =
-        tier4_autoware_utils::calcDistance2d(future_ego_pose, *future_obj_pose);
+        autoware_universe_utils::calcDistance2d(future_ego_pose, *future_obj_pose);
       if (dist_ego_to_obj < 1.0) {
         if (!collision_start_idx) {
           collision_start_idx = i;
@@ -1186,7 +1189,7 @@ DynamicObstacleAvoidanceModule::getLateralLongitudinalOffset(
   const autoware_perception_msgs::msg::Shape & obj_shape) const
 {
   const size_t obj_seg_idx = motion_utils::findNearestSegmentIndex(ego_path, obj_pose.position);
-  const auto obj_points = tier4_autoware_utils::toPolygon2d(obj_pose, obj_shape);
+  const auto obj_points = autoware_universe_utils::toPolygon2d(obj_pose, obj_shape);
 
   // TODO(murooka) calculation is not so accurate.
   std::vector<double> obj_lat_offset_vec;
@@ -1366,7 +1369,7 @@ double DynamicObstacleAvoidanceModule::calcValidLengthToAvoid(
     const auto prev_min_dist = calc_min_dist(prev_valid_obj_path_end_idx);
     const auto next_min_dist = calc_min_dist(next_valid_obj_path_end_idx);
     if (prev_min_dist && next_min_dist) {
-      const double segment_length = tier4_autoware_utils::calcDistance2d(
+      const double segment_length = autoware_universe_utils::calcDistance2d(
         obj_path.path.at(prev_valid_obj_path_end_idx),
         obj_path.path.at(next_valid_obj_path_end_idx));
       const double partial_segment_length = segment_length *
@@ -1503,7 +1506,7 @@ DynamicObstacleAvoidanceModule::calcMinMaxLateralOffsetToAvoidUnregulatedObject(
   }();
 
   const auto obj_occupancy_region = [&]() {
-    const auto obj_points = tier4_autoware_utils::toPolygon2d(object.pose, object.shape);
+    const auto obj_points = autoware_universe_utils::toPolygon2d(object.pose, object.shape);
     std::vector<double> lat_pos_vec;
     for (size_t i = 0; i < obj_points.outer().size(); ++i) {
       const auto geom_obj_point = toGeometryPoint(obj_points.outer().at(i));
@@ -1559,7 +1562,7 @@ DynamicObstacleAvoidanceModule::calcMinMaxLateralOffsetToAvoidUnregulatedObject(
 }
 
 // NOTE: object does not have const only to update min_bound_lat_offset.
-std::optional<tier4_autoware_utils::Polygon2d>
+std::optional<autoware_universe_utils::Polygon2d>
 DynamicObstacleAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon(
   const DynamicAvoidanceObject & object) const
 {
@@ -1571,7 +1574,7 @@ DynamicObstacleAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon(
 
   const size_t obj_seg_idx =
     motion_utils::findNearestSegmentIndex(ref_path_points_for_obj_poly, object.pose.position);
-  // const auto obj_points = tier4_autoware_utils::toPolygon2d(object.pose, object.shape);
+  // const auto obj_points = autoware_universe_utils::toPolygon2d(object.pose, object.shape);
 
   const auto lon_bound_start_idx_opt = motion_utils::insertTargetPoint(
     obj_seg_idx, object.lon_offset_to_avoid->min_value, ref_path_points_for_obj_poly);
@@ -1595,7 +1598,7 @@ DynamicObstacleAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon(
   std::vector<geometry_msgs::msg::Pose> obj_inner_bound_poses;
   for (size_t i = lon_bound_start_idx; i <= lon_bound_end_idx; ++i) {
     // NOTE: object.lat_offset_to_avoid->min_value is not the minimum value but the inner value.
-    obj_inner_bound_poses.push_back(tier4_autoware_utils::calcOffsetPose(
+    obj_inner_bound_poses.push_back(autoware_universe_utils::calcOffsetPose(
       ref_path_points_for_obj_poly.at(i).point.pose, 0.0, object.lat_offset_to_avoid->min_value,
       0.0));
   }
@@ -1611,7 +1614,7 @@ DynamicObstacleAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon(
     // Check if the object polygon intersects with the ego_lat_feasible_path.
     if (intersect_result) {
       const auto & [bound_seg_idx, intersect_point] = *intersect_result;
-      const double lon_offset = tier4_autoware_utils::calcDistance2d(
+      const double lon_offset = autoware_universe_utils::calcDistance2d(
         obj_inner_bound_poses.at(bound_seg_idx), intersect_point);
 
       const auto obj_inner_bound_start_idx_opt =
@@ -1643,17 +1646,17 @@ DynamicObstacleAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon(
   std::vector<geometry_msgs::msg::Point> feasible_obj_outer_bound_points;
   for (const auto & feasible_obj_inner_bound_pose : feasible_obj_inner_bound_poses) {
     feasible_obj_outer_bound_points.push_back(
-      tier4_autoware_utils::calcOffsetPose(
+      autoware_universe_utils::calcOffsetPose(
         feasible_obj_inner_bound_pose, 0.0,
         object.lat_offset_to_avoid->max_value - object.lat_offset_to_avoid->min_value, 0.0)
         .position);
   }
 
   // create obj_polygon from inner/outer bound points
-  tier4_autoware_utils::Polygon2d obj_poly;
+  autoware_universe_utils::Polygon2d obj_poly;
   const auto add_points_to_obj_poly = [&](const auto & bound_points) {
     for (const auto & bound_point : bound_points) {
-      obj_poly.outer().push_back(tier4_autoware_utils::Point2d(bound_point.x, bound_point.y));
+      obj_poly.outer().push_back(autoware_universe_utils::Point2d(bound_point.x, bound_point.y));
     }
   };
   add_points_to_obj_poly(feasible_obj_inner_bound_points);
@@ -1665,7 +1668,7 @@ DynamicObstacleAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon(
 }
 
 // should be replace by the function calcPredictedPathBasedDynamicObstaclePolygon() (takagi)
-std::optional<tier4_autoware_utils::Polygon2d>
+std::optional<autoware_universe_utils::Polygon2d>
 DynamicObstacleAvoidanceModule::calcObjectPathBasedDynamicObstaclePolygon(
   const DynamicAvoidanceObject & object) const
 {
@@ -1694,26 +1697,26 @@ DynamicObstacleAvoidanceModule::calcObjectPathBasedDynamicObstaclePolygon(
 
     const auto & obj_pose = obj_path.path.at(i);
     obj_left_bound_points.push_back(
-      tier4_autoware_utils::calcOffsetPose(
+      autoware_universe_utils::calcOffsetPose(
         obj_pose, lon_offset,
         object.shape.dimensions.y / 2.0 + parameters_->lat_offset_from_obstacle, 0.0)
         .position);
     obj_right_bound_points.push_back(
-      tier4_autoware_utils::calcOffsetPose(
+      autoware_universe_utils::calcOffsetPose(
         obj_pose, lon_offset,
         -object.shape.dimensions.y / 2.0 - parameters_->lat_offset_from_obstacle, 0.0)
         .position);
   }
 
   // create obj_polygon from inner/outer bound points
-  tier4_autoware_utils::Polygon2d obj_poly;
+  autoware_universe_utils::Polygon2d obj_poly;
   for (const auto & bound_point : obj_right_bound_points) {
-    const auto obj_poly_point = tier4_autoware_utils::Point2d(bound_point.x, bound_point.y);
+    const auto obj_poly_point = autoware_universe_utils::Point2d(bound_point.x, bound_point.y);
     obj_poly.outer().push_back(obj_poly_point);
   }
   std::reverse(obj_left_bound_points.begin(), obj_left_bound_points.end());
   for (const auto & bound_point : obj_left_bound_points) {
-    const auto obj_poly_point = tier4_autoware_utils::Point2d(bound_point.x, bound_point.y);
+    const auto obj_poly_point = autoware_universe_utils::Point2d(bound_point.x, bound_point.y);
     obj_poly.outer().push_back(obj_poly_point);
   }
 
@@ -1724,7 +1727,7 @@ DynamicObstacleAvoidanceModule::calcObjectPathBasedDynamicObstaclePolygon(
 // Calculate polygons according to predicted_path with certain confidence,
 // except for the area required for ego safety.
 // input: an object, the minimum area required for ego safety, and some global params
-std::optional<tier4_autoware_utils::Polygon2d>
+std::optional<autoware_universe_utils::Polygon2d>
 DynamicObstacleAvoidanceModule::calcPredictedPathBasedDynamicObstaclePolygon(
   const DynamicAvoidanceObject & object, const EgoPathReservePoly & ego_path_poly) const
 {
@@ -1740,10 +1743,10 @@ DynamicObstacleAvoidanceModule::calcPredictedPathBasedDynamicObstaclePolygon(
     }
   }
 
-  tier4_autoware_utils::Polygon2d obj_points_as_poly;
+  autoware_universe_utils::Polygon2d obj_points_as_poly;
   for (const auto pose : obj_poses) {
     boost::geometry::append(
-      obj_points_as_poly, tier4_autoware_utils::toFootprint(
+      obj_points_as_poly, autoware_universe_utils::toFootprint(
                             pose, object.shape.dimensions.x * 0.5, object.shape.dimensions.x * 0.5,
                             object.shape.dimensions.y * 0.5)
                             .outer());
@@ -1752,7 +1755,7 @@ DynamicObstacleAvoidanceModule::calcPredictedPathBasedDynamicObstaclePolygon(
   Polygon2d obj_poly;
   boost::geometry::convex_hull(obj_points_as_poly, obj_poly);
 
-  tier4_autoware_utils::MultiPolygon2d expanded_poly;
+  autoware_universe_utils::MultiPolygon2d expanded_poly;
   namespace strategy = boost::geometry::strategy::buffer;
   boost::geometry::buffer(
     obj_poly, expanded_poly,
@@ -1761,7 +1764,7 @@ DynamicObstacleAvoidanceModule::calcPredictedPathBasedDynamicObstaclePolygon(
     strategy::point_circle());
   if (expanded_poly.empty()) return {};
 
-  tier4_autoware_utils::MultiPolygon2d output_poly;
+  autoware_universe_utils::MultiPolygon2d output_poly;
   boost::geometry::difference(
     expanded_poly[0],
     object.is_collision_left ? ego_path_poly.right_avoid : ego_path_poly.left_avoid, output_poly);
@@ -1797,26 +1800,27 @@ DynamicObstacleAvoidanceModule::calcEgoPathReservePoly(const PathWithLaneId & eg
 
   assert(!ego_path.points.empty());
 
-  tier4_autoware_utils::LineString2d ego_path_lines;
+  autoware_universe_utils::LineString2d ego_path_lines;
   for (const auto & path_point : ego_path.points) {
-    ego_path_lines.push_back(tier4_autoware_utils::fromMsg(path_point.point.pose.position).to_2d());
+    ego_path_lines.push_back(
+      autoware_universe_utils::fromMsg(path_point.point.pose.position).to_2d());
   }
 
   auto calcReservePoly = [&ego_path_lines](
                            const strategy::distance_asymmetric<double> path_expand_strategy,
                            const strategy::distance_asymmetric<double> steer_expand_strategy,
                            const std::vector<geometry_msgs::msg::Point> & outer_body_path)
-    -> tier4_autoware_utils::Polygon2d {
+    -> autoware_universe_utils::Polygon2d {
     // reserve area based on the reference path
-    tier4_autoware_utils::MultiPolygon2d path_poly;
+    autoware_universe_utils::MultiPolygon2d path_poly;
     boost::geometry::buffer(
       ego_path_lines, path_poly, path_expand_strategy, strategy::side_straight(),
       strategy::join_round(), strategy::end_flat(), strategy::point_circle());
 
     // reserve area steer to the avoidance path
-    tier4_autoware_utils::LineString2d steer_lines;
+    autoware_universe_utils::LineString2d steer_lines;
     for (const auto & point : outer_body_path) {
-      const auto bg_point = tier4_autoware_utils::fromMsg(point).to_2d();
+      const auto bg_point = autoware_universe_utils::fromMsg(point).to_2d();
       if (boost::geometry::within(bg_point, path_poly)) {
         if (steer_lines.size() != 0) {
           ;
@@ -1826,12 +1830,12 @@ DynamicObstacleAvoidanceModule::calcEgoPathReservePoly(const PathWithLaneId & eg
       }
       // boost::geometry::append(steer_lines, bg_point);
     }
-    tier4_autoware_utils::MultiPolygon2d steer_poly;
+    autoware_universe_utils::MultiPolygon2d steer_poly;
     boost::geometry::buffer(
       steer_lines, steer_poly, steer_expand_strategy, strategy::side_straight(),
       strategy::join_round(), strategy::end_flat(), strategy::point_circle());
 
-    tier4_autoware_utils::MultiPolygon2d output_poly;
+    autoware_universe_utils::MultiPolygon2d output_poly;
     boost::geometry::union_(path_poly, steer_poly, output_poly);
     if (output_poly.size() != 1) {
       assert(false);
@@ -1845,11 +1849,11 @@ DynamicObstacleAvoidanceModule::calcEgoPathReservePoly(const PathWithLaneId & eg
   const double vehicle_half_width = planner_data_->parameters.vehicle_width * 0.5;
   const double reserve_width_obj_side = vehicle_half_width - parameters_->max_lat_offset_to_avoid;
 
-  const tier4_autoware_utils::Polygon2d left_avoid_poly = calcReservePoly(
+  const autoware_universe_utils::Polygon2d left_avoid_poly = calcReservePoly(
     strategy::distance_asymmetric<double>(vehicle_half_width, reserve_width_obj_side),
     strategy::distance_asymmetric<double>(vehicle_half_width, 0.0),
     motion_saturated_outer_paths.right_path);
-  const tier4_autoware_utils::Polygon2d right_avoid_poly = calcReservePoly(
+  const autoware_universe_utils::Polygon2d right_avoid_poly = calcReservePoly(
     strategy::distance_asymmetric<double>(reserve_width_obj_side, vehicle_half_width),
     strategy::distance_asymmetric<double>(0.0, vehicle_half_width),
     motion_saturated_outer_paths.left_path);
diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml
index b794789bd19e0..83ddcfe989061 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/package.xml
@@ -22,10 +22,10 @@
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_rtc_interface</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp
index 528a4b098720c..dc8a60c9a8373 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp
@@ -22,8 +22,8 @@
 
 #include <memory>
 
+using autoware_universe_utils::LinearRing2d;
 using geometry_msgs::msg::Pose;
-using tier4_autoware_utils::LinearRing2d;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 namespace autoware::behavior_path_planner
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
index 904875b5cbdc3..0097a6d6e0b4a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
@@ -31,8 +31,8 @@
 #include <autoware/freespace_planning_algorithms/astar_search.hpp>
 #include <autoware/freespace_planning_algorithms/rrtstar.hpp>
 #include <autoware/lane_departure_checker/lane_departure_checker.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <motion_utils/distance/distance.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_vehicle_msgs/msg/hazard_lights_command.hpp>
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
@@ -69,7 +69,7 @@ using autoware::behavior_path_planner::utils::path_safety_checker::ObjectsFilter
 using autoware::behavior_path_planner::utils::path_safety_checker::PoseWithVelocityStamped;
 using autoware::behavior_path_planner::utils::path_safety_checker::SafetyCheckParams;
 using autoware::behavior_path_planner::utils::path_safety_checker::TargetObjectsOnLane;
-using tier4_autoware_utils::Polygon2d;
+using autoware_universe_utils::Polygon2d;
 
 #define DEFINE_SETTER_WITH_MUTEX(TYPE, NAME)                  \
 public:                                                       \
@@ -387,7 +387,7 @@ class GoalPlannerModule : public SceneModuleInterface
     std::shared_ptr<EgoPredictedPathParams> ego_predicted_path_params;
     std::shared_ptr<ObjectsFilteringParams> objects_filtering_params;
     std::shared_ptr<SafetyCheckParams> safety_check_params;
-    tier4_autoware_utils::LinearRing2d vehicle_footprint;
+    autoware_universe_utils::LinearRing2d vehicle_footprint;
 
     PlannerData planner_data;
     ModuleStatus current_status;
@@ -409,7 +409,7 @@ class GoalPlannerModule : public SceneModuleInterface
       const PlannerData & planner_data, const ModuleStatus & current_status,
       const BehaviorModuleOutput & previous_module_output,
       const std::shared_ptr<GoalSearcherBase> goal_searcher_,
-      const tier4_autoware_utils::LinearRing2d & vehicle_footprint);
+      const autoware_universe_utils::LinearRing2d & vehicle_footprint);
 
   private:
     void initializeOccupancyGridMap(
@@ -484,7 +484,7 @@ class GoalPlannerModule : public SceneModuleInterface
   std::deque<nav_msgs::msg::Odometry::ConstSharedPtr> odometry_buffer_stopped_;
   std::deque<nav_msgs::msg::Odometry::ConstSharedPtr> odometry_buffer_stuck_;
 
-  tier4_autoware_utils::LinearRing2d vehicle_footprint_;
+  autoware_universe_utils::LinearRing2d vehicle_footprint_;
 
   std::recursive_mutex mutex_;
   // TODO(Mamoru Sobue): isSafePath() modifies ThreadSafeData::check_collision, avoid this mutable
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp
index 3c6b0095f67f4..38c55b0b87ecb 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp
@@ -23,7 +23,7 @@
 
 namespace autoware::behavior_path_planner
 {
-using tier4_autoware_utils::LinearRing2d;
+using autoware_universe_utils::LinearRing2d;
 using BasicPolygons2d = std::vector<lanelet::BasicPolygon2d>;
 
 class GoalSearcher : public GoalSearcherBase
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp
index 70de7e87496f5..4a1a925eb114c 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp
@@ -26,8 +26,8 @@
 
 namespace autoware::behavior_path_planner
 {
+using autoware_universe_utils::MultiPolygon2d;
 using geometry_msgs::msg::Pose;
-using tier4_autoware_utils::MultiPolygon2d;
 
 struct GoalCandidate
 {
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp
index ebee1d7f330d6..5cbe3bc4ee84c 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp
@@ -25,8 +25,8 @@
 #include <utility>
 #include <vector>
 
+using autoware_universe_utils::LinearRing2d;
 using geometry_msgs::msg::Pose;
-using tier4_autoware_utils::LinearRing2d;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 namespace autoware::behavior_path_planner
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp
index 80c43de08006e..927145fc69db1 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp
@@ -16,7 +16,7 @@
 #define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_
 
 #include "autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 
 #include <autoware/lane_departure_checker/lane_departure_checker.hpp>
 
@@ -42,7 +42,7 @@ using geometry_msgs::msg::Twist;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
-using Polygon2d = tier4_autoware_utils::Polygon2d;
+using Polygon2d = autoware_universe_utils::Polygon2d;
 
 lanelet::ConstLanelets getPullOverLanes(
   const RouteHandler & route_handler, const bool left_side, const double backward_distance,
@@ -94,7 +94,7 @@ std::vector<Polygon2d> createPathFootPrints(
 
 // debug
 MarkerArray createPullOverAreaMarkerArray(
-  const tier4_autoware_utils::MultiPolygon2d area_polygons, const std_msgs::msg::Header & header,
+  const autoware_universe_utils::MultiPolygon2d area_polygons, const std_msgs::msg::Header & header,
   const std_msgs::msg::ColorRGBA & color, const double z);
 MarkerArray createPosesMarkerArray(
   const std::vector<Pose> & poses, std::string && ns, const std_msgs::msg::ColorRGBA & color);
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml
index 952173564888a..148a3f966303b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/package.xml
@@ -23,10 +23,10 @@
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_rtc_interface</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/default_fixed_goal_planner.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/default_fixed_goal_planner.cpp
index f95d89f1cd8f2..b5dac4264de39 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/default_fixed_goal_planner.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/default_fixed_goal_planner.cpp
@@ -25,7 +25,7 @@
 
 namespace autoware::behavior_path_planner
 {
-using Point2d = tier4_autoware_utils::Point2d;
+using Point2d = autoware_universe_utils::Point2d;
 using tier4_planning_msgs::msg::PathWithLaneId;
 BehaviorModuleOutput DefaultFixedGoalPlanner::plan(
   const std::shared_ptr<const PlannerData> & planner_data) const
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp
index 9831de75289e3..64d141e202b9f 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp
@@ -57,7 +57,7 @@ std::optional<PullOverPath> FreespacePullOver::plan(const Pose & goal_pose)
   constexpr double straight_distance = 1.0;
   const Pose end_pose =
     use_back_ ? goal_pose
-              : tier4_autoware_utils::calcOffsetPose(goal_pose, -straight_distance, 0.0, 0.0);
+              : autoware_universe_utils::calcOffsetPose(goal_pose, -straight_distance, 0.0, 0.0);
   if (!planner_->makePlan(current_pose, end_pose)) {
     return {};
   }
@@ -85,7 +85,7 @@ std::optional<PullOverPath> FreespacePullOver::plan(const Pose & goal_pose)
     size_t index = std::distance(last_path.points.begin(), it);
     if (index == 0) continue;
     const double distance =
-      tier4_autoware_utils::calcDistance2d(end_pose.position, it->point.pose.position);
+      autoware_universe_utils::calcDistance2d(end_pose.position, it->point.pose.position);
     if (distance < th_goal_distance) {
       last_path.points.erase(it, last_path.points.end());
       break;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
index 34f431c692e44..79078e15d4716 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -22,8 +22,8 @@
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
@@ -40,15 +40,15 @@
 #include <vector>
 
 using autoware::behavior_path_planner::utils::parking_departure::calcFeasibleDecelDistance;
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::inverseTransformPose;
 using motion_utils::calcLongitudinalOffsetPose;
 using motion_utils::calcSignedArcLength;
 using motion_utils::findFirstNearestSegmentIndexWithSoftConstraints;
 using motion_utils::insertDecelPoint;
 using nav_msgs::msg::OccupancyGrid;
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::inverseTransformPose;
 
 namespace autoware::behavior_path_planner
 {
@@ -1764,7 +1764,7 @@ bool GoalPlannerModule::hasFinishedCurrentPath()
   const auto current_path_end =
     thread_safe_data_.get_pull_over_path()->getCurrentPath().points.back();
   const auto & self_pose = planner_data_->self_odometry->pose.pose;
-  return tier4_autoware_utils::calcDistance2d(current_path_end, self_pose) <
+  return autoware_universe_utils::calcDistance2d(current_path_end, self_pose) <
          parameters_->th_arrived_distance;
 }
 
@@ -1877,7 +1877,7 @@ bool GoalPlannerModule::checkObjectsCollision(
 
   std::vector<Polygon2d> obj_polygons;
   for (const auto & object : target_objects.objects) {
-    obj_polygons.push_back(tier4_autoware_utils::toPolygon2d(object));
+    obj_polygons.push_back(autoware_universe_utils::toPolygon2d(object));
   }
 
   /* Expand ego collision check polygon
@@ -1901,7 +1901,7 @@ bool GoalPlannerModule::checkObjectsCollision(
       extra_stopping_margin,
       std::abs(curvatures.at(i) * std::pow(p.point.longitudinal_velocity_mps, 2)));
 
-    const auto ego_polygon = tier4_autoware_utils::toFootprint(
+    const auto ego_polygon = autoware_universe_utils::toFootprint(
       p.point.pose,
       planner_data->parameters.base_link2front + collision_check_margin + extra_stopping_margin,
       planner_data->parameters.base_link2rear + collision_check_margin,
@@ -2199,7 +2199,7 @@ static std::vector<utils::path_safety_checker::ExtendedPredictedObject> filterOb
   for (const auto & target_lane : target_lanes) {
     const auto lane_poly = target_lane.polygon2d().basicPolygon();
     for (const auto & filtered_object : filtered_objects.objects) {
-      const auto object_bbox = tier4_autoware_utils::toPolygon2d(filtered_object);
+      const auto object_bbox = autoware_universe_utils::toPolygon2d(filtered_object);
       if (boost::geometry::within(object_bbox, lane_poly)) {
         within_filtered_objects.push_back(filtered_object);
       }
@@ -2282,7 +2282,7 @@ std::pair<bool, bool> GoalPlannerModule::isSafePath(
       lanelet::utils::conversion::toGeomMsgPt(fist_road_lane.centerline().front());
     const double lane_yaw = lanelet::utils::getLaneletAngle(fist_road_lane, first_road_point);
     first_road_pose.position = first_road_point;
-    first_road_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(lane_yaw);
+    first_road_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(lane_yaw);
     // if current ego pose is before pull over lanes segment, use first road lanelet center pose
     if (
       calcSignedArcLength(pull_over_path.points, first_road_pose.position, current_pose.position) <
@@ -2359,6 +2359,9 @@ void GoalPlannerModule::setDebugData()
 {
   debug_marker_.markers.clear();
 
+  using autoware_universe_utils::createDefaultMarker;
+  using autoware_universe_utils::createMarkerColor;
+  using autoware_universe_utils::createMarkerScale;
   using marker_utils::createObjectsMarkerArray;
   using marker_utils::createPathMarkerArray;
   using marker_utils::createPoseMarkerArray;
@@ -2367,9 +2370,6 @@ void GoalPlannerModule::setDebugData()
   using marker_utils::showPredictedPath;
   using marker_utils::showSafetyCheckInfo;
   using motion_utils::createStopVirtualWallMarker;
-  using tier4_autoware_utils::createDefaultMarker;
-  using tier4_autoware_utils::createMarkerColor;
-  using tier4_autoware_utils::createMarkerScale;
 
   const auto header = planner_data_->route_handler->getRouteHeader();
 
@@ -2377,7 +2377,7 @@ void GoalPlannerModule::setDebugData()
     for (auto & marker : added.markers) {
       marker.lifetime = rclcpp::Duration::from_seconds(1.5);
     }
-    tier4_autoware_utils::appendMarkerArray(added, &debug_marker_);
+    autoware_universe_utils::appendMarkerArray(added, &debug_marker_);
   };
   if (utils::isAllowedGoalModification(planner_data_->route_handler)) {
     // Visualize pull over areas
@@ -2425,10 +2425,10 @@ void GoalPlannerModule::setDebugData()
         createPathMarkerArray(partial_path, "partial_path_" + std::to_string(i), 0, 0.9, 0.5, 0.9));
     }
 
-    auto marker = tier4_autoware_utils::createDefaultMarker(
+    auto marker = autoware_universe_utils::createDefaultMarker(
       "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "detection_polygons", 0, Marker::LINE_LIST,
-      tier4_autoware_utils::createMarkerScale(0.01, 0.0, 0.0),
-      tier4_autoware_utils::createMarkerColor(0.0, 0.0, 1.0, 0.999));
+      autoware_universe_utils::createMarkerScale(0.01, 0.0, 0.0),
+      autoware_universe_utils::createMarkerColor(0.0, 0.0, 1.0, 0.999));
     const double ego_z = planner_data_->self_odometry->pose.pose.position.z;
     for (const auto & ego_polygon : debug_data_.ego_polygons_expanded) {
       for (size_t ep_idx = 0; ep_idx < ego_polygon.outer().size(); ++ep_idx) {
@@ -2436,19 +2436,19 @@ void GoalPlannerModule::setDebugData()
         const auto & next_point = ego_polygon.outer().at((ep_idx + 1) % ego_polygon.outer().size());
 
         marker.points.push_back(
-          tier4_autoware_utils::createPoint(current_point.x(), current_point.y(), ego_z));
+          autoware_universe_utils::createPoint(current_point.x(), current_point.y(), ego_z));
         marker.points.push_back(
-          tier4_autoware_utils::createPoint(next_point.x(), next_point.y(), ego_z));
+          autoware_universe_utils::createPoint(next_point.x(), next_point.y(), ego_z));
       }
     }
     debug_marker_.markers.push_back(marker);
 
     if (parameters_->safety_check_params.enable_safety_check) {
-      tier4_autoware_utils::appendMarkerArray(
+      autoware_universe_utils::appendMarkerArray(
         goal_planner_utils::createLaneletPolygonMarkerArray(
           debug_data_.expanded_pull_over_lane_between_ego.polygon3d(), header,
           "expanded_pull_over_lane_between_ego",
-          tier4_autoware_utils::createMarkerColor(1.0, 0.7, 0.0, 0.999)),
+          autoware_universe_utils::createMarkerColor(1.0, 0.7, 0.0, 0.999)),
         &debug_marker_);
     }
 
@@ -2575,7 +2575,7 @@ void GoalPlannerModule::printParkingPositionError() const
     real_shoulder_to_map_shoulder + parameters_->margin_from_boundary - dy;
   RCLCPP_INFO(
     getLogger(), "current pose to goal, dx:%f dy:%f dyaw:%f from_real_shoulder:%f", dx, dy,
-    tier4_autoware_utils::rad2deg(
+    autoware_universe_utils::rad2deg(
       tf2::getYaw(current_pose.orientation) -
       tf2::getYaw(thread_safe_data_.get_modified_goal_pose()->goal_pose.orientation)),
     distance_from_real_shoulder);
@@ -2631,7 +2631,7 @@ void GoalPlannerModule::GoalPlannerData::update(
   const PlannerData & planner_data_, const ModuleStatus & current_status_,
   const BehaviorModuleOutput & previous_module_output_,
   const std::shared_ptr<GoalSearcherBase> goal_searcher_,
-  const tier4_autoware_utils::LinearRing2d & vehicle_footprint_)
+  const autoware_universe_utils::LinearRing2d & vehicle_footprint_)
 {
   parameters = parameters_;
   ego_predicted_path_params = ego_predicted_path_params_;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp
index a0b6cc587f929..87d1034f20682 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp
@@ -18,10 +18,10 @@
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_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"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
 #include <boost/geometry/algorithms/union.hpp>
 
@@ -33,9 +33,9 @@
 namespace autoware::behavior_path_planner
 {
 using autoware::lane_departure_checker::LaneDepartureChecker;
+using autoware_universe_utils::calcOffsetPose;
 using lanelet::autoware::NoParkingArea;
 using lanelet::autoware::NoStoppingArea;
-using tier4_autoware_utils::calcOffsetPose;
 
 // Sort with smaller longitudinal distances taking precedence over smaller lateral distances.
 struct SortByLongitudinalDistance
@@ -136,7 +136,7 @@ GoalCandidates GoalSearcher::search(
     // todo(kosuke55): fix orientation for inverseTransformPoint temporarily
     Pose center_pose = p.point.pose;
     center_pose.orientation =
-      tier4_autoware_utils::createQuaternionFromYaw(tf2::getYaw(center_pose.orientation));
+      autoware_universe_utils::createQuaternionFromYaw(tf2::getYaw(center_pose.orientation));
 
     // ignore goal_pose near lane start
     const double distance_from_lane_start =
@@ -167,7 +167,7 @@ GoalCandidates GoalSearcher::search(
       search_pose = calcOffsetPose(original_search_pose, 0, sign * dy, 0);
 
       const auto transformed_vehicle_footprint =
-        transformVector(vehicle_footprint_, tier4_autoware_utils::pose2transform(search_pose));
+        transformVector(vehicle_footprint_, autoware_universe_utils::pose2transform(search_pose));
 
       if (isInAreas(transformed_vehicle_footprint, getNoParkingAreaPolygons(pull_over_lanes))) {
         // break here to exclude goals located laterally in no_parking_areas
@@ -245,8 +245,8 @@ void GoalSearcher::countObjectsToAvoid(
   for (const auto & object : objects.objects) {
     for (const auto & p : current_center_line_path.points) {
       const auto transformed_vehicle_footprint =
-        transformVector(vehicle_footprint_, tier4_autoware_utils::pose2transform(p.point.pose));
-      const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object);
+        transformVector(vehicle_footprint_, autoware_universe_utils::pose2transform(p.point.pose));
+      const auto obj_polygon = autoware_universe_utils::toPolygon2d(object);
       const double distance = boost::geometry::distance(obj_polygon, transformed_vehicle_footprint);
       if (distance > parameters_.object_recognition_collision_check_hard_margins.back()) {
         continue;
@@ -431,9 +431,9 @@ bool GoalSearcher::checkCollisionWithLongitudinalDistance(
 void GoalSearcher::createAreaPolygons(
   std::vector<Pose> original_search_poses, const std::shared_ptr<const PlannerData> & planner_data)
 {
-  using tier4_autoware_utils::MultiPolygon2d;
-  using tier4_autoware_utils::Point2d;
-  using tier4_autoware_utils::Polygon2d;
+  using autoware_universe_utils::MultiPolygon2d;
+  using autoware_universe_utils::Point2d;
+  using autoware_universe_utils::Polygon2d;
 
   const double vehicle_width = planner_data->parameters.vehicle_width;
   const double base_link2front = planner_data->parameters.base_link2front;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp
index 0e8e8c51dfc0a..098405f2378b5 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp
@@ -15,7 +15,7 @@
 #include "autoware/behavior_path_goal_planner_module/manager.hpp"
 
 #include "autoware/behavior_path_goal_planner_module/util.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -428,7 +428,7 @@ void GoalPlannerModuleManager::updateModuleParams(
   // object_recognition_collision_check_hard_margins, maximum_deceleration, shift_sampling_num or
   // parking_policy, there seems to be a problem when we use a temp value to check these values.
 
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   auto & p = parameters_;
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp
index e68cf4b9ebaeb..8cd368106f8dc 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp
@@ -114,7 +114,7 @@ std::optional<PathWithLaneId> ShiftPullOver::cropPrevModulePath(
   const double offset = motion_utils::calcSignedArcLength(
     prev_module_path.points, shift_end_idx, shift_end_pose.position);
   projected_point.point.pose =
-    tier4_autoware_utils::calcOffsetPose(clipped_points.back().point.pose, offset, 0, 0);
+    autoware_universe_utils::calcOffsetPose(clipped_points.back().point.pose, offset, 0, 0);
   clipped_points.push_back(projected_point);
   auto clipped_prev_module_path = prev_module_path;
   clipped_prev_module_path.points = clipped_points;
@@ -131,7 +131,7 @@ std::optional<PullOverPath> ShiftPullOver::generatePullOverPath(
 
   // shift end pose is longitudinal offset from goal pose to improve parking angle accuracy
   const Pose shift_end_pose =
-    tier4_autoware_utils::calcOffsetPose(goal_pose, -after_shift_straight_distance, 0, 0);
+    autoware_universe_utils::calcOffsetPose(goal_pose, -after_shift_straight_distance, 0, 0);
 
   // calculate lateral shift of previous module path terminal pose from road lane reference path
   const auto road_lane_reference_path_to_shift_end = utils::resamplePathWithSpline(
@@ -162,7 +162,7 @@ std::optional<PullOverPath> ShiftPullOver::generatePullOverPath(
   const Pose & shift_end_pose_prev_module_path =
     processed_prev_module_path->points.back().point.pose;
   const double shift_end_road_to_target_distance =
-    tier4_autoware_utils::inverseTransformPoint(
+    autoware_universe_utils::inverseTransformPoint(
       shift_end_pose.position, shift_end_pose_prev_module_path)
       .y;
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp
index a385b9cff20b2..81aa6c352fe4c 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp
@@ -17,11 +17,11 @@
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
 
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <lanelet2_extension/utility/message_conversion.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>
 
@@ -38,11 +38,11 @@
 namespace autoware::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;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
+using autoware_universe_utils::createPoint;
 
 lanelet::ConstLanelets getPullOverLanes(
   const RouteHandler & route_handler, const bool left_side, const double backward_distance,
@@ -116,9 +116,9 @@ lanelet::ConstLanelets generateBetweenEgoAndExpandedPullOverLanes(
   const double ego_length_to_front = wheel_base + front_overhang;
   const double ego_width_to_front =
     !left_side ? (-wheel_tread / 2.0 - side_overhang) : (wheel_tread / 2.0 + side_overhang);
-  tier4_autoware_utils::Point2d front_edge_local{ego_length_to_front, ego_width_to_front};
-  const auto front_edge_glob = tier4_autoware_utils::transformPoint(
-    front_edge_local, tier4_autoware_utils::pose2transform(ego_pose));
+  autoware_universe_utils::Point2d front_edge_local{ego_length_to_front, ego_width_to_front};
+  const auto front_edge_glob = autoware_universe_utils::transformPoint(
+    front_edge_local, autoware_universe_utils::pose2transform(ego_pose));
   geometry_msgs::msg::Pose ego_front_pose;
   ego_front_pose.position =
     createPoint(front_edge_glob.x(), front_edge_glob.y(), ego_pose.position.z);
@@ -180,7 +180,7 @@ PredictedObjects filterObjectsByLateralDistance(
 }
 
 MarkerArray createPullOverAreaMarkerArray(
-  const tier4_autoware_utils::MultiPolygon2d area_polygons, const std_msgs::msg::Header & header,
+  const autoware_universe_utils::MultiPolygon2d area_polygons, const std_msgs::msg::Header & header,
   const std_msgs::msg::ColorRGBA & color, const double z)
 {
   MarkerArray marker_array{};
@@ -205,7 +205,7 @@ MarkerArray createPosesMarkerArray(
   MarkerArray msg{};
   int32_t i = 0;
   for (const auto & pose : poses) {
-    Marker marker = tier4_autoware_utils::createDefaultMarker(
+    Marker marker = autoware_universe_utils::createDefaultMarker(
       "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, i, Marker::ARROW,
       createMarkerScale(0.5, 0.25, 0.25), color);
     marker.pose = pose;
@@ -309,7 +309,7 @@ double calcLateralDeviationBetweenPaths(
       motion_utils::findNearestIndex(reference_path.points, target_point.point.pose.position);
     lateral_deviation = std::max(
       lateral_deviation,
-      std::abs(tier4_autoware_utils::calcLateralDeviation(
+      std::abs(autoware_universe_utils::calcLateralDeviation(
         reference_path.points[nearest_index].point.pose, target_point.point.pose.position)));
   }
   return lateral_deviation;
@@ -336,7 +336,7 @@ std::optional<PathWithLaneId> cropPath(const PathWithLaneId & path, const Pose &
   PathPointWithLaneId projected_point = clipped_points.back();
   const double offset = motion_utils::calcSignedArcLength(path.points, end_idx, end_pose.position);
   projected_point.point.pose =
-    tier4_autoware_utils::calcOffsetPose(clipped_points.back().point.pose, offset, 0, 0);
+    autoware_universe_utils::calcOffsetPose(clipped_points.back().point.pose, offset, 0, 0);
   clipped_points.push_back(projected_point);
   auto clipped_path = path;
   clipped_path.points = clipped_points;
@@ -351,7 +351,8 @@ PathWithLaneId cropForwardPoints(
 
   double sum_length = 0;
   for (size_t i = target_seg_idx + 1; i < points.size(); ++i) {
-    const double seg_length = tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i - 1));
+    const double seg_length =
+      autoware_universe_utils::calcDistance2d(points.at(i), points.at(i - 1));
     if (forward_length < sum_length + seg_length) {
       const auto cropped_points =
         std::vector<PathPointWithLaneId>{points.begin() + target_seg_idx, points.begin() + i};
@@ -400,17 +401,17 @@ PathWithLaneId extendPath(
   const double lateral_shift_from_reference_path =
     motion_utils::calcLateralOffset(reference_path.points, target_terminal_pose.position);
   for (auto & p : clipped_path.points) {
-    p.point.pose =
-      tier4_autoware_utils::calcOffsetPose(p.point.pose, 0, lateral_shift_from_reference_path, 0);
+    p.point.pose = autoware_universe_utils::calcOffsetPose(
+      p.point.pose, 0, lateral_shift_from_reference_path, 0);
   }
 
   auto extended_path = target_path;
   const auto start_point =
     std::find_if(clipped_path.points.begin(), clipped_path.points.end(), [&](const auto & p) {
       const bool is_forward =
-        tier4_autoware_utils::inverseTransformPoint(p.point.pose.position, target_terminal_pose).x >
-        0.0;
-      const bool is_close = tier4_autoware_utils::calcDistance2d(
+        autoware_universe_utils::inverseTransformPoint(p.point.pose.position, target_terminal_pose)
+          .x > 0.0;
+      const bool is_close = autoware_universe_utils::calcDistance2d(
                               p.point.pose.position, target_terminal_pose.position) < 0.1;
       return is_forward && !is_close;
     });
@@ -442,7 +443,7 @@ std::vector<Polygon2d> createPathFootPrints(
   for (const auto & point : path.points) {
     const auto & pose = point.point.pose;
     footprints.push_back(
-      tier4_autoware_utils::toFootprint(pose, base_to_front, base_to_rear, width));
+      autoware_universe_utils::toFootprint(pose, base_to_front, base_to_rear, width));
   }
   return footprints;
 }
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp
index 0da1bcfda3370..89f5f715549bd 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp
@@ -21,7 +21,7 @@
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
 #include <magic_enum.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -37,11 +37,11 @@
 namespace autoware::behavior_path_planner
 {
 using autoware::route_handler::Direction;
+using autoware_universe_utils::StopWatch;
 using data::lane_change::PathSafetyStatus;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
-using tier4_autoware_utils::StopWatch;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 class LaneChangeBase
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
index 4a9573463d73d..3162b99b441d1 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/utils.hpp
@@ -23,7 +23,7 @@
 #include "rclcpp/logger.hpp"
 
 #include <autoware/route_handler/route_handler.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
@@ -47,13 +47,13 @@ using autoware::route_handler::Direction;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::PredictedPath;
+using autoware_universe_utils::Polygon2d;
 using data::lane_change::LanesPolygon;
 using data::lane_change::PathSafetyStatus;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
 using path_safety_checker::CollisionCheckDebugMap;
-using tier4_autoware_utils::Polygon2d;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 double calcLaneChangeResampleInterval(
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml
index ca338771064b9..8ea741f74ba13 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/package.xml
@@ -23,10 +23,10 @@
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_rtc_interface</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
index 0f7413eed1ca5..1c0f12549b863 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
@@ -20,7 +20,7 @@
 #include "autoware/behavior_path_planner_common/interface/scene_module_visitor.hpp"
 #include "autoware/behavior_path_planner_common/marker_utils/utils.hpp"
 
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 
 #include <algorithm>
 #include <memory>
@@ -29,7 +29,7 @@
 
 namespace autoware::behavior_path_planner
 {
-using tier4_autoware_utils::appendMarkerArray;
+using autoware_universe_utils::appendMarkerArray;
 using utils::lane_change::assignToCandidate;
 
 LaneChangeInterface::LaneChangeInterface(
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
index b4cf3630d9d88..1e066d297f878 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
@@ -15,8 +15,8 @@
 #include "autoware/behavior_path_lane_change_module/manager.hpp"
 
 #include "autoware/behavior_path_lane_change_module/interface.hpp"
-#include "tier4_autoware_utils/ros/parameter.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
+#include "autoware/universe_utils/ros/parameter.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -36,7 +36,7 @@ void LaneChangeModuleManager::init(rclcpp::Node * node)
 
 void LaneChangeModuleManager::initParams(rclcpp::Node * node)
 {
-  using tier4_autoware_utils::getOrDeclareParameter;
+  using autoware_universe_utils::getOrDeclareParameter;
 
   LaneChangeParameters p{};
 
@@ -281,7 +281,7 @@ std::unique_ptr<SceneModuleInterface> LaneChangeModuleManager::createNewSceneMod
 
 void LaneChangeModuleManager::updateModuleParams(const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   auto p = parameters_;
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
index 1c391c10aee92..83198b5328c86 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -22,9 +22,9 @@
 #include "autoware/behavior_path_planner_common/utils/traffic_light_utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
 
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <lanelet2_core/geometry/Point.h>
 #include <lanelet2_core/geometry/Polygon.h>
@@ -389,9 +389,9 @@ void NormalLaneChange::insertStopPoint(
 
       // calculate distance from path front to the stationary object polygon on the ego lane.
       const auto polygon =
-        tier4_autoware_utils::toPolygon2d(object.initial_pose.pose, object.shape).outer();
+        autoware_universe_utils::toPolygon2d(object.initial_pose.pose, object.shape).outer();
       for (const auto & polygon_p : polygon) {
-        const auto p_fp = tier4_autoware_utils::toMsg(polygon_p.to_3d());
+        const auto p_fp = autoware_universe_utils::toMsg(polygon_p.to_3d());
         const auto lateral_fp = motion_utils::calcLateralOffset(path.points, p_fp);
 
         // ignore if the point is around the ego path
@@ -442,7 +442,7 @@ void NormalLaneChange::insertStopPoint(
 
         // target_objects includes objects out of target lanes, so filter them out
         if (!boost::geometry::intersects(
-              tier4_autoware_utils::toPolygon2d(o.initial_pose.pose, o.shape).outer(),
+              autoware_universe_utils::toPolygon2d(o.initial_pose.pose, o.shape).outer(),
               lanelet::utils::combineLaneletsShape(status_.target_lanes)
                 .polygon2d()
                 .basicPolygon())) {
@@ -991,11 +991,11 @@ LaneChangeLanesFilteredObjects NormalLaneChange::filterObjects(
   }
 
   const auto is_ahead_of_ego = [&path, &current_pose](const auto & object) {
-    const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object).outer();
+    const auto obj_polygon = autoware_universe_utils::toPolygon2d(object).outer();
 
     double max_dist_ego_to_obj = std::numeric_limits<double>::lowest();
     for (const auto & polygon_p : obj_polygon) {
-      const auto obj_p = tier4_autoware_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0);
+      const auto obj_p = autoware_universe_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0);
       const auto dist_ego_to_obj = calcSignedArcLength(path.points, current_pose.position, obj_p);
       max_dist_ego_to_obj = std::max(dist_ego_to_obj, max_dist_ego_to_obj);
     }
@@ -1083,11 +1083,11 @@ void NormalLaneChange::filterAheadTerminalObjects(
 
   // ignore object that are ahead of terminal lane change start
   utils::path_safety_checker::filterObjects(objects, [&](const PredictedObject & object) {
-    const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object).outer();
+    const auto obj_polygon = autoware_universe_utils::toPolygon2d(object).outer();
     // ignore object that are ahead of terminal lane change start
     auto distance_to_terminal_from_object = std::numeric_limits<double>::max();
     for (const auto & polygon_p : obj_polygon) {
-      const auto obj_p = tier4_autoware_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0);
+      const auto obj_p = autoware_universe_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0);
       Pose polygon_pose;
       polygon_pose.position = obj_p;
       polygon_pose.orientation = object.kinematics.initial_pose_with_covariance.pose.orientation;
@@ -2079,7 +2079,7 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe(
       utils::path_safety_checker::updateCollisionCheckDebugMap(
         debug_data, current_debug_data, is_safe);
       const auto & obj_pose = obj.initial_pose.pose;
-      const auto obj_polygon = tier4_autoware_utils::toPolygon2d(obj_pose, obj.shape);
+      const auto obj_polygon = autoware_universe_utils::toPolygon2d(obj_pose, obj.shape);
       path_safety_status.is_object_coming_from_rear |=
         !utils::path_safety_checker::isTargetObjectFront(
           path, current_pose, common_parameters.vehicle_info, obj_polygon);
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp
index e6720135a666a..78db0ba0a1b4f 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/markers.cpp
@@ -17,8 +17,8 @@
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 
 #include <autoware/behavior_path_lane_change_module/utils/markers.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <lanelet2_extension/visualization/visualization.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <geometry_msgs/msg/detail/pose__struct.hpp>
@@ -34,9 +34,9 @@
 
 namespace marker_utils::lane_change_markers
 {
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerScale;
 using geometry_msgs::msg::Point;
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerScale;
 
 MarkerArray showAllValidLaneChangePath(const std::vector<LaneChangePath> & lanes, std::string && ns)
 {
@@ -172,7 +172,7 @@ MarkerArray createDebugMarkerArray(
 
   MarkerArray debug_marker;
   const auto add = [&debug_marker](const MarkerArray & added) {
-    tier4_autoware_utils::appendMarkerArray(added, &debug_marker);
+    autoware_universe_utils::appendMarkerArray(added, &debug_marker);
   };
 
   if (!debug_data.execution_area.points.empty()) {
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
index 77eeccba74bca..30d943deb791a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp
@@ -22,9 +22,11 @@
 #include "autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
@@ -32,8 +34,6 @@
 #include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <geometry_msgs/msg/detail/pose__struct.hpp>
 
@@ -60,10 +60,10 @@ namespace autoware::behavior_path_planner::utils::lane_change
 using autoware::route_handler::RouteHandler;
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::PredictedObjects;
+using autoware_universe_utils::LineString2d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 using geometry_msgs::msg::Pose;
-using tier4_autoware_utils::LineString2d;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 using lanelet::ArcCoordinates;
@@ -404,13 +404,13 @@ std::optional<LaneChangePath> constructCandidatePath(
       std::prev(prepare_segment.points.end() - 1)->point.pose;
     const auto & lane_change_start_from_shifted =
       std::next(shifted_path.path.points.begin())->point.pose;
-    const auto yaw_diff2 = std::abs(tier4_autoware_utils::normalizeRadian(
+    const auto yaw_diff2 = std::abs(autoware_universe_utils::normalizeRadian(
       tf2::getYaw(prepare_segment_second_last_point.orientation) -
       tf2::getYaw(lane_change_start_from_shifted.orientation)));
-    if (yaw_diff2 > tier4_autoware_utils::deg2rad(5.0)) {
+    if (yaw_diff2 > autoware_universe_utils::deg2rad(5.0)) {
       RCLCPP_DEBUG(
         get_logger(), "Excessive yaw difference %.3f which exceeds the 5 degrees threshold.",
-        tier4_autoware_utils::rad2deg(yaw_diff2));
+        autoware_universe_utils::rad2deg(yaw_diff2));
       return std::nullopt;
     }
   }
@@ -935,7 +935,7 @@ bool isParkedObject(
 
   const auto & obj_pose = object.initial_pose.pose;
   const auto & obj_shape = object.shape;
-  const auto obj_poly = tier4_autoware_utils::toPolygon2d(obj_pose, obj_shape);
+  const auto obj_poly = autoware_universe_utils::toPolygon2d(obj_pose, obj_shape);
   const auto obj_point = obj_pose.position;
 
   double max_dist_to_bound = std::numeric_limits<double>::lowest();
@@ -994,7 +994,7 @@ bool passParkedObject(
   const auto & leading_obj = objects.at(*leading_obj_idx);
   auto debug = utils::path_safety_checker::createObjectDebug(leading_obj);
   const auto leading_obj_poly =
-    tier4_autoware_utils::toPolygon2d(leading_obj.initial_pose.pose, leading_obj.shape);
+    autoware_universe_utils::toPolygon2d(leading_obj.initial_pose.pose, leading_obj.shape);
   if (leading_obj_poly.outer().empty()) {
     return false;
   }
@@ -1002,7 +1002,7 @@ bool passParkedObject(
   const auto & current_path_end = current_lane_path.points.back().point.pose.position;
   double min_dist_to_end_of_current_lane = std::numeric_limits<double>::max();
   for (const auto & point : leading_obj_poly.outer()) {
-    const auto obj_p = tier4_autoware_utils::createPoint(point.x(), point.y(), 0.0);
+    const auto obj_p = autoware_universe_utils::createPoint(point.x(), point.y(), 0.0);
     const double dist =
       motion_utils::calcSignedArcLength(current_lane_path.points, obj_p, current_path_end);
     min_dist_to_end_of_current_lane = std::min(dist, min_dist_to_end_of_current_lane);
@@ -1122,7 +1122,7 @@ ExtendedPredictedObject transform(
       }
       const auto obj_pose = object_recognition_utils::calcInterpolatedPose(path, t);
       if (obj_pose) {
-        const auto obj_polygon = tier4_autoware_utils::toPolygon2d(*obj_pose, object.shape);
+        const auto obj_polygon = autoware_universe_utils::toPolygon2d(*obj_pose, object.shape);
         extended_object.predicted_paths.at(i).path.emplace_back(
           t, *obj_pose, obj_vel_norm, obj_polygon);
       }
@@ -1165,7 +1165,7 @@ Polygon2d getEgoCurrentFootprint(
   const auto base_to_rear = ego_info.rear_overhang_m;
   const auto width = ego_info.vehicle_width_m;
 
-  return tier4_autoware_utils::toFootprint(ego_pose, base_to_front, base_to_rear, width);
+  return autoware_universe_utils::toFootprint(ego_pose, base_to_front, base_to_rear, width);
 }
 
 bool isWithinIntersection(
@@ -1252,10 +1252,14 @@ geometry_msgs::msg::Polygon createExecutionArea(
   const double backward_lon_offset = -base_to_rear;
   const double lat_offset = width / 2.0 + additional_lat_offset;
 
-  const auto p1 = tier4_autoware_utils::calcOffsetPose(pose, forward_lon_offset, lat_offset, 0.0);
-  const auto p2 = tier4_autoware_utils::calcOffsetPose(pose, forward_lon_offset, -lat_offset, 0.0);
-  const auto p3 = tier4_autoware_utils::calcOffsetPose(pose, backward_lon_offset, -lat_offset, 0.0);
-  const auto p4 = tier4_autoware_utils::calcOffsetPose(pose, backward_lon_offset, lat_offset, 0.0);
+  const auto p1 =
+    autoware_universe_utils::calcOffsetPose(pose, forward_lon_offset, lat_offset, 0.0);
+  const auto p2 =
+    autoware_universe_utils::calcOffsetPose(pose, forward_lon_offset, -lat_offset, 0.0);
+  const auto p3 =
+    autoware_universe_utils::calcOffsetPose(pose, backward_lon_offset, -lat_offset, 0.0);
+  const auto p4 =
+    autoware_universe_utils::calcOffsetPose(pose, backward_lon_offset, lat_offset, 0.0);
   geometry_msgs::msg::Polygon polygon;
 
   polygon.points.push_back(create_point32(p1));
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp
index 096828fdbf120..a31172ac0050b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/test/test_lane_change_utils.cpp
@@ -13,8 +13,8 @@
 // limitations under the License.
 #include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
@@ -24,16 +24,16 @@ constexpr double epsilon = 1e-6;
 TEST(BehaviorPathPlanningLaneChangeUtilsTest, projectCurrentPoseToTarget)
 {
   geometry_msgs::msg::Pose ego_pose;
-  const auto ego_yaw = tier4_autoware_utils::deg2rad(0.0);
-  ego_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(ego_yaw);
-  ego_pose.position = tier4_autoware_utils::createPoint(0, 0, 0);
+  const auto ego_yaw = autoware_universe_utils::deg2rad(0.0);
+  ego_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(ego_yaw);
+  ego_pose.position = autoware_universe_utils::createPoint(0, 0, 0);
 
   geometry_msgs::msg::Pose obj_pose;
-  const auto obj_yaw = tier4_autoware_utils::deg2rad(0.0);
-  obj_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(obj_yaw);
-  obj_pose.position = tier4_autoware_utils::createPoint(-4, 3, 0);
+  const auto obj_yaw = autoware_universe_utils::deg2rad(0.0);
+  obj_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(obj_yaw);
+  obj_pose.position = autoware_universe_utils::createPoint(-4, 3, 0);
 
-  const auto result = tier4_autoware_utils::inverseTransformPose(obj_pose, ego_pose);
+  const auto result = autoware_universe_utils::inverseTransformPose(obj_pose, ego_pose);
 
   EXPECT_NEAR(result.position.x, -4, epsilon);
   EXPECT_NEAR(result.position.y, 3, epsilon);
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp
index 65fe99ce5d775..1420926f32bd7 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp
@@ -18,11 +18,11 @@
 #include "autoware/behavior_path_planner_common/data_manager.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware/behavior_path_planner_common/interface/steering_factor_interface.hpp"
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
 #include "planner_manager.hpp"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
-#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
@@ -88,30 +88,30 @@ class BehaviorPathPlannerNode : public rclcpp::Node
 
 private:
   // subscriber
-  tier4_autoware_utils::InterProcessPollingSubscriber<LaneletRoute> route_subscriber_{
+  autoware_universe_utils::InterProcessPollingSubscriber<LaneletRoute> route_subscriber_{
     this, "~/input/route", rclcpp::QoS{1}.transient_local()};
-  tier4_autoware_utils::InterProcessPollingSubscriber<LaneletMapBin> vector_map_subscriber_{
+  autoware_universe_utils::InterProcessPollingSubscriber<LaneletMapBin> vector_map_subscriber_{
     this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()};
-  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> velocity_subscriber_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Odometry> velocity_subscriber_{
     this, "~/input/odometry"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped>
+  autoware_universe_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped>
     acceleration_subscriber_{this, "~/input/accel"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<Scenario> scenario_subscriber_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Scenario> scenario_subscriber_{
     this, "~/input/scenario"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<PredictedObjects> perception_subscriber_{
+  autoware_universe_utils::InterProcessPollingSubscriber<PredictedObjects> perception_subscriber_{
     this, "~/input/perception"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<OccupancyGrid> occupancy_grid_subscriber_{
+  autoware_universe_utils::InterProcessPollingSubscriber<OccupancyGrid> occupancy_grid_subscriber_{
     this, "~/input/occupancy_grid_map"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<OccupancyGrid> costmap_subscriber_{
+  autoware_universe_utils::InterProcessPollingSubscriber<OccupancyGrid> costmap_subscriber_{
     this, "~/input/costmap"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<TrafficLightGroupArray>
+  autoware_universe_utils::InterProcessPollingSubscriber<TrafficLightGroupArray>
     traffic_signals_subscriber_{this, "~/input/traffic_signals"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<LateralOffset> lateral_offset_subscriber_{
+  autoware_universe_utils::InterProcessPollingSubscriber<LateralOffset> lateral_offset_subscriber_{
     this, "~/input/lateral_offset"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<OperationModeState>
+  autoware_universe_utils::InterProcessPollingSubscriber<OperationModeState>
     operation_mode_subscriber_{
       this, "/system/operation_mode/state", rclcpp::QoS{1}.transient_local()};
-  tier4_autoware_utils::InterProcessPollingSubscriber<tier4_planning_msgs::msg::VelocityLimit>
+  autoware_universe_utils::InterProcessPollingSubscriber<tier4_planning_msgs::msg::VelocityLimit>
     external_limit_max_velocity_subscriber_{this, "/planning/scenario_planning/max_velocity"};
 
   // publisher
@@ -236,9 +236,9 @@ class BehaviorPathPlannerNode : public rclcpp::Node
     const std::shared_ptr<PathWithLaneId> & path_candidate_ptr, const bool is_ready,
     const std::shared_ptr<PlannerData> & planner_data);
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace autoware::behavior_path_planner
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp
index 5381d201ffeaa..ecd9dd37c363a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp
@@ -18,8 +18,8 @@
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp"
 #include "autoware/behavior_path_planner_common/interface/scene_module_visitor.hpp"
-#include "tier4_autoware_utils/ros/debug_publisher.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
+#include "autoware/universe_utils/ros/debug_publisher.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
 #include <pluginlib/class_loader.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -39,12 +39,12 @@
 namespace autoware::behavior_path_planner
 {
 
-using tier4_autoware_utils::StopWatch;
+using autoware_universe_utils::StopWatch;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using tier4_planning_msgs::msg::StopReasonArray;
 using SceneModulePtr = std::shared_ptr<SceneModuleInterface>;
 using SceneModuleManagerPtr = std::shared_ptr<SceneModuleManagerInterface>;
-using DebugPublisher = tier4_autoware_utils::DebugPublisher;
+using DebugPublisher = autoware_universe_utils::DebugPublisher;
 using DebugDoubleMsg = tier4_debug_msgs::msg::Float64Stamped;
 using DebugStringMsg = tier4_debug_msgs::msg::StringStamped;
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml
index 2efc32531432b..639d0c9ca084e 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/package.xml
@@ -45,6 +45,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>behaviortree_cpp_v3</depend>
@@ -65,7 +66,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
index e485ceb70f150..6878fcc083973 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -19,8 +19,8 @@
 #include "autoware/behavior_path_planner_common/utils/path_utils.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
 
+#include <autoware/universe_utils/ros/update_param.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
-#include <tier4_autoware_utils/ros/update_param.hpp>
 
 #include <tier4_planning_msgs/msg/path_change_module_id.hpp>
 
@@ -114,8 +114,9 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
       this, get_clock(), period_ns, std::bind(&BehaviorPathPlannerNode::run, this));
   }
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 std::vector<std::string> BehaviorPathPlannerNode::getWaitingApprovalModules()
@@ -471,7 +472,7 @@ void BehaviorPathPlannerNode::run()
   if (
     output.modified_goal &&
     /* has changed modified goal */ (
-      !planner_data_->prev_modified_goal || tier4_autoware_utils::calcDistance2d(
+      !planner_data_->prev_modified_goal || autoware_universe_utils::calcDistance2d(
                                               planner_data_->prev_modified_goal->pose.position,
                                               output.modified_goal->pose.position) > 0.01)) {
     PoseWithUuidStamped modified_goal = *(output.modified_goal);
@@ -565,27 +566,29 @@ void BehaviorPathPlannerNode::publish_turn_signal_debug_data(const TurnSignalDeb
   constexpr double scale_x = 1.0;
   constexpr double scale_y = 1.0;
   constexpr double scale_z = 1.0;
-  const auto scale = tier4_autoware_utils::createMarkerScale(scale_x, scale_y, scale_z);
-  const auto desired_section_color = tier4_autoware_utils::createMarkerColor(0.0, 1.0, 0.0, 0.999);
-  const auto required_section_color = tier4_autoware_utils::createMarkerColor(1.0, 0.0, 1.0, 0.999);
+  const auto scale = autoware_universe_utils::createMarkerScale(scale_x, scale_y, scale_z);
+  const auto desired_section_color =
+    autoware_universe_utils::createMarkerColor(0.0, 1.0, 0.0, 0.999);
+  const auto required_section_color =
+    autoware_universe_utils::createMarkerColor(1.0, 0.0, 1.0, 0.999);
 
   // intersection turn signal info
   {
     const auto & turn_signal_info = debug_data.intersection_turn_signal_info;
 
-    auto desired_start_marker = tier4_autoware_utils::createDefaultMarker(
+    auto desired_start_marker = autoware_universe_utils::createDefaultMarker(
       "map", current_time, "intersection_turn_signal_desired_start", 0L, Marker::SPHERE, scale,
       desired_section_color);
-    auto desired_end_marker = tier4_autoware_utils::createDefaultMarker(
+    auto desired_end_marker = autoware_universe_utils::createDefaultMarker(
       "map", current_time, "intersection_turn_signal_desired_end", 0L, Marker::SPHERE, scale,
       desired_section_color);
     desired_start_marker.pose = turn_signal_info.desired_start_point;
     desired_end_marker.pose = turn_signal_info.desired_end_point;
 
-    auto required_start_marker = tier4_autoware_utils::createDefaultMarker(
+    auto required_start_marker = autoware_universe_utils::createDefaultMarker(
       "map", current_time, "intersection_turn_signal_required_start", 0L, Marker::SPHERE, scale,
       required_section_color);
-    auto required_end_marker = tier4_autoware_utils::createDefaultMarker(
+    auto required_end_marker = autoware_universe_utils::createDefaultMarker(
       "map", current_time, "intersection_turn_signal_required_end", 0L, Marker::SPHERE, scale,
       required_section_color);
     required_start_marker.pose = turn_signal_info.required_start_point;
@@ -601,19 +604,19 @@ void BehaviorPathPlannerNode::publish_turn_signal_debug_data(const TurnSignalDeb
   {
     const auto & turn_signal_info = debug_data.behavior_turn_signal_info;
 
-    auto desired_start_marker = tier4_autoware_utils::createDefaultMarker(
+    auto desired_start_marker = autoware_universe_utils::createDefaultMarker(
       "map", current_time, "behavior_turn_signal_desired_start", 0L, Marker::CUBE, scale,
       desired_section_color);
-    auto desired_end_marker = tier4_autoware_utils::createDefaultMarker(
+    auto desired_end_marker = autoware_universe_utils::createDefaultMarker(
       "map", current_time, "behavior_turn_signal_desired_end", 0L, Marker::CUBE, scale,
       desired_section_color);
     desired_start_marker.pose = turn_signal_info.desired_start_point;
     desired_end_marker.pose = turn_signal_info.desired_end_point;
 
-    auto required_start_marker = tier4_autoware_utils::createDefaultMarker(
+    auto required_start_marker = autoware_universe_utils::createDefaultMarker(
       "map", current_time, "behavior_turn_signal_required_start", 0L, Marker::CUBE, scale,
       required_section_color);
-    auto required_end_marker = tier4_autoware_utils::createDefaultMarker(
+    auto required_end_marker = autoware_universe_utils::createDefaultMarker(
       "map", current_time, "behavior_turn_signal_required_end", 0L, Marker::CUBE, scale,
       required_section_color);
     required_start_marker.pose = turn_signal_info.required_start_point;
@@ -639,18 +642,18 @@ void BehaviorPathPlannerNode::publish_bounds(const PathWithLaneId & path)
   constexpr double color_a = 0.999;
 
   const auto current_time = path.header.stamp;
-  auto left_marker = tier4_autoware_utils::createDefaultMarker(
+  auto left_marker = autoware_universe_utils::createDefaultMarker(
     "map", current_time, "left_bound", 0L, Marker::LINE_STRIP,
-    tier4_autoware_utils::createMarkerScale(scale_x, scale_y, scale_z),
-    tier4_autoware_utils::createMarkerColor(color_r, color_g, color_b, color_a));
+    autoware_universe_utils::createMarkerScale(scale_x, scale_y, scale_z),
+    autoware_universe_utils::createMarkerColor(color_r, color_g, color_b, color_a));
   for (const auto lb : path.left_bound) {
     left_marker.points.push_back(lb);
   }
 
-  auto right_marker = tier4_autoware_utils::createDefaultMarker(
+  auto right_marker = autoware_universe_utils::createDefaultMarker(
     "map", current_time, "right_bound", 0L, Marker::LINE_STRIP,
-    tier4_autoware_utils::createMarkerScale(scale_x, scale_y, scale_z),
-    tier4_autoware_utils::createMarkerColor(color_r, color_g, color_b, color_a));
+    autoware_universe_utils::createMarkerScale(scale_x, scale_y, scale_z),
+    autoware_universe_utils::createMarkerColor(color_r, color_g, color_b, color_a));
   for (const auto rb : path.right_bound) {
     right_marker.points.push_back(rb);
   }
@@ -827,7 +830,7 @@ void BehaviorPathPlannerNode::onLateralOffset(const LateralOffset::ConstSharedPt
 SetParametersResult BehaviorPathPlannerNode::onSetParam(
   const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   rcl_interfaces::msg::SetParametersResult result;
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp
index f925fd24d5691..61c7d45b22c78 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp
@@ -17,8 +17,8 @@
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
-#include "tier4_autoware_utils/ros/debug_publisher.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
+#include "autoware/universe_utils/ros/debug_publisher.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <magic_enum.hpp>
@@ -466,10 +466,10 @@ void PlannerManager::publishDebugRootReferencePath(
 {
   using visualization_msgs::msg::Marker;
   MarkerArray array;
-  Marker m = tier4_autoware_utils::createDefaultMarker(
+  Marker m = autoware_universe_utils::createDefaultMarker(
     "map", clock_.now(), "root_reference_path", 0UL, Marker::LINE_STRIP,
-    tier4_autoware_utils::createMarkerScale(1.0, 1.0, 1.0),
-    tier4_autoware_utils::createMarkerColor(1.0, 0.0, 0.0, 1.0));
+    autoware_universe_utils::createMarkerScale(1.0, 1.0, 1.0),
+    autoware_universe_utils::createMarkerColor(1.0, 0.0, 0.0, 1.0));
   for (const auto & p : reference_path.path.points) m.points.push_back(p.point.pose.position);
   array.markers.push_back(m);
   m.points.clear();
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp
index 4fd9f6de4727f..0240f4af7e4ee 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/data_manager.hpp
@@ -102,7 +102,7 @@ struct DrivableAreaInfo
   struct Obstacle
   {
     geometry_msgs::msg::Pose pose;
-    tier4_autoware_utils::Polygon2d poly;
+    autoware_universe_utils::Polygon2d poly;
     bool is_left{true};
   };
   std::vector<DrivableLanes> drivable_lanes{};
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp
index 911d26ff19742..1e145b8983549 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp
@@ -25,14 +25,14 @@
 #include <autoware/objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp>
 #include <autoware/route_handler/route_handler.hpp>
 #include <autoware/rtc_interface/rtc_interface.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 #include <magic_enum.hpp>
 #include <motion_utils/marker/marker_helper.hpp>
 #include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/planning_behavior.hpp>
 #include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
@@ -61,9 +61,9 @@ using autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInt
 using autoware::rtc_interface::RTCInterface;
 using autoware_adapi_v1_msgs::msg::PlanningBehavior;
 using autoware_adapi_v1_msgs::msg::SteeringFactor;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::generateUUID;
 using steering_factor_interface::SteeringFactorInterface;
-using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::generateUUID;
 using tier4_planning_msgs::msg::AvoidanceDebugMsgArray;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using tier4_planning_msgs::msg::StopFactor;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
index 9cd0dabbcc765..78befd1451a0b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
@@ -17,7 +17,7 @@
 #define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__INTERFACE__SCENE_MODULE_MANAGER_INTERFACE_HPP_
 
 #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp"
-#include "tier4_autoware_utils/ros/parameter.hpp"
+#include "autoware/universe_utils/ros/parameter.hpp"
 
 #include <rclcpp/node.hpp>
 #include <rclcpp/parameter.hpp>
@@ -36,10 +36,10 @@
 namespace autoware::behavior_path_planner
 {
 
+using autoware_universe_utils::toHexString;
 using motion_utils::createDeadLineVirtualWallMarker;
 using motion_utils::createSlowDownVirtualWallMarker;
 using motion_utils::createStopVirtualWallMarker;
-using tier4_autoware_utils::toHexString;
 using unique_identifier_msgs::msg::UUID;
 using SceneModulePtr = std::shared_ptr<SceneModuleInterface>;
 using SceneModuleObserver = std::weak_ptr<SceneModuleInterface>;
@@ -111,7 +111,7 @@ class SceneModuleManagerInterface
 
   void publishVirtualWall() const
   {
-    using tier4_autoware_utils::appendMarkerArray;
+    using autoware_universe_utils::appendMarkerArray;
 
     MarkerArray markers{};
 
@@ -155,7 +155,7 @@ class SceneModuleManagerInterface
 
   void publishMarker() const
   {
-    using tier4_autoware_utils::appendMarkerArray;
+    using autoware_universe_utils::appendMarkerArray;
 
     MarkerArray info_markers{};
     MarkerArray debug_markers{};
@@ -271,7 +271,7 @@ class SceneModuleManagerInterface
 protected:
   void initInterface(rclcpp::Node * node, const std::vector<std::string> & rtc_types)
   {
-    using tier4_autoware_utils::getOrDeclareParameter;
+    using autoware_universe_utils::getOrDeclareParameter;
 
     // init manager configuration
     {
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/colors.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/colors.hpp
index b7372577b5dc2..4151f4dcacf19 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/colors.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/colors.hpp
@@ -14,7 +14,7 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__MARKER_UTILS__COLORS_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__MARKER_UTILS__COLORS_HPP_
 
-#include "tier4_autoware_utils/ros/marker_helper.hpp"
+#include "autoware/universe_utils/ros/marker_helper.hpp"
 
 #include "std_msgs/msg/detail/color_rgba__struct.hpp"
 
@@ -26,62 +26,62 @@ using std_msgs::msg::ColorRGBA;
 
 inline ColorRGBA red(float a = 0.99)
 {
-  return tier4_autoware_utils::createMarkerColor(1., 0., 0., a);
+  return autoware_universe_utils::createMarkerColor(1., 0., 0., a);
 }
 
 inline ColorRGBA green(float a = 0.99)
 {
-  return tier4_autoware_utils::createMarkerColor(0., 1., 0., a);
+  return autoware_universe_utils::createMarkerColor(0., 1., 0., a);
 }
 
 inline ColorRGBA blue(float a = 0.99)
 {
-  return tier4_autoware_utils::createMarkerColor(0., 0., 1., a);
+  return autoware_universe_utils::createMarkerColor(0., 0., 1., a);
 }
 
 inline ColorRGBA yellow(float a = 0.99)
 {
-  return tier4_autoware_utils::createMarkerColor(1., 1., 0., a);
+  return autoware_universe_utils::createMarkerColor(1., 1., 0., a);
 }
 
 inline ColorRGBA aqua(float a = 0.99)
 {
-  return tier4_autoware_utils::createMarkerColor(0., 1., 1., a);
+  return autoware_universe_utils::createMarkerColor(0., 1., 1., a);
 }
 
 inline ColorRGBA magenta(float a = 0.99)
 {
-  return tier4_autoware_utils::createMarkerColor(1., 0., 1., a);
+  return autoware_universe_utils::createMarkerColor(1., 0., 1., a);
 }
 
 inline ColorRGBA medium_orchid(float a = 0.99)
 {
-  return tier4_autoware_utils::createMarkerColor(0.729, 0.333, 0.827, a);
+  return autoware_universe_utils::createMarkerColor(0.729, 0.333, 0.827, a);
 }
 
 inline ColorRGBA light_pink(float a = 0.99)
 {
-  return tier4_autoware_utils::createMarkerColor(1., 0.713, 0.756, a);
+  return autoware_universe_utils::createMarkerColor(1., 0.713, 0.756, a);
 }
 
 inline ColorRGBA light_yellow(float a = 0.99)
 {
-  return tier4_autoware_utils::createMarkerColor(1., 1., 0.878, a);
+  return autoware_universe_utils::createMarkerColor(1., 1., 0.878, a);
 }
 
 inline ColorRGBA light_steel_blue(float a = 0.99)
 {
-  return tier4_autoware_utils::createMarkerColor(0.690, 0.768, 0.870, a);
+  return autoware_universe_utils::createMarkerColor(0.690, 0.768, 0.870, a);
 }
 
 inline ColorRGBA white(float a = 0.99)
 {
-  return tier4_autoware_utils::createMarkerColor(1., 1., 1., a);
+  return autoware_universe_utils::createMarkerColor(1., 1., 1., a);
 }
 
 inline ColorRGBA grey(float a = 0.99)
 {
-  return tier4_autoware_utils::createMarkerColor(.5, .5, .5, a);
+  return autoware_universe_utils::createMarkerColor(.5, .5, .5, a);
 }
 
 inline std::vector<ColorRGBA> colors_list(float a = 0.99)
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/utils.hpp
index 202893edb175b..fc0efc38ae617 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/utils.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/marker_utils/utils.hpp
@@ -42,13 +42,13 @@ using autoware::behavior_path_planner::utils::path_safety_checker::ExtendedPredi
 using autoware::behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObjects;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::PredictedPath;
+using autoware_universe_utils::Polygon2d;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Polygon;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
 using geometry_msgs::msg::Vector3;
 using std_msgs::msg::ColorRGBA;
-using tier4_autoware_utils::Polygon2d;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/turn_signal_decider.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/turn_signal_decider.hpp
index 13ef14c04b1b6..fa3236d7fd868 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/turn_signal_decider.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/turn_signal_decider.hpp
@@ -15,14 +15,14 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__TURN_SIGNAL_DECIDER_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__TURN_SIGNAL_DECIDER_HPP_
 
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 
 #include <autoware/behavior_path_planner_common/parameters.hpp>
 #include <autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp>
 #include <autoware/route_handler/route_handler.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <autoware_vehicle_msgs/msg/hazard_lights_command.hpp>
 #include <autoware_vehicle_msgs/msg/turn_indicators_command.hpp>
@@ -239,9 +239,9 @@ class TurnSignalDecider
     const ShiftedPath & path, const ShiftLine & shift_line, const lanelet::ConstLanelets & lanes,
     const autoware::vehicle_info_utils::VehicleInfo & vehicle_info) const
   {
+    using autoware_universe_utils::pose2transform;
+    using autoware_universe_utils::transformVector;
     using boost::geometry::intersects;
-    using tier4_autoware_utils::pose2transform;
-    using tier4_autoware_utils::transformVector;
 
     const auto footprint = vehicle_info.createFootprint();
     const auto start_itr = std::next(path.path.points.begin(), shift_line.start_idx);
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp
index b826380e8eb72..c0f953578a213 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/footprints.hpp
@@ -18,7 +18,7 @@
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp"
 
-#include <tier4_autoware_utils/ros/transform_listener.hpp>
+#include <autoware/universe_utils/ros/transform_listener.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <geometry_msgs/msg/pose.hpp>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp
index 0b818c18be2fc..de29886c27b4e 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__UTILS__DRIVABLE_AREA_EXPANSION__TYPES_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__UTILS__DRIVABLE_AREA_EXPANSION__TYPES_HPP_
 
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/path_point.hpp>
@@ -36,13 +36,13 @@ using geometry_msgs::msg::Pose;
 using tier4_planning_msgs::msg::PathPointWithLaneId;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
-using tier4_autoware_utils::LineString2d;
-using tier4_autoware_utils::MultiLineString2d;
-using tier4_autoware_utils::MultiPoint2d;
-using tier4_autoware_utils::MultiPolygon2d;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
-using tier4_autoware_utils::Segment2d;
+using autoware_universe_utils::LineString2d;
+using autoware_universe_utils::MultiLineString2d;
+using autoware_universe_utils::MultiPoint2d;
+using autoware_universe_utils::MultiPolygon2d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
+using autoware_universe_utils::Segment2d;
 
 using SegmentRtree = boost::geometry::index::rtree<Segment2d, boost::geometry::index::rstar<16>>;
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp
index 5841935c59da0..fa04ff04c8e44 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__UTILS__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__UTILS__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR__OCCUPANCY_GRID_BASED_COLLISION_DETECTOR_HPP_
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
index 3125324694588..8dfc590230064 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp
@@ -70,7 +70,7 @@ bool isCentroidWithinLanelet(const PredictedObject & object, const lanelet::Cons
 bool isPolygonOverlapLanelet(const PredictedObject & object, const lanelet::ConstLanelet & lanelet);
 
 bool isPolygonOverlapLanelet(
-  const PredictedObject & object, const tier4_autoware_utils::Polygon2d & lanelet_polygon);
+  const PredictedObject & object, const autoware_universe_utils::Polygon2d & lanelet_polygon);
 
 bool isPolygonOverlapLanelet(
   const PredictedObject & object, const lanelet::BasicPolygon2d & lanelet_polygon);
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp
index d713b00dd0299..421c495555c3c 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__UTILS__PATH_SAFETY_CHECKER__PATH_SAFETY_CHECKER_PARAMETERS_HPP_  // NOLINT
 #define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__UTILS__PATH_SAFETY_CHECKER__PATH_SAFETY_CHECKER_PARAMETERS_HPP_  // NOLINT
 
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
 #include <geometry_msgs/msg/pose.hpp>
@@ -32,9 +32,9 @@ namespace autoware::behavior_path_planner::utils::path_safety_checker
 {
 
 using autoware_perception_msgs::msg::PredictedObject;
+using autoware_universe_utils::Polygon2d;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
-using tier4_autoware_utils::Polygon2d;
 
 struct PoseWithVelocity
 {
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp
index 9d4f45f6fd982..92b7bab5c26ba 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp
@@ -18,8 +18,8 @@
 #include "autoware/behavior_path_planner_common/data_manager.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
 #include <autoware_perception_msgs/msg/predicted_path.hpp>
@@ -36,11 +36,11 @@ using autoware::vehicle_info_utils::VehicleInfo;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedPath;
 using autoware_perception_msgs::msg::Shape;
+using autoware_universe_utils::calcYawDeviation;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
-using tier4_autoware_utils::calcYawDeviation;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
 
 bool isTargetObjectOncoming(
   const geometry_msgs::msg::Pose & vehicle_pose, const geometry_msgs::msg::Pose & object_pose,
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp
index 631a2e3e3b9cd..1e31bafe3fa0b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp
@@ -15,9 +15,9 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__UTILS__PATH_SHIFTER__PATH_SHIFTER_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_PLANNER_COMMON__UTILS__PATH_SHIFTER__PATH_SHIFTER_HPP_
 
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 #include <rclcpp/clock.hpp>
 #include <rclcpp/logging.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <geometry_msgs/msg/point.hpp>
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
@@ -29,9 +29,9 @@
 #include <vector>
 namespace autoware::behavior_path_planner
 {
+using autoware_universe_utils::generateUUID;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
-using tier4_autoware_utils::generateUUID;
 using tier4_planning_msgs::msg::PathPointWithLaneId;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using unique_identifier_msgs::msg::UUID;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp
index ca0466b72389d..b8acf91724c6f 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp
@@ -19,7 +19,7 @@
 #include "motion_utils/trajectory/trajectory.hpp"
 
 #include <autoware/route_handler/route_handler.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_perception_msgs/msg/object_classification.hpp>
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
@@ -47,11 +47,11 @@ using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::PredictedPath;
 
 using autoware::route_handler::RouteHandler;
+using autoware_universe_utils::LinearRing2d;
+using autoware_universe_utils::Polygon2d;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Vector3;
-using tier4_autoware_utils::LinearRing2d;
-using tier4_autoware_utils::Polygon2d;
 using tier4_planning_msgs::msg::PathPointWithLaneId;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
@@ -145,7 +145,7 @@ bool checkCollisionWithExtraStoppingMargin(
  * @return Has collision or not
  */
 bool checkCollisionBetweenPathFootprintsAndObjects(
-  const tier4_autoware_utils::LinearRing2d & vehicle_footprint, const PathWithLaneId & ego_path,
+  const autoware_universe_utils::LinearRing2d & vehicle_footprint, const PathWithLaneId & ego_path,
   const PredictedObjects & dynamic_objects, const double margin);
 
 /**
@@ -153,7 +153,7 @@ bool checkCollisionBetweenPathFootprintsAndObjects(
  * @return Has collision or not
  */
 bool checkCollisionBetweenFootprintAndObjects(
-  const tier4_autoware_utils::LinearRing2d & vehicle_footprint, const Pose & ego_pose,
+  const autoware_universe_utils::LinearRing2d & vehicle_footprint, const Pose & ego_pose,
   const PredictedObjects & dynamic_objects, const double margin);
 
 /**
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml
index 6b20027610951..2a7b595db6b96 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/package.xml
@@ -50,6 +50,7 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_rtc_interface</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
@@ -59,7 +60,6 @@
   <depend>object_recognition_utils</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>traffic_light_utils</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp
index 799f7f86b1589..154ceb6dc6dd5 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp
@@ -18,9 +18,9 @@
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_utils.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 
 #include <lanelet2_core/primitives/CompoundPolygon.h>
 #include <lanelet2_core/primitives/Lanelet.h>
@@ -31,13 +31,13 @@
 namespace marker_utils
 {
 using autoware::behavior_path_planner::utils::calcPathArcLengthArray;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerOrientation;
+using autoware_universe_utils::createMarkerScale;
+using autoware_universe_utils::createPoint;
 using std_msgs::msg::ColorRGBA;
-using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerOrientation;
-using tier4_autoware_utils::createMarkerScale;
-using tier4_autoware_utils::createPoint;
 using visualization_msgs::msg::Marker;
 
 void addFootprintMarker(
@@ -49,13 +49,13 @@ void addFootprintMarker(
   const double base_to_rear = vehicle_info.rear_overhang_m;
 
   marker.points.push_back(
-    tier4_autoware_utils::calcOffsetPose(pose, base_to_front, -half_width, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(pose, base_to_front, -half_width, 0.0).position);
   marker.points.push_back(
-    tier4_autoware_utils::calcOffsetPose(pose, base_to_front, half_width, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(pose, base_to_front, half_width, 0.0).position);
   marker.points.push_back(
-    tier4_autoware_utils::calcOffsetPose(pose, -base_to_rear, half_width, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(pose, -base_to_rear, half_width, 0.0).position);
   marker.points.push_back(
-    tier4_autoware_utils::calcOffsetPose(pose, -base_to_rear, -half_width, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(pose, -base_to_rear, -half_width, 0.0).position);
   marker.points.push_back(marker.points.front());
 }
 
@@ -214,7 +214,7 @@ MarkerArray createShiftLengthMarkerArray(
   Marker marker = createDefaultMarker(
     "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, 0L, Marker::LINE_STRIP,
     createMarkerScale(0.1, 0.0, 0.0), createMarkerColor(r, g, b, 0.9));
-  marker.pose.orientation = tier4_autoware_utils::createMarkerOrientation(0, 0, 0, 1.0);
+  marker.pose.orientation = autoware_universe_utils::createMarkerOrientation(0, 0, 0, 1.0);
   marker.points.reserve(shift_distance.size());
 
   for (size_t i = 0; i < shift_distance.size(); ++i) {
@@ -271,7 +271,7 @@ MarkerArray createLaneletsAreaMarkerArray(
 
       "map", current_time, ns, static_cast<int32_t>(lanelet.id()), Marker::LINE_STRIP,
       createMarkerScale(0.1, 0.0, 0.0), createMarkerColor(r, g, b, 0.999));
-    marker.pose.orientation = tier4_autoware_utils::createMarkerOrientation(0, 0, 0, 1.0);
+    marker.pose.orientation = autoware_universe_utils::createMarkerOrientation(0, 0, 0, 1.0);
 
     if (!lanelet.polygon3d().empty()) {
       marker.points.reserve(lanelet.polygon3d().size() + 1);
@@ -299,7 +299,7 @@ MarkerArray createPolygonMarkerArray(
     "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, static_cast<int32_t>(lane_id), Marker::LINE_STRIP,
     createMarkerScale(w, 0.0, 0.0), createMarkerColor(r, g, b, 0.8));
 
-  marker.pose.orientation = tier4_autoware_utils::createMarkerOrientation(0, 0, 0, 1.0);
+  marker.pose.orientation = autoware_universe_utils::createMarkerOrientation(0, 0, 0, 1.0);
 
   if (!polygon.points.empty()) {
     marker.points.reserve(polygon.points.size() + 1);
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp
index c8a6d01dce3e8..f379d92afecf6 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/turn_signal_decider.cpp
@@ -16,15 +16,15 @@
 
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <motion_utils/constants.hpp>
 #include <motion_utils/resample/resample.hpp>
 #include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <limits>
 #include <queue>
@@ -577,8 +577,8 @@ geometry_msgs::msg::Pose TurnSignalDecider::get_required_end_point(
   const double terminal_yaw = tf2::getYaw(resampled_centerline.back().orientation);
   for (size_t i = 0; i < resampled_centerline.size(); ++i) {
     const double yaw = tf2::getYaw(resampled_centerline.at(i).orientation);
-    const double yaw_diff = tier4_autoware_utils::normalizeRadian(yaw - terminal_yaw);
-    if (std::fabs(yaw_diff) < tier4_autoware_utils::deg2rad(intersection_angle_threshold_deg_)) {
+    const double yaw_diff = autoware_universe_utils::normalizeRadian(yaw - terminal_yaw);
+    if (std::fabs(yaw_diff) < autoware_universe_utils::deg2rad(intersection_angle_threshold_deg_)) {
       return resampled_centerline.at(i);
     }
   }
@@ -634,9 +634,9 @@ void TurnSignalDecider::initialize_intersection_info()
 geometry_msgs::msg::Quaternion TurnSignalDecider::calc_orientation(
   const Point & src_point, const Point & dst_point)
 {
-  const double pitch = tier4_autoware_utils::calcElevationAngle(src_point, dst_point);
-  const double yaw = tier4_autoware_utils::calcAzimuthAngle(src_point, dst_point);
-  return tier4_autoware_utils::createQuaternionFromRPY(0.0, pitch, yaw);
+  const double pitch = autoware_universe_utils::calcElevationAngle(src_point, dst_point);
+  const double yaw = autoware_universe_utils::calcAzimuthAngle(src_point, dst_point);
+  return autoware_universe_utils::createQuaternionFromRPY(0.0, pitch, yaw);
 }
 
 std::pair<TurnSignalInfo, bool> TurnSignalDecider::getBehaviorTurnSignalInfo(
@@ -647,7 +647,7 @@ std::pair<TurnSignalInfo, bool> TurnSignalDecider::getBehaviorTurnSignalInfo(
   const double current_shift_length, const bool is_driving_forward, const bool egos_lane_is_shifted,
   const bool override_ego_stopped_check, const bool is_pull_out) const
 {
-  using tier4_autoware_utils::getPose;
+  using autoware_universe_utils::getPose;
 
   const auto & p = parameters;
   const auto & rh = route_handler;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
index 1dfc217d1cb39..32cced71eec74 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/drivable_area_expansion.cpp
@@ -20,11 +20,11 @@
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/path_projection.hpp"
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/types.hpp"
 
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #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/strategies/strategies.hpp>
 
@@ -50,8 +50,8 @@ void reuse_previous_poses(
   std::vector<double> cropped_curvatures;
   const auto ego_is_behind = prev_poses.size() > 1 && motion_utils::calcLongitudinalOffsetToSegment(
                                                         prev_poses, 0, ego_point) < 0.0;
-  const auto ego_is_far = !prev_poses.empty() &&
-                          tier4_autoware_utils::calcDistance2d(ego_point, prev_poses.front()) < 0.0;
+  const auto ego_is_far = !prev_poses.empty() && autoware_universe_utils::calcDistance2d(
+                                                   ego_point, prev_poses.front()) < 0.0;
   // make sure the reused points are not behind the current original drivable area
   LineString2d left_bound;
   LineString2d right_bound;
@@ -161,7 +161,7 @@ void apply_arc_length_range_smoothing(
     auto arc_length = boost::geometry::distance(
       bound_projections[path_idx].point, convert_point(bound[bound_idx + 1]));
     const auto update_arc_length_and_bound_expansions = [&](auto idx) {
-      arc_length += tier4_autoware_utils::calcDistance2d(bound[idx - 1], bound[idx]);
+      arc_length += autoware_universe_utils::calcDistance2d(bound[idx - 1], bound[idx]);
       bound_expansions[idx] = std::max(bound_expansions[idx], original_expansions[bound_idx]);
     };
     for (auto up_bound_idx = bound_idx + 2; up_bound_idx < bound.size(); ++up_bound_idx) {
@@ -200,7 +200,7 @@ void apply_bound_change_rate_limit(
   if (distances.empty()) return;
   const auto apply_max_vel = [&](auto & exp, const auto from, const auto to) {
     if (exp[from] > exp[to]) {
-      const auto arc_length = tier4_autoware_utils::calcDistance2d(bound[from], bound[to]);
+      const auto arc_length = autoware_universe_utils::calcDistance2d(bound[from], bound[to]);
       const auto smoothed_dist = exp[from] - arc_length * max_rate;
       exp[to] = std::max(exp[to], smoothed_dist);
     }
@@ -284,12 +284,12 @@ void expand_bound(
   for (auto idx = 1LU; idx < bound.size(); ++idx) {
     bool is_intersecting = false;
     for (auto succ_idx = idx + 1; succ_idx < bound.size(); ++succ_idx) {
-      const auto intersection = tier4_autoware_utils::intersect(
+      const auto intersection = autoware_universe_utils::intersect(
         bound[idx - 1], bound[idx], bound[succ_idx - 1], bound[succ_idx]);
       if (
         intersection &&
-        tier4_autoware_utils::calcDistance2d(*intersection, bound[idx - 1]) < 1e-3 &&
-        tier4_autoware_utils::calcDistance2d(*intersection, bound[idx]) < 1e-3) {
+        autoware_universe_utils::calcDistance2d(*intersection, bound[idx - 1]) < 1e-3 &&
+        autoware_universe_utils::calcDistance2d(*intersection, bound[idx]) < 1e-3) {
         idx = succ_idx;
         is_intersecting = true;
       }
@@ -363,7 +363,7 @@ void expand_drivable_area(
 {
   // skip if no bounds or not enough points to calculate path curvature
   if (path.points.size() < 3 || path.left_bound.empty() || path.right_bound.empty()) return;
-  tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch;
+  autoware_universe_utils::StopWatch<std::chrono::milliseconds> stop_watch;
   stop_watch.tic("overall");
   stop_watch.tic("preprocessing");
   const auto & params = planner_data->drivable_area_expansion_parameters;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp
index e465788c54b8a..b01669871276a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/footprints.cpp
@@ -16,8 +16,8 @@
 
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/parameters.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <boost/geometry/strategies/transform/matrix_transformers.hpp>
 
@@ -37,7 +37,8 @@ Polygon2d create_footprint(const geometry_msgs::msg::Pose & pose, const Polygon2
 {
   const auto angle = tf2::getYaw(pose.orientation);
   return translate_polygon(
-    tier4_autoware_utils::rotatePolygon(base_footprint, angle), pose.position.x, pose.position.y);
+    autoware_universe_utils::rotatePolygon(base_footprint, angle), pose.position.x,
+    pose.position.y);
 }
 
 MultiPolygon2d create_object_footprints(
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
index 69bedfd52a372..be7a5cac7f0a0 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp
@@ -16,12 +16,12 @@
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/drivable_area_expansion.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <motion_utils/resample/resample.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <boost/geometry/algorithms/is_valid.hpp>
 
@@ -55,8 +55,8 @@ std::vector<T> removeSharpPoints(const std::vector<T> & points)
     const auto product =
       std::inner_product(vec_1to2.begin(), vec_1to2.end(), vec_3to2.begin(), 0.0);
 
-    const auto dist_1to2 = tier4_autoware_utils::calcDistance3d(p1, p2);
-    const auto dist_3to2 = tier4_autoware_utils::calcDistance3d(p3, p2);
+    const auto dist_1to2 = autoware_universe_utils::calcDistance3d(p1, p2);
+    const auto dist_3to2 = autoware_universe_utils::calcDistance3d(p3, p2);
 
     constexpr double epsilon = 1e-3;
 
@@ -82,9 +82,9 @@ template <class T>
 size_t findNearestSegmentIndexFromLateralDistance(
   const std::vector<T> & points, const geometry_msgs::msg::Point & target_point)
 {
-  using tier4_autoware_utils::calcAzimuthAngle;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::normalizeRadian;
+  using autoware_universe_utils::calcAzimuthAngle;
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::normalizeRadian;
 
   std::optional<size_t> closest_idx{std::nullopt};
   double min_lateral_dist = std::numeric_limits<double>::max();
@@ -119,9 +119,9 @@ size_t findNearestSegmentIndexFromLateralDistance(
   const std::vector<T> & points, const geometry_msgs::msg::Pose & target_point,
   const double yaw_threshold)
 {
-  using tier4_autoware_utils::calcAzimuthAngle;
-  using tier4_autoware_utils::calcDistance2d;
-  using tier4_autoware_utils::normalizeRadian;
+  using autoware_universe_utils::calcAzimuthAngle;
+  using autoware_universe_utils::calcDistance2d;
+  using autoware_universe_utils::normalizeRadian;
 
   std::optional<size_t> closest_idx{std::nullopt};
   double min_lateral_dist = std::numeric_limits<double>::max();
@@ -245,7 +245,7 @@ std::optional<std::pair<size_t, geometry_msgs::msg::Point>> intersectBound(
     static_cast<int>(bound.size()) - 1, static_cast<int>(std::max(seg_idx1, seg_idx2)) + 1 + 5));
   for (int i = start_idx; i < static_cast<int>(end_idx); ++i) {
     const auto intersect_point =
-      tier4_autoware_utils::intersect(p1, p2, bound.at(i), bound.at(i + 1));
+      autoware_universe_utils::intersect(p1, p2, bound.at(i), bound.at(i + 1));
     if (intersect_point) {
       std::pair<size_t, geometry_msgs::msg::Point> result;
       result.first = static_cast<size_t>(i);
@@ -261,7 +261,7 @@ double calcSquaredDistanceFromPointToSegment(
   const geometry_msgs::msg::Point & segment_end_point,
   const geometry_msgs::msg::Point & target_point)
 {
-  using tier4_autoware_utils::calcSquaredDistance2d;
+  using autoware_universe_utils::calcSquaredDistance2d;
 
   const auto & a = segment_start_point;
   const auto & b = segment_end_point;
@@ -437,7 +437,7 @@ std::vector<PolygonPoint> concatenateTwoPolygons(
     double min_dist_to_intersection = std::numeric_limits<double>::max();
     PolygonPoint closest_intersect_point;
     for (size_t i = 0; i < get_in_poly().size() - 1; ++i) {
-      const auto intersection = tier4_autoware_utils::intersect(
+      const auto intersection = autoware_universe_utils::intersect(
         get_out_poly().at(curr_idx).point, get_out_poly().at(next_idx).point,
         get_in_poly().at(i).point, get_in_poly().at(i + 1).point);
       if (!intersection) {
@@ -454,7 +454,7 @@ std::vector<PolygonPoint> concatenateTwoPolygons(
 
       const auto intersect_point = PolygonPoint{*intersection, 0, 0.0, 0.0};
       const double dist_to_intersection =
-        tier4_autoware_utils::calcDistance2d(get_out_poly().at(curr_idx).point, *intersection);
+        autoware_universe_utils::calcDistance2d(get_out_poly().at(curr_idx).point, *intersection);
       if (dist_to_intersection < min_dist_to_intersection) {
         closest_idx = i;
         min_dist_to_intersection = dist_to_intersection;
@@ -640,7 +640,7 @@ std::vector<Point> updateBoundary(
 
 namespace autoware::behavior_path_planner::utils
 {
-using tier4_autoware_utils::Point2d;
+using autoware_universe_utils::Point2d;
 
 std::optional<size_t> getOverlappedLaneletId(const std::vector<DrivableLanes> & lanes)
 {
@@ -852,7 +852,7 @@ void generateDrivableArea(
   PathWithLaneId & path, const double vehicle_length, const double offset,
   const bool is_driving_forward)
 {
-  using tier4_autoware_utils::calcOffsetPose;
+  using autoware_universe_utils::calcOffsetPose;
 
   // remove path points which is close to the previous point
   PathWithLaneId resampled_path{};
@@ -873,7 +873,7 @@ void generateDrivableArea(
   // add last point of path if enough far from the one of resampled path
   constexpr double th_last_point_distance = 0.3;
   if (
-    tier4_autoware_utils::calcDistance2d(
+    autoware_universe_utils::calcDistance2d(
       resampled_path.points.back().point.pose.position, path.points.back().point.pose.position) >
     th_last_point_distance) {
     resampled_path.points.push_back(path.points.back());
@@ -946,7 +946,7 @@ void generateDrivableArea(
       p_line.push_back(p2);
       bool intersection_found = false;
       for (size_t j = i + 2; j < bound.size() - 1; j++) {
-        const double distance = tier4_autoware_utils::calcDistance2d(bound.at(i), bound.at(j));
+        const double distance = autoware_universe_utils::calcDistance2d(bound.at(i), bound.at(j));
         if (distance > intersection_check_distance) {
           break;
         }
@@ -1045,7 +1045,7 @@ void extractObstaclesFromDrivableArea(
     std::vector<Point> edge_points;
     for (int i = 0; i < static_cast<int>(obstacle.poly.outer().size()) - 1;
          ++i) {  // NOTE: There is a duplicated points
-      edge_points.push_back(tier4_autoware_utils::createPoint(
+      edge_points.push_back(autoware_universe_utils::createPoint(
         obstacle.poly.outer().at(i).x(), obstacle.poly.outer().at(i).y(),
         path.points.at(nearest_path_idx).point.pose.position.z));
     }
@@ -1302,12 +1302,12 @@ std::pair<std::vector<lanelet::ConstPoint3d>, bool> getBoundWithFreeSpaceAreas(
   const std::vector<lanelet::ConstPoint3d> & other_side_bound,
   const std::shared_ptr<const PlannerData> planner_data, const bool is_left)
 {
+  using autoware_universe_utils::getPose;
+  using autoware_universe_utils::pose2transform;
+  using autoware_universe_utils::transformVector;
   using lanelet::utils::to2D;
   using lanelet::utils::conversion::toGeomMsgPt;
   using lanelet::utils::conversion::toLaneletPoint;
-  using tier4_autoware_utils::getPose;
-  using tier4_autoware_utils::pose2transform;
-  using tier4_autoware_utils::transformVector;
 
   const auto & route_handler = planner_data->route_handler;
   const auto & ego_pose = planner_data->self_odometry->pose.pose;
@@ -1382,12 +1382,12 @@ std::pair<std::vector<lanelet::ConstPoint3d>, bool> getBoundWithFreeSpaceAreas(
       return bound;
     }
 
-    const auto p_offset = tier4_autoware_utils::calcOffsetPose(
+    const auto p_offset = autoware_universe_utils::calcOffsetPose(
       ego_pose, (trim_behind_bound ? -100.0 : 100.0), (is_left ? 0.1 : -0.1), 0.0);
 
     std::vector<lanelet::ConstPoint3d> ret;
     for (size_t i = 1; i < bound.size(); ++i) {
-      const auto intersect = tier4_autoware_utils::intersect(
+      const auto intersect = autoware_universe_utils::intersect(
         ego_pose.position, p_offset.position, toGeomMsgPt(bound.at(i - 1)),
         toGeomMsgPt(bound.at(i)));
 
@@ -1492,7 +1492,7 @@ std::vector<geometry_msgs::msg::Point> postProcess(
         const auto cp = lanelet::utils::conversion::toGeomMsgPt(bound_p);
         if (bound.empty()) {
           bound.push_back(cp);
-        } else if (tier4_autoware_utils::calcDistance2d(cp, bound.back()) > overlap_threshold) {
+        } else if (autoware_universe_utils::calcDistance2d(cp, bound.back()) > overlap_threshold) {
           bound.push_back(cp);
         }
       }
@@ -1596,7 +1596,7 @@ std::vector<geometry_msgs::msg::Point> postProcess(
   // Insert middle points
   for (size_t i = start_idx + 1; i <= goal_idx; ++i) {
     const auto & next_point = tmp_bound.at(i);
-    const double dist = tier4_autoware_utils::calcDistance2d(processed_bound.back(), next_point);
+    const double dist = autoware_universe_utils::calcDistance2d(processed_bound.back(), next_point);
     if (dist > overlap_threshold) {
       processed_bound.push_back(next_point);
     }
@@ -1604,7 +1604,8 @@ std::vector<geometry_msgs::msg::Point> postProcess(
 
   // Insert a goal point
   if (
-    tier4_autoware_utils::calcDistance2d(processed_bound.back(), goal_point) > overlap_threshold) {
+    autoware_universe_utils::calcDistance2d(processed_bound.back(), goal_point) >
+    overlap_threshold) {
     processed_bound.push_back(goal_point);
   }
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
index 0ff327e187aba..875de7ff18400 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp
@@ -14,16 +14,16 @@
 
 #include "autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
 
 #include <vector>
 
 namespace autoware::behavior_path_planner
 {
-using tier4_autoware_utils::createQuaternionFromYaw;
-using tier4_autoware_utils::normalizeRadian;
-using tier4_autoware_utils::transformPose;
+using autoware_universe_utils::createQuaternionFromYaw;
+using autoware_universe_utils::normalizeRadian;
+using autoware_universe_utils::transformPose;
 
 int discretizeAngle(const double theta, const int theta_size)
 {
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
index 03df52efad03e..b7c468ebd3d83 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/geometric_parallel_parking.cpp
@@ -17,8 +17,8 @@
 #include "autoware/behavior_path_planner_common/utils/parking_departure/utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/math/unit_conversion.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/math/unit_conversion.hpp"
 
 #include <interpolation/spline_interpolation.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
@@ -31,14 +31,14 @@
 #include <utility>
 #include <vector>
 
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::inverseTransformPoint;
+using autoware_universe_utils::normalizeRadian;
+using autoware_universe_utils::transformPose;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using lanelet::utils::getArcCoordinates;
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::inverseTransformPoint;
-using tier4_autoware_utils::normalizeRadian;
-using tier4_autoware_utils::transformPose;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 namespace autoware::behavior_path_planner
@@ -132,10 +132,10 @@ std::vector<PathWithLaneId> GeometricParallelParking::generatePullOverPaths(
   // check the continuity of straight path and arc path
   const Pose & road_path_last_pose = straight_path.points.back().point.pose;
   const Pose & arc_path_first_pose = arc_paths.front().points.front().point.pose;
-  const double yaw_diff = std::abs(tier4_autoware_utils::normalizeRadian(
+  const double yaw_diff = std::abs(autoware_universe_utils::normalizeRadian(
     tf2::getYaw(road_path_last_pose.orientation) - tf2::getYaw(arc_path_first_pose.orientation)));
   const double distance = calcDistance2d(road_path_last_pose, arc_path_first_pose);
-  if (yaw_diff > tier4_autoware_utils::deg2rad(5.0) || distance > 0.1) {
+  if (yaw_diff > autoware_universe_utils::deg2rad(5.0) || distance > 0.1) {
     return std::vector<PathWithLaneId>{};
   }
 
@@ -282,10 +282,10 @@ bool GeometricParallelParking::planPullOut(
     // check the continuity of straight path and arc path
     const Pose & road_path_first_pose = road_center_line_path.points.front().point.pose;
     const Pose & arc_path_last_pose = arc_paths.back().points.back().point.pose;
-    const double yaw_diff = std::abs(tier4_autoware_utils::normalizeRadian(
+    const double yaw_diff = std::abs(autoware_universe_utils::normalizeRadian(
       tf2::getYaw(road_path_first_pose.orientation) - tf2::getYaw(arc_path_last_pose.orientation)));
     const double distance = calcDistance2d(road_path_first_pose, arc_path_last_pose);
-    if (yaw_diff > tier4_autoware_utils::deg2rad(5.0) || distance > 0.1) {
+    if (yaw_diff > autoware_universe_utils::deg2rad(5.0) || distance > 0.1) {
       continue;
     }
 
@@ -399,7 +399,7 @@ std::vector<PathWithLaneId> GeometricParallelParking::planOneTrial(
   // combine road and shoulder lanes
   // cut the road lanes up to start_pose to prevent unintended processing for overlapped lane
   lanelet::ConstLanelets lanes{};
-  tier4_autoware_utils::Point2d start_point2d(start_pose.position.x, start_pose.position.y);
+  autoware_universe_utils::Point2d start_point2d(start_pose.position.x, start_pose.position.y);
   for (const auto & lane : road_lanes) {
     if (boost::geometry::within(start_point2d, lane.polygon2d().basicPolygon())) {
       lanes.push_back(lane);
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
index 0770ccc514086..0514680f49d94 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp
@@ -17,8 +17,8 @@
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
 
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 #include <motion_utils/trajectory/interpolation.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <boost/geometry/algorithms/distance.hpp>
 
@@ -71,16 +71,16 @@ bool isPolygonOverlapLanelet(const PredictedObject & object, const lanelet::Cons
 }
 
 bool isPolygonOverlapLanelet(
-  const PredictedObject & object, const tier4_autoware_utils::Polygon2d & lanelet_polygon)
+  const PredictedObject & object, const autoware_universe_utils::Polygon2d & lanelet_polygon)
 {
-  const auto object_polygon = tier4_autoware_utils::toPolygon2d(object);
+  const auto object_polygon = autoware_universe_utils::toPolygon2d(object);
   return !boost::geometry::disjoint(lanelet_polygon, object_polygon);
 }
 
 bool isPolygonOverlapLanelet(
   const PredictedObject & object, const lanelet::BasicPolygon2d & lanelet_polygon)
 {
-  const auto object_polygon = tier4_autoware_utils::toPolygon2d(object);
+  const auto object_polygon = autoware_universe_utils::toPolygon2d(object);
   return !boost::geometry::disjoint(lanelet_polygon, object_polygon);
 }
 
@@ -315,7 +315,7 @@ ExtendedPredictedObject transform(
     for (double t = 0.0; t < safety_check_time_horizon + 1e-3; t += safety_check_time_resolution) {
       const auto obj_pose = object_recognition_utils::calcInterpolatedPose(path, t);
       if (obj_pose) {
-        const auto obj_polygon = tier4_autoware_utils::toPolygon2d(*obj_pose, object.shape);
+        const auto obj_polygon = autoware_universe_utils::toPolygon2d(*obj_pose, object.shape);
         extended_object.predicted_paths[i].path.emplace_back(
           t, *obj_pose, obj_velocity, obj_polygon);
       }
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
index 4f47aa8964f0f..4b3910e351f86 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp
@@ -15,10 +15,10 @@
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp"
 
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
+#include "autoware/universe_utils/ros/uuid_helper.hpp"
 #include "interpolation/linear_interpolation.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
-#include "tier4_autoware_utils/ros/uuid_helper.hpp"
 
 #include <boost/geometry/algorithms/correct.hpp>
 #include <boost/geometry/algorithms/intersects.hpp>
@@ -55,13 +55,13 @@ bool isTargetObjectFront(
 {
   const double base_to_front = vehicle_info.max_longitudinal_offset_m;
   const auto ego_offset_pose =
-    tier4_autoware_utils::calcOffsetPose(ego_pose, base_to_front, 0.0, 0.0);
+    autoware_universe_utils::calcOffsetPose(ego_pose, base_to_front, 0.0, 0.0);
 
   // check all edges in the polygon
   const auto obj_polygon_outer = obj_polygon.outer();
   for (const auto & obj_edge : obj_polygon_outer) {
-    const auto obj_point = tier4_autoware_utils::createPoint(obj_edge.x(), obj_edge.y(), 0.0);
-    if (tier4_autoware_utils::calcLongitudinalDeviation(ego_offset_pose, obj_point) > 0.0) {
+    const auto obj_point = autoware_universe_utils::createPoint(obj_edge.x(), obj_edge.y(), 0.0);
+    if (autoware_universe_utils::calcLongitudinalDeviation(ego_offset_pose, obj_point) > 0.0) {
       return true;
     }
   }
@@ -75,12 +75,12 @@ bool isTargetObjectFront(
 {
   const double base_to_front = vehicle_info.max_longitudinal_offset_m;
   const auto ego_point =
-    tier4_autoware_utils::calcOffsetPose(ego_pose, base_to_front, 0.0, 0.0).position;
+    autoware_universe_utils::calcOffsetPose(ego_pose, base_to_front, 0.0, 0.0).position;
 
   // check all edges in the polygon
   const auto obj_polygon_outer = obj_polygon.outer();
   for (const auto & obj_edge : obj_polygon_outer) {
-    const auto obj_point = tier4_autoware_utils::createPoint(obj_edge.x(), obj_edge.y(), 0.0);
+    const auto obj_point = autoware_universe_utils::createPoint(obj_edge.x(), obj_edge.y(), 0.0);
     if (motion_utils::isTargetPointFront(path.points, ego_point, obj_point)) {
       return true;
     }
@@ -111,13 +111,13 @@ Polygon2d createExtendedPolygon(
   }
 
   const auto p1 =
-    tier4_autoware_utils::calcOffsetPose(base_link_pose, forward_lon_offset, lat_offset, 0.0);
+    autoware_universe_utils::calcOffsetPose(base_link_pose, forward_lon_offset, lat_offset, 0.0);
   const auto p2 =
-    tier4_autoware_utils::calcOffsetPose(base_link_pose, forward_lon_offset, -lat_offset, 0.0);
+    autoware_universe_utils::calcOffsetPose(base_link_pose, forward_lon_offset, -lat_offset, 0.0);
   const auto p3 =
-    tier4_autoware_utils::calcOffsetPose(base_link_pose, backward_lon_offset, -lat_offset, 0.0);
+    autoware_universe_utils::calcOffsetPose(base_link_pose, backward_lon_offset, -lat_offset, 0.0);
   const auto p4 =
-    tier4_autoware_utils::calcOffsetPose(base_link_pose, backward_lon_offset, lat_offset, 0.0);
+    autoware_universe_utils::calcOffsetPose(base_link_pose, backward_lon_offset, lat_offset, 0.0);
 
   Polygon2d polygon;
   appendPointToPolygon(polygon, p1.position);
@@ -125,16 +125,16 @@ Polygon2d createExtendedPolygon(
   appendPointToPolygon(polygon, p3.position);
   appendPointToPolygon(polygon, p4.position);
   appendPointToPolygon(polygon, p1.position);
-  return tier4_autoware_utils::isClockwise(polygon)
+  return autoware_universe_utils::isClockwise(polygon)
            ? polygon
-           : tier4_autoware_utils::inverseClockwise(polygon);
+           : autoware_universe_utils::inverseClockwise(polygon);
 }
 
 Polygon2d createExtendedPolygon(
   const Pose & obj_pose, const Shape & shape, const double lon_length, const double lat_margin,
   const bool is_stopped_obj, CollisionCheckDebug & debug)
 {
-  const auto obj_polygon = tier4_autoware_utils::toPolygon2d(obj_pose, shape);
+  const auto obj_polygon = autoware_universe_utils::toPolygon2d(obj_pose, shape);
   if (obj_polygon.outer().empty()) {
     return obj_polygon;
   }
@@ -145,8 +145,8 @@ Polygon2d createExtendedPolygon(
   double min_y = std::numeric_limits<double>::max();
   const auto obj_polygon_outer = obj_polygon.outer();
   for (const auto & polygon_p : obj_polygon_outer) {
-    const auto obj_p = tier4_autoware_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0);
-    const auto transformed_p = tier4_autoware_utils::inverseTransformPoint(obj_p, obj_pose);
+    const auto obj_p = autoware_universe_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0);
+    const auto transformed_p = autoware_universe_utils::inverseTransformPoint(obj_p, obj_pose);
 
     max_x = std::max(transformed_p.x, max_x);
     min_x = std::min(transformed_p.x, min_x);
@@ -168,13 +168,13 @@ Polygon2d createExtendedPolygon(
   }
 
   const auto p1 =
-    tier4_autoware_utils::calcOffsetPose(obj_pose, forward_lon_offset, left_lat_offset, 0.0);
+    autoware_universe_utils::calcOffsetPose(obj_pose, forward_lon_offset, left_lat_offset, 0.0);
   const auto p2 =
-    tier4_autoware_utils::calcOffsetPose(obj_pose, forward_lon_offset, right_lat_offset, 0.0);
+    autoware_universe_utils::calcOffsetPose(obj_pose, forward_lon_offset, right_lat_offset, 0.0);
   const auto p3 =
-    tier4_autoware_utils::calcOffsetPose(obj_pose, backward_lon_offset, right_lat_offset, 0.0);
+    autoware_universe_utils::calcOffsetPose(obj_pose, backward_lon_offset, right_lat_offset, 0.0);
   const auto p4 =
-    tier4_autoware_utils::calcOffsetPose(obj_pose, backward_lon_offset, left_lat_offset, 0.0);
+    autoware_universe_utils::calcOffsetPose(obj_pose, backward_lon_offset, left_lat_offset, 0.0);
 
   Polygon2d polygon;
   appendPointToPolygon(polygon, p1.position);
@@ -182,9 +182,9 @@ Polygon2d createExtendedPolygon(
   appendPointToPolygon(polygon, p3.position);
   appendPointToPolygon(polygon, p4.position);
   appendPointToPolygon(polygon, p1.position);
-  return tier4_autoware_utils::isClockwise(polygon)
+  return autoware_universe_utils::isClockwise(polygon)
            ? polygon
-           : tier4_autoware_utils::inverseClockwise(polygon);
+           : autoware_universe_utils::inverseClockwise(polygon);
 }
 
 Polygon2d createExtendedPolygonAlongPath(
@@ -224,49 +224,49 @@ Polygon2d createExtendedPolygonAlongPath(
 
   {
     const auto p_offset =
-      tier4_autoware_utils::calcOffsetPose(base_link_pose, backward_lon_offset, lat_offset, 0.0);
+      autoware_universe_utils::calcOffsetPose(base_link_pose, backward_lon_offset, lat_offset, 0.0);
     appendPointToPolygon(polygon, p_offset.position);
   }
 
   for (size_t i = start_idx + 1; i < end_idx + 1; ++i) {
-    const auto p = tier4_autoware_utils::getPose(planned_path.points.at(i));
-    const auto p_offset = tier4_autoware_utils::calcOffsetPose(p, 0.0, lat_offset, 0.0);
+    const auto p = autoware_universe_utils::getPose(planned_path.points.at(i));
+    const auto p_offset = autoware_universe_utils::calcOffsetPose(p, 0.0, lat_offset, 0.0);
     appendPointToPolygon(polygon, p_offset.position);
   }
 
   {
-    const auto p_offset =
-      tier4_autoware_utils::calcOffsetPose(lon_offset_pose.value(), base_to_front, lat_offset, 0.0);
+    const auto p_offset = autoware_universe_utils::calcOffsetPose(
+      lon_offset_pose.value(), base_to_front, lat_offset, 0.0);
     appendPointToPolygon(polygon, p_offset.position);
   }
 
   {
-    const auto p_offset = tier4_autoware_utils::calcOffsetPose(
+    const auto p_offset = autoware_universe_utils::calcOffsetPose(
       lon_offset_pose.value(), base_to_front, -lat_offset, 0.0);
     appendPointToPolygon(polygon, p_offset.position);
   }
 
   for (size_t i = end_idx; i > start_idx; --i) {
-    const auto p = tier4_autoware_utils::getPose(planned_path.points.at(i));
-    const auto p_offset = tier4_autoware_utils::calcOffsetPose(p, 0.0, -lat_offset, 0.0);
+    const auto p = autoware_universe_utils::getPose(planned_path.points.at(i));
+    const auto p_offset = autoware_universe_utils::calcOffsetPose(p, 0.0, -lat_offset, 0.0);
     appendPointToPolygon(polygon, p_offset.position);
   }
 
   {
-    const auto p_offset =
-      tier4_autoware_utils::calcOffsetPose(base_link_pose, backward_lon_offset, -lat_offset, 0.0);
+    const auto p_offset = autoware_universe_utils::calcOffsetPose(
+      base_link_pose, backward_lon_offset, -lat_offset, 0.0);
     appendPointToPolygon(polygon, p_offset.position);
   }
 
   {
     const auto p_offset =
-      tier4_autoware_utils::calcOffsetPose(base_link_pose, backward_lon_offset, lat_offset, 0.0);
+      autoware_universe_utils::calcOffsetPose(base_link_pose, backward_lon_offset, lat_offset, 0.0);
     appendPointToPolygon(polygon, p_offset.position);
   }
 
-  return tier4_autoware_utils::isClockwise(polygon)
+  return autoware_universe_utils::isClockwise(polygon)
            ? polygon
-           : tier4_autoware_utils::inverseClockwise(polygon);
+           : autoware_universe_utils::inverseClockwise(polygon);
 }
 
 std::vector<Polygon2d> createExtendedPolygonsFromPoseWithVelocityStamped(
@@ -283,7 +283,7 @@ std::vector<Polygon2d> createExtendedPolygonsFromPoseWithVelocityStamped(
     const double width = vehicle_info.vehicle_width_m + lat_margin * 2;
 
     const auto polygon =
-      tier4_autoware_utils::toFootprint(pose, base_to_front, base_to_rear, width);
+      autoware_universe_utils::toFootprint(pose, base_to_front, base_to_rear, width);
     polygons.push_back(polygon);
   }
 
@@ -350,7 +350,7 @@ std::optional<PoseWithVelocityStamped> calcInterpolatedPoseWithVelocity(
       const double time_step = pt.time - prev_pt.time;
       const double ratio = std::clamp(offset / time_step, 0.0, 1.0);
       const auto interpolated_pose =
-        tier4_autoware_utils::calcInterpolatedPose(prev_pt.pose, pt.pose, ratio, false);
+        autoware_universe_utils::calcInterpolatedPose(prev_pt.pose, pt.pose, ratio, false);
       const double interpolated_velocity =
         interpolation::lerp(prev_pt.velocity, pt.velocity, ratio);
       return PoseWithVelocityStamped{relative_time, interpolated_pose, interpolated_velocity};
@@ -378,7 +378,7 @@ std::optional<PoseWithVelocityAndPolygonStamped> getInterpolatedPoseWithVelocity
   const auto & velocity = interpolation_result->velocity;
 
   const auto ego_polygon =
-    tier4_autoware_utils::toFootprint(pose, base_to_front, base_to_rear, width);
+    autoware_universe_utils::toFootprint(pose, base_to_front, base_to_rear, width);
 
   return PoseWithVelocityAndPolygonStamped{current_time, pose, velocity, ego_polygon};
 }
@@ -406,7 +406,7 @@ std::optional<PoseWithVelocityAndPolygonStamped> getInterpolatedPoseWithVelocity
   const auto & pose = interpolation_result->pose;
   const auto & velocity = interpolation_result->velocity;
 
-  const auto obj_polygon = tier4_autoware_utils::toPolygon2d(pose, shape);
+  const auto obj_polygon = autoware_universe_utils::toPolygon2d(pose, shape);
 
   return PoseWithVelocityAndPolygonStamped{current_time, pose, velocity, obj_polygon};
 }
@@ -691,10 +691,11 @@ CollisionCheckDebugPair createObjectDebug(const ExtendedPredictedObject & obj)
 {
   CollisionCheckDebug debug;
   debug.current_obj_pose = obj.initial_pose.pose;
-  debug.extended_obj_polygon = tier4_autoware_utils::toPolygon2d(obj.initial_pose.pose, obj.shape);
+  debug.extended_obj_polygon =
+    autoware_universe_utils::toPolygon2d(obj.initial_pose.pose, obj.shape);
   debug.obj_shape = obj.shape;
   debug.current_twist = obj.initial_twist.twist;
-  return {tier4_autoware_utils::toBoostUUID(obj.uuid), debug};
+  return {autoware_universe_utils::toBoostUUID(obj.uuid), debug};
 }
 
 void updateCollisionCheckDebugMap(
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp
index 872cc69d6bde9..2e79e54499c3a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp
@@ -17,12 +17,12 @@
 #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <interpolation/spline_interpolation.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <motion_utils/resample/resample.hpp>
 #include <motion_utils/trajectory/interpolation.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <tf2/utils.h>
 
@@ -50,7 +50,7 @@ std::vector<double> calcPathArcLengthArray(
 
   for (size_t i = bounded_start + 1; i < bounded_end; ++i) {
     sum +=
-      tier4_autoware_utils::calcDistance2d(path.points.at(i).point, path.points.at(i - 1).point);
+      autoware_universe_utils::calcDistance2d(path.points.at(i).point, path.points.at(i - 1).point);
     out.push_back(sum);
   }
   return out;
@@ -162,7 +162,7 @@ size_t getIdxByArclength(
     throw std::runtime_error("[getIdxByArclength] path points must be > 0");
   }
 
-  using tier4_autoware_utils::calcDistance2d;
+  using autoware_universe_utils::calcDistance2d;
   double sum_length = 0.0;
   if (signed_arc >= 0.0) {
     for (size_t i = target_idx; i < path.points.size() - 1; ++i) {
@@ -471,7 +471,7 @@ std::vector<Pose> interpolatePose(
   std::vector<Pose> interpolated_poses{};  // output
 
   const std::vector<double> base_s{
-    0, tier4_autoware_utils::calcDistance2d(start_pose.position, end_pose.position)};
+    0, autoware_universe_utils::calcDistance2d(start_pose.position, end_pose.position)};
   const std::vector<double> base_x{start_pose.position.x, end_pose.position.x};
   const std::vector<double> base_y{start_pose.position.y, end_pose.position.y};
   std::vector<double> new_s;
@@ -489,7 +489,7 @@ std::vector<Pose> interpolatePose(
     std::sin(tf2::getYaw(end_pose.orientation)), new_s);
   for (size_t i = 0; i < interpolated_x.size(); ++i) {
     Pose pose{};
-    pose = tier4_autoware_utils::calcInterpolatedPose(
+    pose = autoware_universe_utils::calcInterpolatedPose(
       end_pose, start_pose, (base_s.back() - new_s.at(i)) / base_s.back());
     pose.position.x = interpolated_x.at(i);
     pose.position.y = interpolated_y.at(i);
@@ -513,7 +513,7 @@ Pose getUnshiftedEgoPose(const Pose & ego_pose, const ShiftedPath & prev_path)
   // ego_pose.
   auto unshifted_pose = motion_utils::calcInterpolatedPoint(prev_path.path, ego_pose).point.pose;
 
-  unshifted_pose = tier4_autoware_utils::calcOffsetPose(
+  unshifted_pose = autoware_universe_utils::calcOffsetPose(
     unshifted_pose, 0.0, -prev_path.shift_length.at(closest_idx), 0.0);
   unshifted_pose.orientation = ego_pose.orientation;
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp
index 49f7030456914..d92cdd192de39 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/traffic_light_utils.cpp
@@ -98,7 +98,8 @@ std::optional<double> calcDistanceToRedTrafficLight(
       const auto y = 0.5 * (stop_line.front().y() + stop_line.back().y());
       const auto z = 0.5 * (stop_line.front().z() + stop_line.back().z());
 
-      return calcSignedArcLength(path.points, ego_pos, tier4_autoware_utils::createPoint(x, y, z));
+      return calcSignedArcLength(
+        path.points, ego_pos, autoware_universe_utils::createPoint(x, y, z));
     }
   }
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp
index e08ee107b14ba..e81a928d1281a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp
@@ -17,13 +17,13 @@
 #include "motion_utils/trajectory/path_with_lane_id.hpp"
 #include "object_recognition_utils/predicted_path_utils.hpp"
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #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>
 
 #include <boost/geometry/algorithms/is_valid.hpp>
 
@@ -73,9 +73,9 @@ namespace autoware::behavior_path_planner::utils
 {
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::Shape;
+using autoware_universe_utils::LineString2d;
+using autoware_universe_utils::Point2d;
 using geometry_msgs::msg::PoseWithCovarianceStamped;
-using tier4_autoware_utils::LineString2d;
-using tier4_autoware_utils::Point2d;
 
 std::optional<lanelet::Polygon3d> getPolygonByPoint(
   const std::shared_ptr<RouteHandler> & route_handler, const lanelet::ConstPoint3d & point,
@@ -111,7 +111,7 @@ double getDistanceBetweenPredictedPaths(
     if (!ego_pose) {
       continue;
     }
-    double distance = tier4_autoware_utils::calcDistance3d(*object_pose, *ego_pose);
+    double distance = autoware_universe_utils::calcDistance3d(*object_pose, *ego_pose);
     if (distance < min_distance) {
       min_distance = distance;
     }
@@ -128,7 +128,7 @@ double getDistanceBetweenPredictedPathAndObject(
   double min_distance = std::numeric_limits<double>::max();
   rclcpp::Time ros_start_time = clock.now() + rclcpp::Duration::from_seconds(start_time);
   rclcpp::Time ros_end_time = clock.now() + rclcpp::Duration::from_seconds(end_time);
-  const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object);
+  const auto obj_polygon = autoware_universe_utils::toPolygon2d(object);
   for (double t = start_time; t < end_time; t += resolution) {
     const auto ego_pose = object_recognition_utils::calcInterpolatedPose(ego_path, t);
     if (!ego_pose) {
@@ -145,7 +145,7 @@ double getDistanceBetweenPredictedPathAndObject(
 }
 
 bool checkCollisionBetweenPathFootprintsAndObjects(
-  const tier4_autoware_utils::LinearRing2d & local_vehicle_footprint,
+  const autoware_universe_utils::LinearRing2d & local_vehicle_footprint,
   const PathWithLaneId & ego_path, const PredictedObjects & dynamic_objects, const double margin)
 {
   for (const auto & p : ego_path.points) {
@@ -158,14 +158,14 @@ bool checkCollisionBetweenPathFootprintsAndObjects(
 }
 
 bool checkCollisionBetweenFootprintAndObjects(
-  const tier4_autoware_utils::LinearRing2d & local_vehicle_footprint, const Pose & ego_pose,
+  const autoware_universe_utils::LinearRing2d & local_vehicle_footprint, const Pose & ego_pose,
   const PredictedObjects & dynamic_objects, const double margin)
 {
   const auto vehicle_footprint =
-    transformVector(local_vehicle_footprint, tier4_autoware_utils::pose2transform(ego_pose));
+    transformVector(local_vehicle_footprint, autoware_universe_utils::pose2transform(ego_pose));
 
   for (const auto & object : dynamic_objects.objects) {
-    const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object);
+    const auto obj_polygon = autoware_universe_utils::toPolygon2d(object);
     const double distance = boost::geometry::distance(obj_polygon, vehicle_footprint);
     if (distance < margin) return true;
   }
@@ -176,18 +176,18 @@ double calcLateralDistanceFromEgoToObject(
   const Pose & ego_pose, const double vehicle_width, const PredictedObject & dynamic_object)
 {
   double min_distance = std::numeric_limits<double>::max();
-  const auto obj_polygon = tier4_autoware_utils::toPolygon2d(dynamic_object);
+  const auto obj_polygon = autoware_universe_utils::toPolygon2d(dynamic_object);
   const auto vehicle_left_pose =
-    tier4_autoware_utils::calcOffsetPose(ego_pose, 0, vehicle_width / 2, 0);
+    autoware_universe_utils::calcOffsetPose(ego_pose, 0, vehicle_width / 2, 0);
   const auto vehicle_right_pose =
-    tier4_autoware_utils::calcOffsetPose(ego_pose, 0, -vehicle_width / 2, 0);
+    autoware_universe_utils::calcOffsetPose(ego_pose, 0, -vehicle_width / 2, 0);
 
   for (const auto & p : obj_polygon.outer()) {
-    const auto point = tier4_autoware_utils::createPoint(p.x(), p.y(), 0.0);
+    const auto point = autoware_universe_utils::createPoint(p.x(), p.y(), 0.0);
     const double signed_distance_from_left =
-      tier4_autoware_utils::calcLateralDeviation(vehicle_left_pose, point);
+      autoware_universe_utils::calcLateralDeviation(vehicle_left_pose, point);
     const double signed_distance_from_right =
-      tier4_autoware_utils::calcLateralDeviation(vehicle_right_pose, point);
+      autoware_universe_utils::calcLateralDeviation(vehicle_right_pose, point);
 
     if (signed_distance_from_left < 0.0 && signed_distance_from_right > 0.0) {
       // point is between left and right
@@ -206,21 +206,21 @@ double calcLongitudinalDistanceFromEgoToObject(
   const PredictedObject & dynamic_object)
 {
   double min_distance = std::numeric_limits<double>::max();
-  const auto obj_polygon = tier4_autoware_utils::toPolygon2d(dynamic_object);
+  const auto obj_polygon = autoware_universe_utils::toPolygon2d(dynamic_object);
   const auto vehicle_front_pose =
-    tier4_autoware_utils::calcOffsetPose(ego_pose, base_link2front, 0, 0);
+    autoware_universe_utils::calcOffsetPose(ego_pose, base_link2front, 0, 0);
   const auto vehicle_rear_pose =
-    tier4_autoware_utils::calcOffsetPose(ego_pose, base_link2rear, 0, 0);
+    autoware_universe_utils::calcOffsetPose(ego_pose, base_link2rear, 0, 0);
 
   for (const auto & p : obj_polygon.outer()) {
-    const auto point = tier4_autoware_utils::createPoint(p.x(), p.y(), 0.0);
+    const auto point = autoware_universe_utils::createPoint(p.x(), p.y(), 0.0);
 
     // forward is positive
     const double signed_distance_from_front =
-      tier4_autoware_utils::calcLongitudinalDeviation(vehicle_front_pose, point);
+      autoware_universe_utils::calcLongitudinalDeviation(vehicle_front_pose, point);
     // backward is positive
     const double signed_distance_from_rear =
-      -tier4_autoware_utils::calcLongitudinalDeviation(vehicle_rear_pose, point);
+      -autoware_universe_utils::calcLongitudinalDeviation(vehicle_rear_pose, point);
 
     if (signed_distance_from_front < 0.0 && signed_distance_from_rear < 0.0) {
       // point is between front and rear
@@ -252,7 +252,7 @@ std::vector<double> calcObjectsDistanceToPath(
 {
   std::vector<double> distance_array;
   for (const auto & obj : objects.objects) {
-    const auto obj_polygon = tier4_autoware_utils::toPolygon2d(obj);
+    const auto obj_polygon = autoware_universe_utils::toPolygon2d(obj);
     LineString2d ego_path_line;
     ego_path_line.reserve(ego_path.points.size());
     for (const auto & p : ego_path.points) {
@@ -288,7 +288,7 @@ std::optional<size_t> findIndexOutOfGoalSearchRange(
       const auto & lane_ids = points.at(i).lane_ids;
 
       const double dist_to_goal =
-        tier4_autoware_utils::calcDistance2d(points.at(i).point.pose, goal);
+        autoware_universe_utils::calcDistance2d(points.at(i).point.pose, goal);
       const bool is_goal_lane_id_in_point =
         std::find(lane_ids.begin(), lane_ids.end(), goal_lane_id) != lane_ids.end();
       if (dist_to_goal < max_dist && dist_to_goal < min_dist && is_goal_lane_id_in_point) {
@@ -305,7 +305,7 @@ std::optional<size_t> findIndexOutOfGoalSearchRange(
   // find index out of goal search range
   size_t min_dist_out_of_range_index = min_dist_index;
   for (int i = min_dist_index; 0 <= i; --i) {
-    const double dist = tier4_autoware_utils::calcDistance2d(points.at(i).point, goal);
+    const double dist = autoware_universe_utils::calcDistance2d(points.at(i).point, goal);
     min_dist_out_of_range_index = i;
     if (max_dist < dist) {
       break;
@@ -341,7 +341,7 @@ bool setGoal(
     PathPointWithLaneId pre_refined_goal{};
     constexpr double goal_to_pre_goal_distance = -1.0;
     pre_refined_goal.point.pose =
-      tier4_autoware_utils::calcOffsetPose(goal, goal_to_pre_goal_distance, 0.0, 0.0);
+      autoware_universe_utils::calcOffsetPose(goal, goal_to_pre_goal_distance, 0.0, 0.0);
     const size_t closest_seg_idx_for_pre_goal =
       findNearestSegmentIndex(input.points, pre_refined_goal.point.pose, 3.0, M_PI_4);
     pre_refined_goal.point.pose.position.z =
@@ -482,7 +482,7 @@ bool isInLaneletWithYawThreshold(
   const double pose_yaw = tf2::getYaw(current_pose.orientation);
   const double lanelet_angle = lanelet::utils::getLaneletAngle(lanelet, current_pose.position);
   const double angle_diff =
-    std::abs(tier4_autoware_utils::normalizeRadian(lanelet_angle - pose_yaw));
+    std::abs(autoware_universe_utils::normalizeRadian(lanelet_angle - pose_yaw));
 
   return (angle_diff < std::abs(yaw_threshold)) &&
          lanelet::utils::isInLanelet(current_pose, lanelet, radius);
@@ -509,7 +509,7 @@ bool isEgoOutOfRoute(
   }
 
   // If ego vehicle is over goal on goal lane, return true
-  const double yaw_threshold = tier4_autoware_utils::deg2rad(90);
+  const double yaw_threshold = autoware_universe_utils::deg2rad(90);
   if (
     closest_road_lane.id() == goal_lane.id() &&
     isInLaneletWithYawThreshold(self_pose, goal_lane, yaw_threshold)) {
@@ -562,8 +562,8 @@ bool isEgoWithinOriginalLane(
   const auto base_link2front = common_param.base_link2front;
   const auto base_link2rear = common_param.base_link2rear;
   const auto vehicle_width = common_param.vehicle_width;
-  const auto vehicle_poly =
-    tier4_autoware_utils::toFootprint(current_pose, base_link2front, base_link2rear, vehicle_width);
+  const auto vehicle_poly = autoware_universe_utils::toFootprint(
+    current_pose, base_link2front, base_link2rear, vehicle_width);
 
   // Check if the ego vehicle is entirely within the lane with a given outer margin.
   for (const auto & p : vehicle_poly.outer()) {
@@ -849,16 +849,16 @@ std::optional<double> getSignedDistanceFromBoundary(
     rear_left.y = vehicle_width / 2;
     front_left.x = base_link2front;
     front_left.y = vehicle_width / 2;
-    rear_corner_point = tier4_autoware_utils::transformPoint(rear_left, vehicle_pose);
-    front_corner_point = tier4_autoware_utils::transformPoint(front_left, vehicle_pose);
+    rear_corner_point = autoware_universe_utils::transformPoint(rear_left, vehicle_pose);
+    front_corner_point = autoware_universe_utils::transformPoint(front_left, vehicle_pose);
   } else {
     Point front_right, rear_right;
     rear_right.x = -base_link2rear;
     rear_right.y = -vehicle_width / 2;
     front_right.x = base_link2front;
     front_right.y = -vehicle_width / 2;
-    rear_corner_point = tier4_autoware_utils::transformPoint(rear_right, vehicle_pose);
-    front_corner_point = tier4_autoware_utils::transformPoint(front_right, vehicle_pose);
+    rear_corner_point = autoware_universe_utils::transformPoint(rear_right, vehicle_pose);
+    front_corner_point = autoware_universe_utils::transformPoint(front_right, vehicle_pose);
   }
 
   const auto combined_lane = lanelet::utils::combineLaneletsShape(lanelets);
@@ -882,16 +882,18 @@ std::optional<double> getSignedDistanceFromBoundary(
       const Point p1 = lanelet::utils::conversion::toGeomMsgPt(bound_line_2d[i]);
       const Point p2 = lanelet::utils::conversion::toGeomMsgPt(bound_line_2d[i + 1]);
 
-      const Point inverse_p1 = tier4_autoware_utils::inverseTransformPoint(p1, vehicle_corner_pose);
-      const Point inverse_p2 = tier4_autoware_utils::inverseTransformPoint(p2, vehicle_corner_pose);
+      const Point inverse_p1 =
+        autoware_universe_utils::inverseTransformPoint(p1, vehicle_corner_pose);
+      const Point inverse_p2 =
+        autoware_universe_utils::inverseTransformPoint(p2, vehicle_corner_pose);
       const double dx_p1 = inverse_p1.x;
       const double dx_p2 = inverse_p2.x;
       const double dy_p1 = inverse_p1.y;
       const double dy_p2 = inverse_p2.y;
 
       // Calculate the Euclidean distances between vehicle's corner and the current and next points.
-      const double distance1 = tier4_autoware_utils::calcDistance2d(p1, vehicle_corner_point);
-      const double distance2 = tier4_autoware_utils::calcDistance2d(p2, vehicle_corner_point);
+      const double distance1 = autoware_universe_utils::calcDistance2d(p1, vehicle_corner_point);
+      const double distance2 = autoware_universe_utils::calcDistance2d(p2, vehicle_corner_point);
 
       // If one of the bound points is behind and the other is in front of the vehicle corner point
       // and any of these points is closer than the current minimum distance,
@@ -944,9 +946,9 @@ std::optional<double> getSignedDistanceFromBoundary(
     bound_pose.orientation = vehicle_pose.orientation;
 
     const Point inverse_rear_point =
-      tier4_autoware_utils::inverseTransformPoint(rear_corner_point, bound_pose);
+      autoware_universe_utils::inverseTransformPoint(rear_corner_point, bound_pose);
     const Point inverse_front_point =
-      tier4_autoware_utils::inverseTransformPoint(front_corner_point, bound_pose);
+      autoware_universe_utils::inverseTransformPoint(front_corner_point, bound_pose);
     const double dx_rear = inverse_rear_point.x;
     const double dx_front = inverse_front_point.x;
     const double dy_rear = inverse_rear_point.y;
@@ -1004,9 +1006,9 @@ Polygon2d toPolygon2d(const lanelet::ConstLanelet & lanelet)
   }
   polygon.outer().push_back(polygon.outer().front());
 
-  return tier4_autoware_utils::isClockwise(polygon)
+  return autoware_universe_utils::isClockwise(polygon)
            ? polygon
-           : tier4_autoware_utils::inverseClockwise(polygon);
+           : autoware_universe_utils::inverseClockwise(polygon);
 }
 
 Polygon2d toPolygon2d(const lanelet::BasicPolygon2d & polygon)
@@ -1017,7 +1019,8 @@ Polygon2d toPolygon2d(const lanelet::BasicPolygon2d & polygon)
   }
   ret.outer().push_back(ret.outer().front());
 
-  return tier4_autoware_utils::isClockwise(ret) ? ret : tier4_autoware_utils::inverseClockwise(ret);
+  return autoware_universe_utils::isClockwise(ret) ? ret
+                                                   : autoware_universe_utils::inverseClockwise(ret);
 }
 
 std::vector<Polygon2d> getTargetLaneletPolygons(
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp
index 9d597648a130e..543fbecd1b38b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_safety_check.cpp
@@ -16,7 +16,7 @@
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "autoware/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp"
 
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 
 #include <geometry_msgs/msg/pose.hpp>
 
@@ -29,11 +29,11 @@ constexpr double epsilon = 1e-6;
 
 using autoware::behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug;
 using autoware_perception_msgs::msg::Shape;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
 
 TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedEgoPolygon)
 {
@@ -47,8 +47,8 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedEgoPolygon)
 
   {
     Pose ego_pose;
-    ego_pose.position = tier4_autoware_utils::createPoint(0.0, 0.0, 0.0);
-    ego_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(0.0);
+    ego_pose.position = autoware_universe_utils::createPoint(0.0, 0.0, 0.0);
+    ego_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(0.0);
 
     const double lon_length = 10.0;
     const double lat_margin = 2.0;
@@ -75,8 +75,8 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedEgoPolygon)
 
   {
     Pose ego_pose;
-    ego_pose.position = tier4_autoware_utils::createPoint(3.0, 4.0, 0.0);
-    ego_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(0.0);
+    ego_pose.position = autoware_universe_utils::createPoint(3.0, 4.0, 0.0);
+    ego_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(0.0);
 
     const double lon_length = 10.0;
     const double lat_margin = 2.0;
@@ -103,9 +103,9 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedEgoPolygon)
 
   {
     Pose ego_pose;
-    ego_pose.position = tier4_autoware_utils::createPoint(0.0, 0.0, 0.0);
+    ego_pose.position = autoware_universe_utils::createPoint(0.0, 0.0, 0.0);
     ego_pose.orientation =
-      tier4_autoware_utils::createQuaternionFromYaw(tier4_autoware_utils::deg2rad(60));
+      autoware_universe_utils::createQuaternionFromYaw(autoware_universe_utils::deg2rad(60));
 
     const double lon_length = 10.0;
     const double lat_margin = 2.0;
@@ -134,13 +134,13 @@ TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedEgoPolygon)
 TEST(BehaviorPathPlanningSafetyUtilsTest, createExtendedObjPolygon)
 {
   using autoware::behavior_path_planner::utils::path_safety_checker::createExtendedPolygon;
-  using tier4_autoware_utils::createPoint;
-  using tier4_autoware_utils::createQuaternionFromYaw;
+  using autoware_universe_utils::createPoint;
+  using autoware_universe_utils::createQuaternionFromYaw;
 
   {
     Pose obj_pose;
     obj_pose.position = createPoint(0.0, 0.0, 0.0);
-    obj_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(0.0);
+    obj_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(0.0);
 
     Shape shape;
     shape.type = autoware_perception_msgs::msg::Shape::POLYGON;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_turn_signal.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_turn_signal.cpp
index 8ebcd3af7caf6..51e3a216c3927 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_turn_signal.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test/test_turn_signal.cpp
@@ -14,7 +14,7 @@
 #include "autoware/behavior_path_planner_common/turn_signal_decider.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include "autoware_planning_msgs/msg/path_point.hpp"
 #include <geometry_msgs/msg/twist.hpp>
@@ -27,12 +27,12 @@ using autoware::behavior_path_planner::Pose;
 using autoware::behavior_path_planner::TurnSignalDecider;
 using autoware::behavior_path_planner::TurnSignalInfo;
 using autoware_planning_msgs::msg::PathPoint;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::createQuaternionFromYaw;
 using autoware_vehicle_msgs::msg::HazardLightsCommand;
 using autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Twist;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::createQuaternionFromYaw;
 using tier4_planning_msgs::msg::PathPointWithLaneId;
 
 constexpr double nearest_dist_threshold = 5.0;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp
index d8e6ab9050080..fd71b7d171a41 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp
@@ -23,6 +23,11 @@
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
 #include "autoware/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp"
 #include "autoware/behavior_path_sampling_planner_module/util.hpp"
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
+#include "autoware/universe_utils/math/constants.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 #include "autoware_bezier_sampler/bezier_sampling.hpp"
 #include "autoware_frenet_planner/frenet_planner.hpp"
 #include "autoware_sampler_common/constraints/footprint.hpp"
@@ -35,11 +40,6 @@
 #include "lanelet2_extension/utility/utilities.hpp"
 #include "motion_utils/trajectory/path_with_lane_id.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
-#include "tier4_autoware_utils/math/constants.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
 
 #include "tier4_planning_msgs/msg/lateral_offset.hpp"
 #include "tier4_planning_msgs/msg/path_with_lane_id.hpp"
@@ -75,8 +75,8 @@ struct SamplingPlannerDebugData
 {
   std::vector<autoware::sampler_common::Path> sampled_candidates{};
   size_t previous_sampled_candidates_nb = 0UL;
-  std::vector<tier4_autoware_utils::Polygon2d> obstacles{};
-  std::vector<tier4_autoware_utils::MultiPoint2d> footprints{};
+  std::vector<autoware_universe_utils::Polygon2d> obstacles{};
+  std::vector<autoware_universe_utils::MultiPoint2d> footprints{};
 };
 class SamplingPlannerModule : public SceneModuleInterface
 {
@@ -207,7 +207,7 @@ class SamplingPlannerModule : public SceneModuleInterface
       motion_utils::findNearestIndex(prev_module_reference_path->points, ego_pose);
     if (!nearest_index) return false;
     auto toYaw = [](const geometry_msgs::msg::Quaternion & quat) -> double {
-      const auto rpy = tier4_autoware_utils::getRPY(quat);
+      const auto rpy = autoware_universe_utils::getRPY(quat);
       return rpy.z;
     };
     const auto quat = prev_module_reference_path->points[*nearest_index].point.pose.orientation;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp
index f4fc1ae34f3e1..15a9e585a7690 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_parameters.hpp
@@ -21,11 +21,11 @@
 #include <vector>
 namespace autoware::behavior_path_planner
 {
-using tier4_autoware_utils::LinearRing2d;
-using tier4_autoware_utils::MultiPoint2d;
-using tier4_autoware_utils::MultiPolygon2d;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
+using autoware_universe_utils::LinearRing2d;
+using autoware_universe_utils::MultiPoint2d;
+using autoware_universe_utils::MultiPolygon2d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 
 struct SamplingPlannerParameters
 {  // constraints.hard
diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/util.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/util.hpp
index ef5a2e0d7f97f..c43d1fe601b5f 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/util.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/util.hpp
@@ -17,8 +17,8 @@
 #include "autoware_sampler_common/structures.hpp"
 #include "autoware_sampler_common/transform/spline_transform.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
@@ -101,7 +101,7 @@ inline autoware::sampler_common::State getInitialState(
 {
   autoware::sampler_common::State initial_state;
   Point2d initial_state_pose{pose.position.x, pose.position.y};
-  const auto rpy = tier4_autoware_utils::getRPY(pose.orientation);
+  const auto rpy = autoware_universe_utils::getRPY(pose.orientation);
   initial_state.pose = initial_state_pose;
   initial_state.frenet = reference_spline.frenet({pose.position.x, pose.position.y});
   initial_state.heading = rpy.z;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml
index 7934c2fb0ae91..3b3c699f8f853 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/package.xml
@@ -21,6 +21,7 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
@@ -36,7 +37,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/manager.cpp
index 73741e08c61ee..6ffd3ff116284 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/manager.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/manager.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/behavior_path_sampling_planner_module/manager.hpp"
 
-#include "tier4_autoware_utils/ros/update_param.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -77,7 +77,7 @@ void SamplingPlannerModuleManager::init(rclcpp::Node * node)
 void SamplingPlannerModuleManager::updateModuleParams(
   [[maybe_unused]] const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   auto & p = parameters_;
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
index 5bd4a5cc2eff4..87fd2156b0eb1 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
@@ -16,14 +16,14 @@
 
 namespace autoware::behavior_path_planner
 {
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::getPoint;
+using autoware_universe_utils::Point2d;
 using geometry_msgs::msg::Point;
 using motion_utils::calcSignedArcLength;
 using motion_utils::findNearestIndex;
 using motion_utils::findNearestSegmentIndex;
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::getPoint;
-using tier4_autoware_utils::Point2d;
 
 namespace bg = boost::geometry;
 namespace bgi = boost::geometry::index;
@@ -103,7 +103,7 @@ SamplingPlannerModule::SamplingPlannerModule(
   //     [[maybe_unused]] const SoftConstraintsInputs & input_data) -> double {
   //     if (path.points.empty()) return 0.0;
   //     const auto & goal_pose_yaw =
-  //     tier4_autoware_utils::getRPY(input_data.goal_pose.orientation).z; const auto &
+  //     autoware_universe_utils::getRPY(input_data.goal_pose.orientation).z; const auto &
   //     last_point_yaw = path.yaws.back(); const double angle_difference = std::abs(last_point_yaw
   //     - goal_pose_yaw); return angle_difference / (3.141519 / 4.0);
   //   });
@@ -365,9 +365,9 @@ void SamplingPlannerModule::prepareConstraints(
   size_t i = 0;
   for (const auto & o : predicted_objects->objects) {
     if (o.kinematics.initial_twist_with_covariance.twist.linear.x < 0.5) {
-      const auto polygon = tier4_autoware_utils::toPolygon2d(o);
+      const auto polygon = autoware_universe_utils::toPolygon2d(o);
       constraints.obstacle_polygons.push_back(polygon);
-      const auto box = boost::geometry::return_envelope<tier4_autoware_utils::Box2d>(polygon);
+      const auto box = boost::geometry::return_envelope<autoware_universe_utils::Box2d>(polygon);
       constraints.rtree.insert(std::make_pair(box, i));
     }
     i++;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml
index f3ac76d2bb1bb..e998bd7db83ee 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/package.xml
@@ -21,11 +21,11 @@
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/manager.cpp
index eb590a3c81d86..ddc9c820a6667 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/manager.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/manager.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/behavior_path_side_shift_module/manager.hpp"
 
-#include "tier4_autoware_utils/ros/update_param.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -48,7 +48,7 @@ void SideShiftModuleManager::init(rclcpp::Node * node)
 void SideShiftModuleManager::updateModuleParams(
   [[maybe_unused]] const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   [[maybe_unused]] auto p = parameters_;
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp
index a6706d9ab409b..7cb3ab04548ee 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp
@@ -28,12 +28,12 @@
 
 namespace autoware::behavior_path_planner
 {
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::getPoint;
 using geometry_msgs::msg::Point;
 using motion_utils::calcSignedArcLength;
 using motion_utils::findNearestIndex;
 using motion_utils::findNearestSegmentIndex;
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::getPoint;
 
 SideShiftModule::SideShiftModule(
   const std::string & name, rclcpp::Node & node,
@@ -195,7 +195,8 @@ void SideShiftModule::updateData()
   const auto longest_dist_to_shift_line = [&]() {
     double max_dist = 0.0;
     for (const auto & pnt : path_shifter_.getShiftLines()) {
-      max_dist = std::max(max_dist, tier4_autoware_utils::calcDistance2d(getEgoPose(), pnt.start));
+      max_dist =
+        std::max(max_dist, autoware_universe_utils::calcDistance2d(getEgoPose(), pnt.start));
     }
     return max_dist;
   }();
@@ -467,7 +468,7 @@ void SideShiftModule::setDebugMarkersVisualization() const
   debug_marker_.markers.clear();
 
   const auto add = [this](const MarkerArray & added) {
-    tier4_autoware_utils::appendMarkerArray(added, &debug_marker_);
+    autoware_universe_utils::appendMarkerArray(added, &debug_marker_);
   };
 
   const auto add_shift_line_marker = [this, add](
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp
index a533765ff26fc..52675653e7b32 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp
@@ -30,8 +30,8 @@
 
 namespace autoware::behavior_path_planner
 {
+using autoware_universe_utils::LinearRing2d;
 using geometry_msgs::msg::Pose;
-using tier4_autoware_utils::LinearRing2d;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 class PullOutPlannerBase
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml
index 5b2ad9f8dc9c1..eda8328b07f60 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/package.xml
@@ -23,10 +23,10 @@
   <depend>autoware_behavior_path_planner</depend>
   <depend>autoware_behavior_path_planner_common</depend>
   <depend>autoware_rtc_interface</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp
index 916f01329d263..8be6bc911634a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/freespace_pull_out.cpp
@@ -81,7 +81,7 @@ std::optional<PullOutPath> FreespacePullOut::plan(
     const size_t index = std::distance(last_path.points.begin(), it);
     if (index == 0) continue;
     const double distance =
-      tier4_autoware_utils::calcDistance2d(end_pose.position, it->point.pose.position);
+      autoware_universe_utils::calcDistance2d(end_pose.position, it->point.pose.position);
     if (distance < th_end_distance) {
       last_path.points.erase(it, last_path.points.end());
       break;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp
index f3ffaffc91e61..060286517a1b1 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp
@@ -18,14 +18,14 @@
 #include "autoware/behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
 #include "autoware/behavior_path_start_planner_module/util.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::calcOffsetPose;
 using lanelet::utils::getArcCoordinates;
 using motion_utils::findNearestIndex;
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::calcOffsetPose;
 namespace autoware::behavior_path_planner
 {
 using start_planner_utils::getPullOutLanes;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp
index cd2cd911433de..0806978a7ef3f 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp
@@ -14,7 +14,7 @@
 
 #include "autoware/behavior_path_start_planner_module/manager.hpp"
 
-#include "tier4_autoware_utils/ros/update_param.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -351,7 +351,7 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
 void StartPlannerModuleManager::updateModuleParams(
   [[maybe_unused]] const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   auto & p = parameters_;
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp
index e59eec9070c13..23fa9535b5105 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp
@@ -19,18 +19,18 @@
 #include "autoware/behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
 #include "autoware/behavior_path_start_planner_module/util.hpp"
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 #include "motion_utils/trajectory/path_with_lane_id.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 
 #include <memory>
 #include <vector>
 
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::calcOffsetPose;
 using lanelet::utils::getArcCoordinates;
 using motion_utils::findNearestIndex;
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::calcOffsetPose;
 namespace autoware::behavior_path_planner
 {
 using start_planner_utils::getPullOutLanes;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
index 99af7b993b044..b53dc6861ea32 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -41,9 +41,9 @@
 
 using autoware::behavior_path_planner::utils::parking_departure::initializeCollisionCheckDebugMap;
 using autoware::behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObject;
+using autoware_universe_utils::calcOffsetPose;
 using motion_utils::calcLateralOffset;
 using motion_utils::calcLongitudinalOffsetPose;
-using tier4_autoware_utils::calcOffsetPose;
 
 // set as macro so that calling function name will be printed.
 // debug print is heavy. turn on only when debugging.
@@ -274,7 +274,7 @@ bool StartPlannerModule::hasFinishedBackwardDriving() const
   // check ego car is close enough to pull out start pose and stopped
   const auto current_pose = planner_data_->self_odometry->pose.pose;
   const auto distance =
-    tier4_autoware_utils::calcDistance2d(current_pose, status_.pull_out_start_pose);
+    autoware_universe_utils::calcDistance2d(current_pose, status_.pull_out_start_pose);
 
   const bool is_near = distance < parameters_->th_arrived_distance;
   const double ego_vel = utils::l2Norm(planner_data_->self_odometry->twist.twist.linear);
@@ -383,7 +383,7 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const
       boundary_line.begin(), boundary_line.end(), [&boundary_path](const auto & boundary_point) {
         const double x = boundary_point.x();
         const double y = boundary_point.y();
-        boundary_path.push_back(tier4_autoware_utils::createPoint(x, y, 0.0));
+        boundary_path.push_back(autoware_universe_utils::createPoint(x, y, 0.0));
       });
 
     return std::fabs(calcLateralOffset(boundary_path, search_pose.position));
@@ -396,7 +396,7 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const
     motion_utils::findNearestSegmentIndex(centerline_path.points, start_pose);
   if (!start_pose_nearest_segment_index) return false;
 
-  const auto start_pose_point_msg = tier4_autoware_utils::createPoint(
+  const auto start_pose_point_msg = autoware_universe_utils::createPoint(
     start_pose.position.x, start_pose.position.y, start_pose.position.z);
   const auto starting_pose_lateral_offset = motion_utils::calcLateralOffset(
     centerline_path.points, start_pose_point_msg, start_pose_nearest_segment_index.value());
@@ -412,8 +412,8 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const
       geometry_msgs::msg::Pose & ego_overhang_point_as_pose,
       const bool ego_is_merging_from_the_left) -> std::optional<std::pair<double, double>> {
     const auto local_vehicle_footprint = vehicle_info_.createFootprint();
-    const auto vehicle_footprint =
-      transformVector(local_vehicle_footprint, tier4_autoware_utils::pose2transform(current_pose));
+    const auto vehicle_footprint = transformVector(
+      local_vehicle_footprint, autoware_universe_utils::pose2transform(current_pose));
     double smallest_lateral_gap_between_ego_and_border = std::numeric_limits<double>::max();
     double corresponding_lateral_gap_with_other_lane_bound = std::numeric_limits<double>::max();
 
@@ -524,7 +524,7 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const
 bool StartPlannerModule::isCloseToOriginalStartPose() const
 {
   const Pose start_pose = planner_data_->route_handler->getOriginalStartPose();
-  return tier4_autoware_utils::calcDistance2d(
+  return autoware_universe_utils::calcDistance2d(
            start_pose.position, planner_data_->self_odometry->pose.pose.position) >
          parameters_->th_arrived_distance;
 }
@@ -532,7 +532,7 @@ bool StartPlannerModule::isCloseToOriginalStartPose() const
 bool StartPlannerModule::hasArrivedAtGoal() const
 {
   const Pose goal_pose = planner_data_->route_handler->getGoalPose();
-  return tier4_autoware_utils::calcDistance2d(
+  return autoware_universe_utils::calcDistance2d(
            goal_pose.position, planner_data_->self_odometry->pose.pose.position) <
          parameters_->th_arrived_distance;
 }
@@ -913,7 +913,7 @@ bool StartPlannerModule::findPullOutPath(
   // if start_pose_candidate is far from refined_start_pose, backward driving is necessary
   constexpr double epsilon = 0.01;
   const double backwards_distance =
-    tier4_autoware_utils::calcDistance2d(start_pose_candidate, refined_start_pose);
+    autoware_universe_utils::calcDistance2d(start_pose_candidate, refined_start_pose);
   const bool backward_is_unnecessary = backwards_distance < epsilon;
 
   planner->setCollisionCheckMargin(collision_check_margin);
@@ -1240,7 +1240,7 @@ PredictedObjects StartPlannerModule::filterStopObjectsInPullOutLanes(
 bool StartPlannerModule::hasReachedFreespaceEnd() const
 {
   const auto & current_pose = planner_data_->self_odometry->pose.pose;
-  return tier4_autoware_utils::calcDistance2d(current_pose, status_.pull_out_path.end_pose) <
+  return autoware_universe_utils::calcDistance2d(current_pose, status_.pull_out_path.end_pose) <
          parameters_->th_arrived_distance;
 }
 
@@ -1282,7 +1282,7 @@ bool StartPlannerModule::hasFinishedCurrentPath()
   const auto current_path = getCurrentPath();
   const auto current_path_end = current_path.points.back();
   const auto self_pose = planner_data_->self_odometry->pose.pose;
-  const bool is_near_target = tier4_autoware_utils::calcDistance2d(current_path_end, self_pose) <
+  const bool is_near_target = autoware_universe_utils::calcDistance2d(current_path_end, self_pose) <
                               parameters_->th_arrived_distance;
 
   return is_near_target && isStopped();
@@ -1562,6 +1562,9 @@ void StartPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) cons
 
 void StartPlannerModule::setDebugData()
 {
+  using autoware_universe_utils::createDefaultMarker;
+  using autoware_universe_utils::createMarkerColor;
+  using autoware_universe_utils::createMarkerScale;
   using lanelet::visualization::laneletsAsTriangleMarkerArray;
   using marker_utils::addFootprintMarker;
   using marker_utils::createFootprintMarkerArray;
@@ -1572,9 +1575,6 @@ void StartPlannerModule::setDebugData()
   using marker_utils::showPolygon;
   using marker_utils::showPredictedPath;
   using marker_utils::showSafetyCheckInfo;
-  using tier4_autoware_utils::createDefaultMarker;
-  using tier4_autoware_utils::createMarkerColor;
-  using tier4_autoware_utils::createMarkerScale;
   using visualization_msgs::msg::Marker;
 
   const auto red_color = createMarkerColor(1.0, 0.0, 0.0, 0.999);
@@ -1588,7 +1588,7 @@ void StartPlannerModule::setDebugData()
     for (auto & marker : added.markers) {
       marker.lifetime = life_time;
     }
-    tier4_autoware_utils::appendMarkerArray(added, &target_marker_array);
+    autoware_universe_utils::appendMarkerArray(added, &target_marker_array);
   };
 
   debug_marker_.markers.clear();
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp
index 3657bab882814..ef0219b893794 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp
@@ -18,10 +18,10 @@
 #include "autoware/behavior_path_planner_common/utils/path_utils.hpp"
 #include "autoware/behavior_path_planner_common/utils/utils.hpp"
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <boost/geometry/algorithms/dispatch/distance.hpp>
 
@@ -65,7 +65,7 @@ PathWithLaneId getBackwardPath(
     const double lateral_distance_to_shoulder_center = current_pose_arc_coords.distance;
     for (size_t i = 0; i < backward_path.points.size(); ++i) {
       auto & p = backward_path.points.at(i).point.pose;
-      p = tier4_autoware_utils::calcOffsetPose(p, 0, lateral_distance_to_shoulder_center, 0);
+      p = autoware_universe_utils::calcOffsetPose(p, 0, lateral_distance_to_shoulder_center, 0);
     }
   }
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp
index 3acfb7a2562a8..0000790a3adde 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp
@@ -14,7 +14,7 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__PARAMETER_HELPER_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__PARAMETER_HELPER_HPP_
 
-#include "tier4_autoware_utils/ros/parameter.hpp"
+#include "autoware/universe_utils/ros/parameter.hpp"
 
 #include <autoware/behavior_path_static_obstacle_avoidance_module/data_structs.hpp>
 #include <rclcpp/node.hpp>
@@ -27,7 +27,7 @@
 namespace autoware::behavior_path_planner
 {
 using autoware_perception_msgs::msg::ObjectClassification;
-using tier4_autoware_utils::getOrDeclareParameter;
+using autoware_universe_utils::getOrDeclareParameter;
 
 AvoidanceParameters getParameter(rclcpp::Node * node)
 {
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp
index 25e4eecd92440..5b391eb83d0a7 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/type_alias.hpp
@@ -15,13 +15,13 @@
 #ifndef AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__TYPE_ALIAS_HPP_
 #define AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__TYPE_ALIAS_HPP_
 
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 #include <motion_utils/distance/distance.hpp>
 #include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
 #include <autoware_vehicle_msgs/msg/turn_indicators_command.hpp>
@@ -53,22 +53,22 @@ using tier4_planning_msgs::msg::AvoidanceDebugMsgArray;
 using tier4_rtc_msgs::msg::State;
 
 // tier4 utils functions
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::calcLateralDeviation;
-using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::calcYawDeviation;
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerScale;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::createQuaternionFromRPY;
-using tier4_autoware_utils::getPoint;
-using tier4_autoware_utils::getPose;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
-using tier4_autoware_utils::pose2transform;
-using tier4_autoware_utils::toHexString;
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::calcLateralDeviation;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::calcYawDeviation;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::createQuaternionFromRPY;
+using autoware_universe_utils::getPoint;
+using autoware_universe_utils::getPose;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
+using autoware_universe_utils::pose2transform;
+using autoware_universe_utils::toHexString;
 }  // namespace autoware::behavior_path_planner
 
 #endif  // AUTOWARE__BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__TYPE_ALIAS_HPP_
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
index a6da4d5550562..4284717f181ea 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/package.xml
@@ -27,6 +27,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_rtc_interface</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
@@ -40,7 +41,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp
index 695aa5e7d73bf..6b28e33759b6a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp
@@ -691,7 +691,7 @@ std::string toStrInfo(const autoware::behavior_path_planner::AvoidLineArray & ap
 }
 std::string toStrInfo(const autoware::behavior_path_planner::AvoidLine & ap)
 {
-  using tier4_autoware_utils::toHexString;
+  using autoware_universe_utils::toHexString;
 
   std::stringstream pids;
   for (const auto pid : ap.parent_ids) {
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp
index db125f066ab03..0ca2b9c4e0d21 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp
@@ -15,8 +15,8 @@
 #include "autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp"
 
 #include "autoware/behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp"
-#include "tier4_autoware_utils/ros/parameter.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
+#include "autoware/universe_utils/ros/parameter.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -29,7 +29,7 @@ namespace autoware::behavior_path_planner
 void StaticObstacleAvoidanceModuleManager::init(rclcpp::Node * node)
 {
   using autoware_perception_msgs::msg::ObjectClassification;
-  using tier4_autoware_utils::getOrDeclareParameter;
+  using autoware_universe_utils::getOrDeclareParameter;
 
   // init manager interface
   initInterface(node, {"left", "right"});
@@ -43,7 +43,7 @@ void StaticObstacleAvoidanceModuleManager::updateModuleParams(
   const std::vector<rclcpp::Parameter> & parameters)
 {
   using autoware_perception_msgs::msg::ObjectClassification;
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   auto p = parameters_;
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
index e54f6b0658e41..1cd3db974b831 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
@@ -755,7 +755,7 @@ bool StaticObstacleAvoidanceModule::isSafePath(
     auto current_debug_data = utils::path_safety_checker::createObjectDebug(object);
 
     const auto obj_polygon =
-      tier4_autoware_utils::toPolygon2d(object.initial_pose.pose, object.shape);
+      autoware_universe_utils::toPolygon2d(object.initial_pose.pose, object.shape);
 
     const auto is_object_front =
       utils::path_safety_checker::isTargetObjectFront(getEgoPose(), obj_polygon, p.vehicle_info);
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
index b8e30a91d36a1..634ee0e71d737 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
@@ -365,7 +365,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
       }
       const auto & object_pos = o.object.kinematics.initial_pose_with_covariance.pose.position;
       const bool has_object_near_goal =
-        tier4_autoware_utils::calcDistance2d(goal_pose.position, object_pos) <
+        autoware_universe_utils::calcDistance2d(goal_pose.position, object_pos) <
         parameters_->object_check_goal_distance;
       return has_object_near_goal;
     }();
@@ -1026,7 +1026,7 @@ AvoidLineArray ShiftLineGenerator::addReturnShiftLine(
   if (utils::isAllowedGoalModification(data_->route_handler)) {
     const auto has_object_near_goal =
       std::any_of(data.target_objects.begin(), data.target_objects.end(), [&](const auto & o) {
-        return tier4_autoware_utils::calcDistance2d(
+        return autoware_universe_utils::calcDistance2d(
                  data_->route_handler->getGoalPose().position,
                  o.object.kinematics.initial_pose_with_covariance.pose.position) <
                parameters_->object_check_goal_distance;
@@ -1097,7 +1097,7 @@ AvoidLineArray ShiftLineGenerator::addReturnShiftLine(
   if (utils::isAllowedGoalModification(data_->route_handler)) {
     const bool has_last_shift_near_goal =
       std::any_of(data.target_objects.begin(), data.target_objects.end(), [&](const auto & o) {
-        return tier4_autoware_utils::calcDistance2d(
+        return autoware_universe_utils::calcDistance2d(
                  last_sl.end.position,
                  o.object.kinematics.initial_pose_with_covariance.pose.position) <
                parameters_->object_check_goal_distance;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp
index 272b97f95a746..71935f502dd03 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp
@@ -55,7 +55,8 @@ geometry_msgs::msg::Point32 createPoint32(const double x, const double y, const
   return p;
 }
 
-geometry_msgs::msg::Polygon toMsg(const tier4_autoware_utils::Polygon2d & polygon, const double z)
+geometry_msgs::msg::Polygon toMsg(
+  const autoware_universe_utils::Polygon2d & polygon, const double z)
 {
   geometry_msgs::msg::Polygon ret;
   for (const auto & p : polygon.outer()) {
@@ -74,7 +75,7 @@ size_t findFirstNearestIndex(const T & points, const geometry_msgs::msg::Point &
   bool decreasing = false;
 
   for (size_t i = 0; i < points.size(); ++i) {
-    const auto dist = tier4_autoware_utils::calcSquaredDistance2d(points.at(i), point);
+    const auto dist = autoware_universe_utils::calcSquaredDistance2d(points.at(i), point);
     if (dist < min_dist) {
       decreasing = true;
       min_dist = dist;
@@ -328,7 +329,7 @@ bool isWithinIntersection(
     return false;
   }
 
-  const auto object_polygon = tier4_autoware_utils::toPolygon2d(object.object);
+  const auto object_polygon = autoware_universe_utils::toPolygon2d(object.object);
 
   const auto polygon =
     route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(area_id.c_str()));
@@ -645,7 +646,7 @@ bool isNeverAvoidanceTarget(
         return true;
       }
 
-      const auto object_polygon = tier4_autoware_utils::toPolygon2d(object.object);
+      const auto object_polygon = autoware_universe_utils::toPolygon2d(object.object);
       const auto is_disjoint_right_lane =
         boost::geometry::disjoint(object_polygon, right_lane.value().polygon2d().basicPolygon());
       if (is_disjoint_right_lane) {
@@ -668,7 +669,7 @@ bool isNeverAvoidanceTarget(
         return true;
       }
 
-      const auto object_polygon = tier4_autoware_utils::toPolygon2d(object.object);
+      const auto object_polygon = autoware_universe_utils::toPolygon2d(object.object);
       const auto is_disjoint_left_lane =
         boost::geometry::disjoint(object_polygon, left_lane.value().polygon2d().basicPolygon());
       if (is_disjoint_left_lane) {
@@ -940,8 +941,8 @@ double getRoadShoulderDistance(
   ObjectData & object, const AvoidancePlanningData & data,
   const std::shared_ptr<const PlannerData> & planner_data)
 {
+  using autoware_universe_utils::Point2d;
   using lanelet::utils::to2D;
-  using tier4_autoware_utils::Point2d;
 
   const auto & object_pose = object.object.kinematics.initial_pose_with_covariance.pose;
   const auto object_closest_index =
@@ -968,7 +969,7 @@ double getRoadShoulderDistance(
         const auto p2 =
           calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? 100.0 : -100.0), 0.0).position;
         const auto opt_intersect =
-          tier4_autoware_utils::intersect(p1.second, p2, bound.at(i - 1), bound.at(i));
+          autoware_universe_utils::intersect(p1.second, p2, bound.at(i - 1), bound.at(i));
 
         if (opt_intersect.has_value()) {
           intersects.emplace_back(
@@ -986,7 +987,7 @@ double getRoadShoulderDistance(
           calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -0.5 : 0.5) * envelope_polygon_width, 0.0)
             .position;
         const auto opt_intersect =
-          tier4_autoware_utils::intersect(p1.second, p2, bound.at(i - 1), bound.at(i));
+          autoware_universe_utils::intersect(p1.second, p2, bound.at(i - 1), bound.at(i));
 
         if (opt_intersect.has_value()) {
           intersects.emplace_back(
@@ -1035,8 +1036,8 @@ bool isWithinLanes(
 {
   const auto & rh = planner_data->route_handler;
   const auto & ego_pose = planner_data->self_odometry->pose.pose;
-  const auto transform = tier4_autoware_utils::pose2transform(ego_pose);
-  const auto footprint = tier4_autoware_utils::transformVector(
+  const auto transform = autoware_universe_utils::pose2transform(ego_pose);
+  const auto footprint = autoware_universe_utils::transformVector(
     planner_data->parameters.vehicle_info.createFootprint(), transform);
 
   lanelet::ConstLanelet closest_lanelet{};
@@ -1192,7 +1193,7 @@ void fillLongitudinalAndLengthByClosestEnvelopeFootprint(
   double min_distance = std::numeric_limits<double>::max();
   double max_distance = std::numeric_limits<double>::lowest();
   for (const auto & p : obj.envelope_poly.outer()) {
-    const auto point = tier4_autoware_utils::createPoint(p.x(), p.y(), 0.0);
+    const auto point = autoware_universe_utils::createPoint(p.x(), p.y(), 0.0);
     // TODO(someone): search around first position where the ego should avoid the object.
     const double arc_length = motion_utils::calcSignedArcLength(path.points, ego_pos, point);
     min_distance = std::min(min_distance, arc_length);
@@ -1209,7 +1210,7 @@ std::vector<std::pair<double, Point>> calcEnvelopeOverhangDistance(
   std::vector<std::pair<double, Point>> overhang_points{};
 
   for (const auto & p : object_data.envelope_poly.outer()) {
-    const auto point = tier4_autoware_utils::createPoint(p.x(), p.y(), 0.0);
+    const auto point = autoware_universe_utils::createPoint(p.x(), p.y(), 0.0);
     // TODO(someone): search around first position where the ego should avoid the object.
     const auto idx = motion_utils::findNearestIndex(path.points, point);
     const auto lateral = calcLateralDeviation(getPose(path.points.at(idx)), point);
@@ -1245,9 +1246,9 @@ Polygon2d createEnvelopePolygon(
   const Polygon2d & object_polygon, const Pose & closest_pose, const double envelope_buffer)
 {
   namespace bg = boost::geometry;
-  using tier4_autoware_utils::expandPolygon;
-  using tier4_autoware_utils::Point2d;
-  using tier4_autoware_utils::Polygon2d;
+  using autoware_universe_utils::expandPolygon;
+  using autoware_universe_utils::Point2d;
+  using autoware_universe_utils::Polygon2d;
   using Box = bg::model::box<Point2d>;
 
   const auto toPolygon2d = [](const geometry_msgs::msg::Polygon & polygon) {
@@ -1291,7 +1292,7 @@ Polygon2d createEnvelopePolygon(
 Polygon2d createEnvelopePolygon(
   const ObjectData & object_data, const Pose & closest_pose, const double envelope_buffer)
 {
-  const auto object_polygon = tier4_autoware_utils::toPolygon2d(object_data.object);
+  const auto object_polygon = autoware_universe_utils::toPolygon2d(object_data.object);
   return createEnvelopePolygon(object_polygon, closest_pose, envelope_buffer);
 }
 
@@ -1323,7 +1324,7 @@ std::vector<DrivableAreaInfo::Obstacle> generateObstaclePolygonsForDrivableArea(
     const double diff_poly_buffer =
       object.avoid_margin.value() - object_parameter.envelope_buffer_margin - vehicle_width / 2.0;
     const auto obj_poly =
-      tier4_autoware_utils::expandPolygon(object.envelope_poly, diff_poly_buffer);
+      autoware_universe_utils::expandPolygon(object.envelope_poly, diff_poly_buffer);
     obstacles_for_drivable_area.push_back(
       {object.object.kinematics.initial_pose_with_covariance.pose, obj_poly, !isOnRight(object)});
   }
@@ -1453,7 +1454,7 @@ void fillObjectEnvelopePolygon(
 
   const auto multi_step_envelope_poly = createEnvelopePolygon(unions.front(), closest_pose, 0.0);
 
-  const auto object_polygon = tier4_autoware_utils::toPolygon2d(object_data.object);
+  const auto object_polygon = autoware_universe_utils::toPolygon2d(object_data.object);
   const auto object_polygon_area = boost::geometry::area(object_polygon);
   const auto envelope_polygon_area = boost::geometry::area(multi_step_envelope_poly);
 
@@ -1864,7 +1865,7 @@ AvoidLineArray combineRawShiftLinesWithUniqueCheck(
 {
   // TODO(Horibe) parametrize
   const auto isSimilar = [](const AvoidLine & a, const AvoidLine & b) {
-    using tier4_autoware_utils::calcDistance2d;
+    using autoware_universe_utils::calcDistance2d;
     if (calcDistance2d(a.start, b.start) > 1.0) {
       return false;
     }
@@ -2151,7 +2152,7 @@ std::pair<PredictedObjects, PredictedObjects> separateObjectsByPath(
 
   const auto objects = planner_data->dynamic_object->objects;
   std::for_each(objects.begin(), objects.end(), [&](const auto & object) {
-    const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object);
+    const auto obj_polygon = autoware_universe_utils::toPolygon2d(object);
     if (!within_detection_area(obj_polygon)) {
       other_objects.objects.push_back(object);
     } else {
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml
index 8a740727445ca..cff7d952c9016 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/package.xml
@@ -20,13 +20,13 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp
index 422cb95c727b4..b881447e837ff 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/debug.cpp
@@ -16,8 +16,8 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/debug.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
@@ -27,10 +27,10 @@
 
 namespace autoware::behavior_velocity_planner
 {
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerOrientation;
-using tier4_autoware_utils::createMarkerScale;
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerOrientation;
+using autoware_universe_utils::createMarkerScale;
 
 namespace
 {
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp
index 73c38562acaad..f651b25994da7 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/src/scene.cpp
@@ -256,7 +256,7 @@ std::optional<lanelet::ConstLanelet> BlindSpotModule::getSiblingStraightLanelet(
 
 static std::optional<size_t> getFirstPointIntersectsLineByFootprint(
   const lanelet::ConstLineString2d & line, const InterpolatedPathInfo & interpolated_path_info,
-  const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length)
+  const autoware_universe_utils::LinearRing2d & footprint, const double vehicle_length)
 {
   const auto & path_ip = interpolated_path_info.path;
   const auto [lane_start, lane_end] = interpolated_path_info.lane_id_interval.value();
@@ -266,8 +266,8 @@ static std::optional<size_t> getFirstPointIntersectsLineByFootprint(
   const auto line2d = line.basicLineString();
   for (auto i = start; i <= lane_end; ++i) {
     const auto & base_pose = path_ip.points.at(i).point.pose;
-    const auto path_footprint = tier4_autoware_utils::transformVector(
-      footprint, tier4_autoware_utils::pose2transform(base_pose));
+    const auto path_footprint = autoware_universe_utils::transformVector(
+      footprint, autoware_universe_utils::pose2transform(base_pose));
     if (bg::intersects(path_footprint, line2d)) {
       return std::make_optional<size_t>(i);
     }
@@ -282,7 +282,7 @@ static std::optional<size_t> getDuplicatedPointIdx(
     const auto & p = path.points.at(i).point.pose.position;
 
     constexpr double min_dist = 0.001;
-    if (tier4_autoware_utils::calcDistance2d(p, point) < min_dist) {
+    if (autoware_universe_utils::calcDistance2d(p, point) < min_dist) {
       return i;
     }
   }
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
index 5e2a1fdf50544..420ff10b6fb5e 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/package.xml
@@ -26,6 +26,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
@@ -41,7 +42,6 @@
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>tier4_api_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp
index 77c00b5b64c6f..8b3d2029a4cb6 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp
@@ -15,23 +15,23 @@
 #include "scene_crosswalk.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/marker_helper.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <vector>
 
 namespace autoware::behavior_velocity_planner
 {
 
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
+using autoware_universe_utils::createPoint;
 using motion_utils::createSlowDownVirtualWallMarker;
 using motion_utils::createStopVirtualWallMarker;
-using tier4_autoware_utils::appendMarkerArray;
-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;
 using visualization_msgs::msg::Marker;
 
 namespace
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp
index dfd060decec8f..398368ccd51e7 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/manager.cpp
@@ -15,7 +15,7 @@
 #include "manager.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
 
 #include <algorithm>
 #include <limits>
@@ -27,8 +27,8 @@
 namespace autoware::behavior_velocity_planner
 {
 
+using autoware_universe_utils::getOrDeclareParameter;
 using lanelet::autoware::Crosswalk;
-using tier4_autoware_utils::getOrDeclareParameter;
 
 CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp
index 9ee7c7e58178c..444dd68767919 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/occluded_crosswalk.cpp
@@ -118,7 +118,7 @@ void clear_occlusions_behind_objects(
       object.kinematics.initial_pose_with_covariance.pose.position.y};
     if (lanelet::geometry::distance2d(grid_map_position, object_position) < range) {
       lanelet::BasicPoints2d edge_points;
-      const auto object_polygon = tier4_autoware_utils::toPolygon2d(object);
+      const auto object_polygon = autoware_universe_utils::toPolygon2d(object);
       for (const auto & edge_point : object_polygon.outer()) edge_points.push_back(edge_point);
       std::sort(edge_points.begin(), edge_points.end(), angle_cmp);
       // points.push_back(interpolate_point({object_position, edge_point}, 10.0 * range));
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
index 7a007d023dcc9..2ee7ff186fcba 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -18,13 +18,13 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 #include <motion_utils/distance/distance.hpp>
 #include <motion_utils/resample/resample.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <lanelet2_core/geometry/LineString.h>
 #include <lanelet2_routing/RoutingGraph.h>
@@ -41,6 +41,12 @@
 namespace autoware::behavior_velocity_planner
 {
 namespace bg = boost::geometry;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::getPose;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
+using autoware_universe_utils::pose2transform;
+using autoware_universe_utils::toHexString;
 using motion_utils::calcArcLength;
 using motion_utils::calcDecelDistWithJerkAndAccConstraints;
 using motion_utils::calcLateralOffset;
@@ -51,12 +57,6 @@ using motion_utils::calcSignedArcLengthPartialSum;
 using motion_utils::findNearestSegmentIndex;
 using motion_utils::insertTargetPoint;
 using motion_utils::resamplePath;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::getPose;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
-using tier4_autoware_utils::pose2transform;
-using tier4_autoware_utils::toHexString;
 
 namespace
 {
@@ -85,7 +85,7 @@ void offsetPolygon2d(
 {
   for (const auto & polygon_point : polygon.points) {
     const auto offset_pos =
-      tier4_autoware_utils::calcOffsetPose(origin_point, polygon_point.x, polygon_point.y, 0.0)
+      autoware_universe_utils::calcOffsetPose(origin_point, polygon_point.x, polygon_point.y, 0.0)
         .position;
     offset_polygon.outer().push_back(Point2d(offset_pos.x, offset_pos.y));
   }
@@ -99,7 +99,7 @@ Polygon2d createMultiStepPolygon(
   Polygon2d multi_step_polygon{};
   for (size_t i = start_idx; i <= end_idx; ++i) {
     offsetPolygon2d(
-      tier4_autoware_utils::getPose(obj_path_points.at(i)), polygon, multi_step_polygon);
+      autoware_universe_utils::getPose(obj_path_points.at(i)), polygon, multi_step_polygon);
   }
 
   Polygon2d hull_multi_step_polygon{};
@@ -414,7 +414,7 @@ std::optional<StopFactor> CrosswalkModule::checkStopForCrosswalkUsers(
       if (
         isVehicleType(object.classification) && ego_crosswalk_passage_direction &&
         collision_point.crosswalk_passage_direction) {
-        const double direction_diff = tier4_autoware_utils::normalizeRadian(
+        const double direction_diff = autoware_universe_utils::normalizeRadian(
           collision_point.crosswalk_passage_direction.value() -
           ego_crosswalk_passage_direction.value());
         if (std::fabs(direction_diff) < planner_param_.vehicle_object_cross_angle_threshold) {
@@ -648,13 +648,14 @@ std::optional<double> CrosswalkModule::findEgoPassageDirectionAlongPath(
   auto findIntersectPoint = [&](const lanelet::ConstLineString3d line)
     -> std::optional<std::pair<size_t, geometry_msgs::msg::Point>> {
     const auto line_start =
-      tier4_autoware_utils::createPoint(line.front().x(), line.front().y(), line.front().z());
+      autoware_universe_utils::createPoint(line.front().x(), line.front().y(), line.front().z());
     const auto line_end =
-      tier4_autoware_utils::createPoint(line.back().x(), line.back().y(), line.back().z());
+      autoware_universe_utils::createPoint(line.back().x(), line.back().y(), line.back().z());
     for (unsigned i = 0; i < path.points.size() - 1; ++i) {
       const auto & start = path.points.at(i).point.pose.position;
       const auto & end = path.points.at(i + 1).point.pose.position;
-      if (const auto intersect = tier4_autoware_utils::intersect(line_start, line_end, start, end);
+      if (const auto intersect =
+            autoware_universe_utils::intersect(line_start, line_end, start, end);
           intersect.has_value()) {
         return std::make_optional(std::make_pair(i, intersect.value()));
       }
@@ -676,18 +677,19 @@ std::optional<double> CrosswalkModule::findEgoPassageDirectionAlongPath(
 std::optional<double> CrosswalkModule::findObjectPassageDirectionAlongVehicleLane(
   const autoware_perception_msgs::msg::PredictedPath & path) const
 {
-  using tier4_autoware_utils::Segment2d;
+  using autoware_universe_utils::Segment2d;
 
   auto findIntersectPoint = [&](const lanelet::ConstLineString3d line)
     -> std::optional<std::pair<size_t, geometry_msgs::msg::Point>> {
     const auto line_start =
-      tier4_autoware_utils::createPoint(line.front().x(), line.front().y(), line.front().z());
+      autoware_universe_utils::createPoint(line.front().x(), line.front().y(), line.front().z());
     const auto line_end =
-      tier4_autoware_utils::createPoint(line.back().x(), line.back().y(), line.back().z());
+      autoware_universe_utils::createPoint(line.back().x(), line.back().y(), line.back().z());
     for (unsigned i = 0; i < path.path.size() - 1; ++i) {
       const auto & start = path.path.at(i).position;
       const auto & end = path.path.at(i + 1).position;
-      if (const auto intersect = tier4_autoware_utils::intersect(line_start, line_end, start, end);
+      if (const auto intersect =
+            autoware_universe_utils::intersect(line_start, line_end, start, end);
           intersect.has_value()) {
         return std::make_optional(std::make_pair(i, intersect.value()));
       }
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
index b67e385d2d7cf..b57c2bc4d66a4 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
@@ -18,10 +18,10 @@
 #include "autoware/behavior_velocity_crosswalk_module/util.hpp"
 
 #include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <lanelet2_extension/regulatory_elements/crosswalk.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -53,10 +53,10 @@ using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::TrafficLightElement;
+using autoware_universe_utils::Polygon2d;
+using autoware_universe_utils::StopWatch;
 using lanelet::autoware::Crosswalk;
 using tier4_api_msgs::msg::CrosswalkStatus;
-using tier4_autoware_utils::Polygon2d;
-using tier4_autoware_utils::StopWatch;
 using tier4_planning_msgs::msg::PathWithLaneId;
 
 namespace
@@ -263,8 +263,8 @@ class CrosswalkModule : public SceneModuleInterface
 
       const bool is_object_away_from_path =
         !attention_area.outer().empty() &&
-        boost::geometry::distance(tier4_autoware_utils::fromMsg(position).to_2d(), attention_area) >
-          0.5;
+        boost::geometry::distance(
+          autoware_universe_utils::fromMsg(position).to_2d(), attention_area) > 0.5;
 
       // add new object
       if (objects.count(uuid) == 0) {
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp
index 033e724f3523a..08f741103c8ae 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp
@@ -15,11 +15,11 @@
 #include "autoware/behavior_velocity_crosswalk_module/util.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 
@@ -48,10 +48,10 @@
 namespace autoware::behavior_velocity_planner
 {
 namespace bg = boost::geometry;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::Line2d;
+using autoware_universe_utils::Point2d;
 using motion_utils::calcSignedArcLength;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::Line2d;
-using tier4_autoware_utils::Point2d;
 
 std::vector<std::pair<int64_t, lanelet::ConstLanelet>> getCrosswalksOnPath(
   const geometry_msgs::msg::Pose & current_pose,
@@ -152,7 +152,7 @@ std::vector<geometry_msgs::msg::Point> getPolygonIntersects(
 
   std::sort(intersects.begin(), intersects.end(), compare);
 
-  // convert tier4_autoware_utils::Point2d to geometry::msg::Point
+  // convert autoware_universe_utils::Point2d to geometry::msg::Point
   std::vector<geometry_msgs::msg::Point> geometry_points;
   for (const auto & p : intersects) {
     geometry_points.push_back(createPoint(p.x(), p.y(), ego_pos.z));
@@ -201,7 +201,7 @@ std::vector<geometry_msgs::msg::Point> getLinestringIntersects(
 
   std::sort(intersects.begin(), intersects.end(), compare);
 
-  // convert tier4_autoware_utils::Point2d to geometry::msg::Point
+  // convert autoware_universe_utils::Point2d to geometry::msg::Point
   std::vector<geometry_msgs::msg::Point> geometry_points;
   for (const auto & p : intersects) {
     geometry_points.push_back(createPoint(p.x(), p.y(), ego_pos.z));
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml
index c7ec9496c49af..982246ffed499 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml
@@ -20,6 +20,7 @@
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
@@ -30,7 +31,6 @@
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/debug.cpp
index abec113297a2f..2431c871633b7 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/debug.cpp
@@ -16,9 +16,9 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/debug.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
@@ -31,11 +31,11 @@
 
 namespace autoware::behavior_velocity_planner
 {
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
 using std_msgs::msg::ColorRGBA;
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerScale;
 
 namespace
 {
@@ -179,13 +179,13 @@ motion_utils::VirtualWalls DetectionAreaModule::createVirtualWalls()
 
   wall.style = motion_utils::VirtualWallType::stop;
   for (const auto & p : debug_data_.stop_poses) {
-    wall.pose = tier4_autoware_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
+    wall.pose = autoware_universe_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
     virtual_walls.push_back(wall);
   }
 
   wall.style = motion_utils::VirtualWallType::deadline;
   for (const auto & p : debug_data_.dead_line_poses) {
-    wall.pose = tier4_autoware_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
+    wall.pose = autoware_universe_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
     virtual_walls.push_back(wall);
   }
   return virtual_walls;
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp
index f8ab9e1ef590f..6bd0d2c3b274a 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp
@@ -15,8 +15,8 @@
 #include "manager.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
 #include <lanelet2_extension/utility/query.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
 
 #include <tf2/utils.h>
 
@@ -30,8 +30,8 @@
 
 namespace autoware::behavior_velocity_planner
 {
+using autoware_universe_utils::getOrDeclareParameter;
 using lanelet::autoware::DetectionArea;
-using tier4_autoware_utils::getOrDeclareParameter;
 
 DetectionAreaModuleManager::DetectionAreaModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp
index 3cfc3c09e4c57..827470317180e 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp
@@ -288,7 +288,7 @@ std::vector<geometry_msgs::msg::Point> DetectionAreaModule::getObstaclePoints()
                                   (circle.first.y() - p.y) * (circle.first.y() - p.y);
       if (squared_dist <= circle.second) {
         if (bg::within(Point2d{p.x, p.y}, poly.basicPolygon())) {
-          obstacle_points.push_back(tier4_autoware_utils::createPoint(p.x, p.y, p.z));
+          obstacle_points.push_back(autoware_universe_utils::createPoint(p.x, p.y, p.z));
           // get all obstacle point becomes high computation cost so skip if any point is found
           break;
         }
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
index 4e79139ba2fe7..c2b5ed9d3cfe8 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/package.xml
@@ -23,6 +23,7 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_rtc_interface</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
@@ -35,7 +36,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/debug.cpp
index c97128304e85b..baf7aa806c3dc 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/debug.cpp
@@ -17,8 +17,8 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/debug.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <tf2/utils.h>
 
@@ -33,10 +33,10 @@
 
 namespace
 {
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerOrientation;
-using tier4_autoware_utils::createMarkerScale;
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerOrientation;
+using autoware_universe_utils::createMarkerScale;
 
 visualization_msgs::msg::MarkerArray createLaneletPolygonsMarkerArray(
   const std::vector<lanelet::CompoundPolygon3d> & polygons, const std::string & ns,
@@ -226,10 +226,10 @@ constexpr std::tuple<float, float, float> light_blue()
 
 namespace autoware::behavior_velocity_planner
 {
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerOrientation;
-using tier4_autoware_utils::createMarkerScale;
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerOrientation;
+using autoware_universe_utils::createMarkerScale;
 
 visualization_msgs::msg::MarkerArray IntersectionModule::createDebugMarkerArray()
 {
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.cpp
index be7e9e25cc8bc..470464a6156b2 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.cpp
@@ -26,7 +26,7 @@ namespace autoware::behavior_velocity_planner
 
 void IntersectionLanelets::update(
   const bool is_prioritized, const InterpolatedPathInfo & interpolated_path_info,
-  const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length,
+  const autoware_universe_utils::LinearRing2d & footprint, const double vehicle_length,
   lanelet::routing::RoutingGraphPtr routing_graph_ptr)
 {
   is_prioritized_ = is_prioritized;
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.hpp
index a7ca5eb3b0bc1..af11033a454a7 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/intersection_lanelets.hpp
@@ -17,7 +17,7 @@
 
 #include "interpolated_path_info.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 
 #include <lanelet2_core/primitives/CompoundPolygon.h>
 #include <lanelet2_core/primitives/Lanelet.h>
@@ -41,7 +41,7 @@ struct IntersectionLanelets
    */
   void update(
     const bool is_prioritized, const InterpolatedPathInfo & interpolated_path_info,
-    const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length,
+    const autoware_universe_utils::LinearRing2d & footprint, const double vehicle_length,
     lanelet::routing::RoutingGraphPtr routing_graph_ptr);
 
   const lanelet::ConstLanelets & attention() const
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp
index b57914cfbb612..5ec002535f1a1 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/manager.cpp
@@ -16,8 +16,8 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
 
 #include <lanelet2_core/primitives/BasicRegulatoryElements.h>
 
@@ -30,7 +30,7 @@
 
 namespace autoware::behavior_velocity_planner
 {
-using tier4_autoware_utils::getOrDeclareParameter;
+using autoware_universe_utils::getOrDeclareParameter;
 
 IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp
index 7473cefa94cac..cc4b7cb0658be 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/object_manager.cpp
@@ -14,9 +14,9 @@
 
 #include "object_manager.hpp"
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>  // for toPolygon2d
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>  // for toPolygon2d
 
 #include <boost/geometry/algorithms/convex_hull.hpp>
 #include <boost/geometry/algorithms/correct.hpp>
@@ -38,15 +38,15 @@ std::string to_string(const unique_identifier_msgs::msg::UUID & uuid)
   return ss.str();
 }
 
-tier4_autoware_utils::Polygon2d createOneStepPolygon(
+autoware_universe_utils::Polygon2d createOneStepPolygon(
   const geometry_msgs::msg::Pose & prev_pose, const geometry_msgs::msg::Pose & next_pose,
   const autoware_perception_msgs::msg::Shape & shape)
 {
   namespace bg = boost::geometry;
-  const auto prev_poly = tier4_autoware_utils::toPolygon2d(prev_pose, shape);
-  const auto next_poly = tier4_autoware_utils::toPolygon2d(next_pose, shape);
+  const auto prev_poly = autoware_universe_utils::toPolygon2d(prev_pose, shape);
+  const auto next_poly = autoware_universe_utils::toPolygon2d(next_pose, shape);
 
-  tier4_autoware_utils::Polygon2d one_step_poly;
+  autoware_universe_utils::Polygon2d one_step_poly;
   for (const auto & point : prev_poly.outer()) {
     one_step_poly.outer().push_back(point);
   }
@@ -56,7 +56,7 @@ tier4_autoware_utils::Polygon2d createOneStepPolygon(
 
   bg::correct(one_step_poly);
 
-  tier4_autoware_utils::Polygon2d convex_one_step_poly;
+  autoware_universe_utils::Polygon2d convex_one_step_poly;
   bg::convex_hull(one_step_poly, convex_one_step_poly);
 
   return convex_one_step_poly;
@@ -164,13 +164,13 @@ bool ObjectInfo::can_stop_before_ego_lane(
   const auto stopline = stopline_opt.value();
   const auto stopline_p1 = stopline.front();
   const auto stopline_p2 = stopline.back();
-  const tier4_autoware_utils::Point2d stopline_mid{
+  const autoware_universe_utils::Point2d stopline_mid{
     (stopline_p1.x() + stopline_p2.x()) / 2.0, (stopline_p1.y() + stopline_p2.y()) / 2.0};
   const auto attention_lane_end = attention_lanelet.centerline().back();
-  const tier4_autoware_utils::LineString2d attention_lane_later_part(
-    {tier4_autoware_utils::Point2d{stopline_mid.x(), stopline_mid.y()},
-     tier4_autoware_utils::Point2d{attention_lane_end.x(), attention_lane_end.y()}});
-  std::vector<tier4_autoware_utils::Point2d> ego_collision_points;
+  const autoware_universe_utils::LineString2d attention_lane_later_part(
+    {autoware_universe_utils::Point2d{stopline_mid.x(), stopline_mid.y()},
+     autoware_universe_utils::Point2d{attention_lane_end.x(), attention_lane_end.y()}});
+  std::vector<autoware_universe_utils::Point2d> ego_collision_points;
   bg::intersection(
     attention_lane_later_part, ego_lane.centerline2d().basicLineString(), ego_collision_points);
   if (ego_collision_points.empty()) {
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp
index 0dd51d68914ef..b7c55dffec5da 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection.cpp
@@ -18,13 +18,13 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>  // for toGeomPoly
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>  // for toPolygon2d
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 #include <lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <motion_utils/factor/velocity_factor_interface.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>  // for toPolygon2d
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <boost/geometry/algorithms/within.hpp>
 
@@ -56,7 +56,7 @@ IntersectionModule::IntersectionModule(
   associative_ids_(associative_ids),
   turn_direction_(turn_direction),
   has_traffic_light_(has_traffic_light),
-  occlusion_uuid_(tier4_autoware_utils::generateUUID())
+  occlusion_uuid_(autoware_universe_utils::generateUUID())
 {
   velocity_factor_.init(PlanningBehavior::INTERSECTION);
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp
index 7bad94bf3fdb6..6e0fc2958d4f9 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_collision.cpp
@@ -17,11 +17,11 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>  // for toGeomPoly
 #include <autoware/behavior_velocity_planner_common/utilization/trajectory_utils.hpp>  // for smoothPath
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>  // for toPolygon2d
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <magic_enum.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>  // for toPolygon2d
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <boost/geometry/algorithms/correct.hpp>
 #include <boost/geometry/algorithms/intersects.hpp>
@@ -111,7 +111,7 @@ void IntersectionModule::updateObjectInfoManagerArea()
         return false;
       }
       return bg::within(
-        tier4_autoware_utils::Point2d{obj_pos.x, obj_pos.y}, intersection_area.value());
+        autoware_universe_utils::Point2d{obj_pos.x, obj_pos.y}, intersection_area.value());
     }();
     std::optional<lanelet::ConstLanelet> attention_lanelet{std::nullopt};
     std::optional<lanelet::ConstLineString3d> stopline{std::nullopt};
@@ -311,7 +311,7 @@ void IntersectionModule::updateObjectInfoManagerCollision(
       for (auto i = begin; i <= end; ++i) {
         if (bg::intersects(
               polygon,
-              tier4_autoware_utils::toPolygon2d(object_path.at(i), predicted_object.shape))) {
+              autoware_universe_utils::toPolygon2d(object_path.at(i), predicted_object.shape))) {
           collision_detected = true;
           break;
         }
@@ -490,13 +490,13 @@ std::string IntersectionModule::generateDetectionBlameDiagnosis(
           "judge line({2} seconds before from now) given the estimated current velocity {3}[m/s]. "
           "ego was at x = {4}, y = {5} when it passed the 1st pass judge line so it is the fault "
           "of detection side that failed to detect around {6}[m] range at that time.\n",
-          past_position.x,                                                                 // 0
-          past_position.y,                                                                 // 1
-          time_diff,                                                                       // 2
-          object_info->observed_velocity(),                                                // 3
-          passed_1st_judge_line_pose.position.x,                                           // 4
-          passed_1st_judge_line_pose.position.y,                                           // 5
-          tier4_autoware_utils::calcDistance2d(passed_1st_judge_line_pose, past_position)  // 6
+          past_position.x,                                                                    // 0
+          past_position.y,                                                                    // 1
+          time_diff,                                                                          // 2
+          object_info->observed_velocity(),                                                   // 3
+          passed_1st_judge_line_pose.position.x,                                              // 4
+          passed_1st_judge_line_pose.position.y,                                              // 5
+          autoware_universe_utils::calcDistance2d(passed_1st_judge_line_pose, past_position)  // 6
         );
       }
     }
@@ -528,13 +528,13 @@ std::string IntersectionModule::generateDetectionBlameDiagnosis(
           "judge line({2} seconds before from now) given the estimated current velocity {3}[m/s]. "
           "ego was at x = {4}, y = {5} when it passed the 2nd pass judge line so it is the fault "
           "of detection side that failed to detect around {6}[m] range at that time.\n",
-          past_position.x,                                                                 // 0
-          past_position.y,                                                                 // 1
-          time_diff,                                                                       // 2
-          object_info->observed_velocity(),                                                // 3
-          passed_2nd_judge_line_pose.position.x,                                           // 4
-          passed_2nd_judge_line_pose.position.y,                                           // 5
-          tier4_autoware_utils::calcDistance2d(passed_2nd_judge_line_pose, past_position)  // 6
+          past_position.x,                                                                    // 0
+          past_position.y,                                                                    // 1
+          time_diff,                                                                          // 2
+          object_info->observed_velocity(),                                                   // 3
+          passed_2nd_judge_line_pose.position.x,                                              // 4
+          passed_2nd_judge_line_pose.position.y,                                              // 5
+          autoware_universe_utils::calcDistance2d(passed_2nd_judge_line_pose, past_position)  // 6
         );
       }
     }
@@ -615,9 +615,9 @@ std::string IntersectionModule::generateEgoRiskEvasiveDiagnosis(
     const auto &p1 = unsafe_interval.path.at(begin).position,
                p2 = unsafe_interval.path.at(end).position;
     const auto collision_pos =
-      tier4_autoware_utils::createPoint((p1.x + p2.x) / 2, (p1.y + p2.y) / 2, (p1.z + p2.z) / 2);
+      autoware_universe_utils::createPoint((p1.x + p2.x) / 2, (p1.y + p2.y) / 2, (p1.z + p2.z) / 2);
     const auto object_dist_to_margin_point =
-      tier4_autoware_utils::calcDistance2d(
+      autoware_universe_utils::calcDistance2d(
         object_info->predicted_object().kinematics.initial_pose_with_covariance.pose.position,
         collision_pos) -
       planner_param_.collision_detection.avoid_collision_by_acceleration
@@ -779,7 +779,8 @@ std::optional<size_t> IntersectionModule::checkAngleForTargetLanelets(
     }
     const double ll_angle = lanelet::utils::getLaneletAngle(ll, pose.position);
     const double pose_angle = tf2::getYaw(pose.orientation);
-    const double angle_diff = tier4_autoware_utils::normalizeRadian(ll_angle - pose_angle, -M_PI);
+    const double angle_diff =
+      autoware_universe_utils::normalizeRadian(ll_angle - pose_angle, -M_PI);
     if (consider_wrong_direction_vehicle) {
       if (std::fabs(angle_diff) > 1.57 || std::fabs(angle_diff) < detection_area_angle_thr) {
         return std::make_optional<size_t>(i);
@@ -916,7 +917,7 @@ IntersectionModule::TimeDistanceArray IntersectionModule::calcIntersectionPassin
     const auto & p1 = smoothed_reference_path.points.at(i);
     const auto & p2 = smoothed_reference_path.points.at(i + 1);
 
-    const double dist = tier4_autoware_utils::calcDistance2d(p1, p2);
+    const double dist = autoware_universe_utils::calcDistance2d(p1, p2);
     dist_sum += dist;
 
     // use average velocity between p1 and p2
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp
index c43f8617897b9..f05b49a52b165 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp
@@ -15,8 +15,8 @@
 #include "scene_intersection.hpp"
 #include "util.hpp"
 
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>  // for toPolygon2d
 #include <opencv2/imgproc.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>  // for toPolygon2d
 
 #include <boost/geometry/algorithms/correct.hpp>
 #include <boost/geometry/algorithms/intersection.hpp>
@@ -151,7 +151,7 @@ IntersectionModule::OcclusionType IntersectionModule::detectOcclusion(
 
   auto findCommonCvPolygons =
     [&](const auto & area2d, std::vector<std::vector<cv::Point>> & cv_polygons) -> void {
-    tier4_autoware_utils::Polygon2d area2d_poly;
+    autoware_universe_utils::Polygon2d area2d_poly;
     for (const auto & p : area2d) {
       area2d_poly.outer().emplace_back(p.x(), p.y());
     }
@@ -240,7 +240,7 @@ IntersectionModule::OcclusionType IntersectionModule::detectOcclusion(
   std::vector<std::vector<cv::Point>> blocking_polygons;
   for (const auto & blocking_attention_object_info : blocking_attention_objects) {
     const Polygon2d obj_poly =
-      tier4_autoware_utils::toPolygon2d(blocking_attention_object_info->predicted_object());
+      autoware_universe_utils::toPolygon2d(blocking_attention_object_info->predicted_object());
     findCommonCvPolygons(obj_poly.outer(), blocking_polygons);
   }
   for (const auto & blocking_polygon : blocking_polygons) {
@@ -321,7 +321,7 @@ IntersectionModule::OcclusionType IntersectionModule::detectOcclusion(
     for (auto i = lane_start_idx + 1; i <= lane_end_idx; i++) {
       const auto path_linestring_point = path_ip.points.at(i).point.pose.position;
       if (
-        tier4_autoware_utils::calcDistance2d(prev_path_linestring_point, path_linestring_point) <
+        autoware_universe_utils::calcDistance2d(prev_path_linestring_point, path_linestring_point) <
         1.0 /* rough tick for computational cost */) {
         continue;
       }
@@ -405,9 +405,9 @@ IntersectionModule::OcclusionType IntersectionModule::detectOcclusion(
             division_index,
             std::distance(division.begin(), point_it),
             acc_dist,
-            tier4_autoware_utils::createPoint(point_it->x(), point_it->y(), origin.z),
-            tier4_autoware_utils::createPoint(projection_it->x(), projection_it->y(), origin.z),
-            tier4_autoware_utils::createPoint(
+            autoware_universe_utils::createPoint(point_it->x(), point_it->y(), origin.z),
+            autoware_universe_utils::createPoint(projection_it->x(), projection_it->y(), origin.z),
+            autoware_universe_utils::createPoint(
               projection_it->x(), projection_it->y(),
               origin.z) /* initialize with projection point at first*/};
           found_min_dist_for_this_division = true;
@@ -416,7 +416,7 @@ IntersectionModule::OcclusionType IntersectionModule::detectOcclusion(
           // division previously in this iteration, and the iterated cells are still OCCLUDED since
           // then
           nearest_occlusion_point.visible_end =
-            tier4_autoware_utils::createPoint(point_it->x(), point_it->y(), origin.z);
+            autoware_universe_utils::createPoint(point_it->x(), point_it->y(), origin.z);
         }
       }
       is_prev_occluded = (pixel == OCCLUDED);
@@ -440,7 +440,7 @@ IntersectionModule::OcclusionType IntersectionModule::detectOcclusion(
   bg::correct(ego_occlusion_triangle);
   for (const auto & attention_object_info : object_info_manager_.allObjects()) {
     const auto obj_poly =
-      tier4_autoware_utils::toPolygon2d(attention_object_info->predicted_object());
+      autoware_universe_utils::toPolygon2d(attention_object_info->predicted_object());
     if (bg::intersects(obj_poly, ego_occlusion_triangle)) {
       debug_data_.static_occlusion = false;
       return DynamicallyOccluded{min_dist};
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp
index 8c7a4272d1d68..657276f00ae84 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp
@@ -31,7 +31,7 @@
 #include <lanelet2_core/geometry/Polygon.h>
 #include <lanelet2_core/primitives/Point.h>
 
-namespace tier4_autoware_utils
+namespace autoware_universe_utils
 {
 
 template <>
@@ -44,7 +44,7 @@ inline geometry_msgs::msg::Point getPoint(const lanelet::ConstPoint3d & p)
   return point;
 }
 
-}  // namespace tier4_autoware_utils
+}  // namespace autoware_universe_utils
 
 namespace
 {
@@ -74,7 +74,7 @@ lanelet::ConstLanelet generatePathLanelet(
   for (size_t i = start_idx; i <= end_idx; ++i) {
     const auto & p = path.points.at(i).point.pose;
     const auto & p_prev = path.points.at(prev_idx).point.pose;
-    if (i != start_idx && tier4_autoware_utils::calcDistance2d(p_prev, p) < interval) {
+    if (i != start_idx && autoware_universe_utils::calcDistance2d(p_prev, p) < interval) {
       continue;
     }
     prev_idx = i;
@@ -277,7 +277,7 @@ Result<IntersectionModule::BasicData, InternalError> IntersectionModule::prepare
       const bool approached_assigned_lane =
         motion_utils::calcSignedArcLength(
           path->points, closest_idx,
-          tier4_autoware_utils::createPoint(
+          autoware_universe_utils::createPoint(
             assigned_lane_begin_point.x(), assigned_lane_begin_point.y(),
             assigned_lane_begin_point.z())) <
         planner_param_.collision_detection.yield_on_green_traffic_light
@@ -381,8 +381,8 @@ std::optional<IntersectionStopLines> IntersectionModule::generateIntersectionSto
   std::optional<size_t> first_footprint_attention_centerline_ip_opt = std::nullopt;
   for (auto i = std::get<0>(lane_interval_ip); i < std::get<1>(lane_interval_ip); ++i) {
     const auto & base_pose = path_ip.points.at(i).point.pose;
-    const auto path_footprint = tier4_autoware_utils::transformVector(
-      local_footprint, tier4_autoware_utils::pose2transform(base_pose));
+    const auto path_footprint = autoware_universe_utils::transformVector(
+      local_footprint, autoware_universe_utils::pose2transform(base_pose));
     if (bg::intersects(path_footprint, first_attention_lane_centerline.basicLineString())) {
       // NOTE: maybe consideration of braking dist is necessary
       first_footprint_attention_centerline_ip_opt = i;
@@ -423,8 +423,8 @@ std::optional<IntersectionStopLines> IntersectionModule::generateIntersectionSto
   // NOTE: if footprints[0] is already inside the attention area, invalid
   {
     const auto & base_pose0 = path_ip.points.at(default_stopline_ip).point.pose;
-    const auto path_footprint0 = tier4_autoware_utils::transformVector(
-      local_footprint, tier4_autoware_utils::pose2transform(base_pose0));
+    const auto path_footprint0 = autoware_universe_utils::transformVector(
+      local_footprint, autoware_universe_utils::pose2transform(base_pose0));
     if (bg::intersects(
           path_footprint0, lanelet::utils::to2D(first_attention_area).basicPolygon())) {
       occlusion_peeking_line_valid = false;
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp
index 7d6dd09bb8b6e..4d13890be5c64 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp
@@ -290,7 +290,7 @@ bool IntersectionModule::checkStuckVehicleInIntersection(const PathLanelets & pa
     }
 
     // check if the footprint is in the stuck detect area
-    const auto obj_footprint = tier4_autoware_utils::toPolygon2d(object);
+    const auto obj_footprint = autoware_universe_utils::toPolygon2d(object);
     // NOTE: in order not to stop too much
     const bool is_in_stuck_area = bg::within(
       to_bg2d(object.kinematics.initial_pose_with_covariance.pose.position),
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp
index 87d4065281ffa..f675d24e5e162 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp
@@ -53,7 +53,7 @@ MergeFromPrivateRoadModule::MergeFromPrivateRoadModule(
 static std::optional<lanelet::ConstLanelet> getFirstConflictingLanelet(
   const lanelet::ConstLanelets & conflicting_lanelets,
   const InterpolatedPathInfo & interpolated_path_info,
-  const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length)
+  const autoware_universe_utils::LinearRing2d & footprint, const double vehicle_length)
 {
   const auto & path_ip = interpolated_path_info.path;
   const auto [lane_start, end] = interpolated_path_info.lane_id_interval.value();
@@ -63,8 +63,8 @@ static std::optional<lanelet::ConstLanelet> getFirstConflictingLanelet(
 
   for (size_t i = start; i <= end; ++i) {
     const auto & pose = path_ip.points.at(i).point.pose;
-    const auto path_footprint =
-      tier4_autoware_utils::transformVector(footprint, tier4_autoware_utils::pose2transform(pose));
+    const auto path_footprint = autoware_universe_utils::transformVector(
+      footprint, autoware_universe_utils::pose2transform(pose));
     for (const auto & conflicting_lanelet : conflicting_lanelets) {
       const auto polygon_2d = conflicting_lanelet.polygon2d().basicPolygon();
       const bool intersects = bg::intersects(polygon_2d, path_footprint);
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp
index 66c82b5c4a1e5..85751442589f4 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.cpp
@@ -51,7 +51,7 @@ static std::optional<size_t> getDuplicatedPointIdx(
     const auto & p = path.points.at(i).point.pose.position;
 
     constexpr double min_dist = 0.001;
-    if (tier4_autoware_utils::calcDistance2d(p, point) < min_dist) {
+    if (autoware_universe_utils::calcDistance2d(p, point) < min_dist) {
       return i;
     }
   }
@@ -130,7 +130,7 @@ std::optional<std::pair<size_t, size_t>> findLaneIdsInterval(
 
 std::optional<size_t> getFirstPointInsidePolygonByFootprint(
   const lanelet::CompoundPolygon3d & polygon, const InterpolatedPathInfo & interpolated_path_info,
-  const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length)
+  const autoware_universe_utils::LinearRing2d & footprint, const double vehicle_length)
 {
   const auto & path_ip = interpolated_path_info.path;
   const auto [lane_start, lane_end] = interpolated_path_info.lane_id_interval.value();
@@ -140,8 +140,8 @@ std::optional<size_t> getFirstPointInsidePolygonByFootprint(
   const auto area_2d = lanelet::utils::to2D(polygon).basicPolygon();
   for (auto i = start; i <= lane_end; ++i) {
     const auto & base_pose = path_ip.points.at(i).point.pose;
-    const auto path_footprint = tier4_autoware_utils::transformVector(
-      footprint, tier4_autoware_utils::pose2transform(base_pose));
+    const auto path_footprint = autoware_universe_utils::transformVector(
+      footprint, autoware_universe_utils::pose2transform(base_pose));
     if (bg::intersects(path_footprint, area_2d)) {
       return std::make_optional<size_t>(i);
     }
@@ -154,7 +154,7 @@ std::optional<std::pair<
 getFirstPointInsidePolygonsByFootprint(
   const std::vector<lanelet::CompoundPolygon3d> & polygons,
   const InterpolatedPathInfo & interpolated_path_info,
-  const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length)
+  const autoware_universe_utils::LinearRing2d & footprint, const double vehicle_length)
 {
   const auto & path_ip = interpolated_path_info.path;
   const auto [lane_start, lane_end] = interpolated_path_info.lane_id_interval.value();
@@ -164,8 +164,8 @@ getFirstPointInsidePolygonsByFootprint(
 
   for (size_t i = start; i <= lane_end; ++i) {
     const auto & pose = path_ip.points.at(i).point.pose;
-    const auto path_footprint =
-      tier4_autoware_utils::transformVector(footprint, tier4_autoware_utils::pose2transform(pose));
+    const auto path_footprint = autoware_universe_utils::transformVector(
+      footprint, autoware_universe_utils::pose2transform(pose));
     for (size_t j = 0; j < polygons.size(); ++j) {
       const auto area_2d = lanelet::utils::to2D(polygons.at(j)).basicPolygon();
       const bool is_in_polygon = bg::intersects(area_2d, path_footprint);
@@ -332,7 +332,7 @@ bool isBeforeTargetIndex(
   return static_cast<bool>(target_idx > closest_idx);
 }
 
-std::optional<tier4_autoware_utils::Polygon2d> getIntersectionArea(
+std::optional<autoware_universe_utils::Polygon2d> getIntersectionArea(
   lanelet::ConstLanelet assigned_lane, lanelet::LaneletMapConstPtr lanelet_map_ptr)
 {
   const std::string area_id_str = assigned_lane.attributeOr("intersection_area", "else");
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.hpp
index ef826380afa69..1907395b4baee 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/src/util.hpp
@@ -17,8 +17,8 @@
 
 #include "interpolated_path_info.hpp"
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <rclcpp/logger.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_object_kinematics.hpp>
 
@@ -87,7 +87,7 @@ bool isBeforeTargetIndex(
   const tier4_planning_msgs::msg::PathWithLaneId & path, const size_t closest_idx,
   const geometry_msgs::msg::Pose & current_pose, const size_t target_idx);
 
-std::optional<tier4_autoware_utils::Polygon2d> getIntersectionArea(
+std::optional<autoware_universe_utils::Polygon2d> getIntersectionArea(
   lanelet::ConstLanelet assigned_lane, lanelet::LaneletMapConstPtr lanelet_map_ptr);
 
 /**
@@ -125,7 +125,7 @@ mergeLaneletsByTopologicalSort(
  */
 std::optional<size_t> getFirstPointInsidePolygonByFootprint(
   const lanelet::CompoundPolygon3d & polygon, const InterpolatedPathInfo & interpolated_path_info,
-  const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length);
+  const autoware_universe_utils::LinearRing2d & footprint, const double vehicle_length);
 
 /**
  * @brief find the index of the first point where vehicle footprint intersects with the given
@@ -136,7 +136,7 @@ std::optional<std::pair<
 getFirstPointInsidePolygonsByFootprint(
   const std::vector<lanelet::CompoundPolygon3d> & polygons,
   const InterpolatedPathInfo & interpolated_path_info,
-  const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length);
+  const autoware_universe_utils::LinearRing2d & footprint, const double vehicle_length);
 
 std::vector<lanelet::CompoundPolygon3d> getPolygon3dFromLanelets(
   const lanelet::ConstLanelets & ll_vec);
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
index 1a2d435fb6a4a..df64b5d8a4f6b 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/package.xml
@@ -21,6 +21,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
@@ -33,7 +34,6 @@
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/debug.cpp
index 55a13f282662e..488132113d2d3 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/debug.cpp
@@ -16,9 +16,9 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/debug.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #else
@@ -34,10 +34,10 @@ namespace
 {
 const double marker_lifetime = 0.2;
 using DebugData = NoStoppingAreaModule::DebugData;
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerScale;
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
 
 lanelet::BasicPoint3d getCentroidPoint(const lanelet::BasicPolygon3d & poly)
 {
@@ -170,7 +170,7 @@ motion_utils::VirtualWalls NoStoppingAreaModule::createVirtualWalls()
   wall.text = "no_stopping_area";
   wall.style = motion_utils::VirtualWallType::stop;
   for (const auto & p : debug_data_.stop_poses) {
-    wall.pose = tier4_autoware_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
+    wall.pose = autoware_universe_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
     virtual_walls.push_back(wall);
   }
   return virtual_walls;
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp
index 0c7d762693d17..773ec5f44411e 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/manager.cpp
@@ -15,8 +15,8 @@
 #include "manager.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
 #include <lanelet2_extension/utility/query.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
 
 #include <tf2/utils.h>
 
@@ -30,8 +30,8 @@
 
 namespace autoware::behavior_velocity_planner
 {
+using autoware_universe_utils::getOrDeclareParameter;
 using lanelet::autoware::NoStoppingArea;
-using tier4_autoware_utils::getOrDeclareParameter;
 
 NoStoppingAreaModuleManager::NoStoppingAreaModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
index 648d8a7800cb3..7ece8dd8ace9c 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp
@@ -17,10 +17,10 @@
 #include <autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <interpolation/spline_interpolation.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <lanelet2_core/geometry/Polygon.h>
 #include <lanelet2_core/utility/Optional.h>
@@ -87,7 +87,7 @@ boost::optional<LineString2d> NoStoppingAreaModule::getStopLineGeometry2d(
         std::vector<Point2d> collision_points;
         bg::intersection(area_poly, line, collision_points);
         if (!collision_points.empty()) {
-          const double yaw = tier4_autoware_utils::calcAzimuthAngle(p0, p1);
+          const double yaw = autoware_universe_utils::calcAzimuthAngle(p0, p1);
           const double w = planner_data_->vehicle_info_.vehicle_width_m;
           const double l = stop_line_margin;
           stop_line.emplace_back(
@@ -229,7 +229,7 @@ bool NoStoppingAreaModule::checkStuckVehiclesInNoStoppingArea(
       continue;  // not stop vehicle
     }
     // check if the footprint is in the stuck detect area
-    const Polygon2d obj_footprint = tier4_autoware_utils::toPolygon2d(object);
+    const Polygon2d obj_footprint = autoware_universe_utils::toPolygon2d(object);
     const bool is_in_stuck_area = !bg::disjoint(obj_footprint, poly);
     if (is_in_stuck_area) {
       RCLCPP_DEBUG(logger_, "stuck vehicle found.");
@@ -318,7 +318,7 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon(
   }
   const auto no_stopping_area = no_stopping_area_reg_elem_.noStoppingAreas().front();
   for (size_t i = closest_idx + num_ignore_nearest; i < pp.size() - 1; ++i) {
-    dist_from_start_sum += tier4_autoware_utils::calcDistance2d(pp.at(i), pp.at(i - 1));
+    dist_from_start_sum += autoware_universe_utils::calcDistance2d(pp.at(i), pp.at(i - 1));
     const auto & p = pp.at(i).point.pose.position;
     if (bg::within(Point2d{p.x, p.y}, lanelet::utils::to2D(no_stopping_area).basicPolygon())) {
       is_in_area = true;
@@ -339,10 +339,10 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon(
   // decide end idx with extract distance
   size_t ego_area_end_idx = ego_area_start_idx;
   for (size_t i = ego_area_start_idx; i < pp.size() - 1; ++i) {
-    dist_from_start_sum += tier4_autoware_utils::calcDistance2d(pp.at(i), pp.at(i - 1));
+    dist_from_start_sum += autoware_universe_utils::calcDistance2d(pp.at(i), pp.at(i - 1));
     const auto & p = pp.at(i).point.pose.position;
     if (!bg::within(Point2d{p.x, p.y}, lanelet::utils::to2D(no_stopping_area).basicPolygon())) {
-      dist_from_area_sum += tier4_autoware_utils::calcDistance2d(pp.at(i), pp.at(i - 1));
+      dist_from_area_sum += autoware_universe_utils::calcDistance2d(pp.at(i), pp.at(i - 1));
     }
     if (dist_from_start_sum > extra_dist || dist_from_area_sum > margin) {
       break;
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml
index eaffade354061..116fb72176a30 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/package.xml
@@ -21,6 +21,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>grid_map_ros</depend>
@@ -34,7 +35,6 @@
   <depend>rclcpp</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/debug.cpp
index 983bf3fc1fe10..6a05178ee769c 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/debug.cpp
@@ -17,8 +17,8 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/debug.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <cmath>
 #include <string>
@@ -30,13 +30,13 @@ namespace
 {
 using builtin_interfaces::msg::Time;
 using BasicPolygons = std::vector<lanelet::BasicPolygon2d>;
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerOrientation;
+using autoware_universe_utils::createMarkerPosition;
+using autoware_universe_utils::createMarkerScale;
 using occlusion_spot_utils::PossibleCollisionInfo;
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerOrientation;
-using tier4_autoware_utils::createMarkerPosition;
-using tier4_autoware_utils::createMarkerScale;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp
index 0557922da53fe..03124a0b81b43 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.cpp
@@ -95,7 +95,7 @@ std::optional<Polygon2d> generateOcclusionPolygon(
   const Polygon2d & occupancy_poly, const Point2d & origin, const Point2d & min_theta_pos,
   const Point2d & max_theta_pos, const double ray_max_length = 100.0)
 {
-  using tier4_autoware_utils::normalizeRadian;
+  using autoware_universe_utils::normalizeRadian;
   const double origin_x = origin.x();
   const double origin_y = origin.y();
   const double min_theta =
@@ -134,7 +134,7 @@ std::optional<Polygon2d> generateOcclusionPolygon(
 
 Polygon2d generateOccupancyPolygon(const nav_msgs::msg::MapMetaData & info, const double r = 100)
 {
-  using tier4_autoware_utils::calcOffsetPose;
+  using autoware_universe_utils::calcOffsetPose;
   // generate occupancy polygon from grid origin
   Polygon2d poly;  // create counter clockwise poly
   poly.outer().emplace_back(to_bg2d(calcOffsetPose(info.origin, 0, 0, 0).position));
@@ -155,7 +155,7 @@ std::pair<size_t, size_t> calcEdgePoint(const Polygon2d & foot_print, const Poin
   for (size_t i = 0; i < foot_print.outer().size(); i++) {
     const auto & f = foot_print.outer().at(i);
     PolarCoordinates polar = toPolarCoordinates(origin, f);
-    const double theta_norm = tier4_autoware_utils::normalizeRadian(polar.theta, 0.0);
+    const double theta_norm = autoware_universe_utils::normalizeRadian(polar.theta, 0.0);
     if (theta_norm < min_theta) {
       min_theta = theta_norm;
       min_idx = i;
@@ -183,7 +183,7 @@ std::optional<Polygon2d> generateOccupiedPolygon(
 
 Point transformFromMap2Grid(const TransformStamped & geom_tf_map2grid, const Point2d & p)
 {
-  Point geom_pt = tier4_autoware_utils::createPoint(p.x(), p.y(), 0);
+  Point geom_pt = autoware_universe_utils::createPoint(p.x(), p.y(), 0);
   Point transformed_geom_pt;
   // from map coordinate to occupancy grid coordinate
   tf2::doTransform(geom_pt, transformed_geom_pt, geom_tf_map2grid);
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp
index b991444c949fc..60ef9c629d830 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/grid_utils.hpp
@@ -17,13 +17,13 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
 #include <autoware_grid_map_utils/polygon_iterator.hpp>
 #include <grid_map_core/GridMap.hpp>
 #include <grid_map_core/iterators/LineIterator.hpp>
 #include <grid_map_ros/GridMapRosConverter.hpp>
 #include <opencv2/opencv.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
 
 #include <autoware_perception_msgs/msg/object_classification.hpp>
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
@@ -57,13 +57,13 @@ namespace grid_utils
 {
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
+using autoware_universe_utils::LineString2d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::TransformStamped;
 using nav_msgs::msg::MapMetaData;
 using nav_msgs::msg::OccupancyGrid;
-using tier4_autoware_utils::LineString2d;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
 
 namespace occlusion_cost_value
 {
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/manager.cpp
index f13fb09b751fd..f21d2bf6a743b 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/manager.cpp
@@ -17,7 +17,7 @@
 #include "scene_occlusion_spot.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
 
 #include <lanelet2_core/primitives/BasicRegulatoryElements.h>
 
@@ -27,9 +27,9 @@
 
 namespace autoware::behavior_velocity_planner
 {
+using autoware_universe_utils::getOrDeclareParameter;
 using occlusion_spot_utils::DETECTION_METHOD;
 using occlusion_spot_utils::PASS_JUDGE;
-using tier4_autoware_utils::getOrDeclareParameter;
 
 OcclusionSpotModuleManager::OcclusionSpotModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp
index 0b06702c41726..cade9f0614dc0 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp
@@ -18,11 +18,11 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
 #include <interpolation/spline_interpolation.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/normalization.hpp>
 
 #include <deque>
 #include <functional>
@@ -41,7 +41,7 @@ namespace occlusion_spot_utils
 Polygon2d toFootprintPolygon(const PredictedObject & object, const double scale = 1.0)
 {
   const Pose & obj_pose = object.kinematics.initial_pose_with_covariance.pose;
-  Polygon2d obj_footprint = tier4_autoware_utils::toPolygon2d(object);
+  Polygon2d obj_footprint = autoware_universe_utils::toPolygon2d(object);
   // upscale foot print for noise
   obj_footprint = upScalePolygon(obj_pose.position, obj_footprint, scale);
   return obj_footprint;
@@ -126,7 +126,7 @@ void calcSlowDownPointsForPossibleCollision(
     const double dist_to_col =
       possible_collisions.at(collision_index).arc_lane_dist_at_collision.length;
     dist_along_next_path_point +=
-      tier4_autoware_utils::calcDistance2d(p_prev.pose.position, p_next.pose.position);
+      autoware_universe_utils::calcDistance2d(p_prev.pose.position, p_next.pose.position);
     // process if nearest possible collision is between current and next path point
     if (dist_along_path_point < dist_to_col) {
       for (; collision_index < possible_collisions.size(); collision_index++) {
@@ -173,7 +173,7 @@ void clipPathByLength(
   double length_sum = 0;
   clipped.points.emplace_back(path.points.front());
   for (int i = 1; i < static_cast<int>(path.points.size()); i++) {
-    length_sum += tier4_autoware_utils::calcDistance2d(path.points.at(i - 1), path.points.at(i));
+    length_sum += autoware_universe_utils::calcDistance2d(path.points.at(i - 1), path.points.at(i));
     if (length_sum > max_length) return;
     clipped.points.emplace_back(path.points.at(i));
   }
@@ -248,7 +248,7 @@ void categorizeVehicles(
 lanelet::ArcCoordinates getOcclusionPoint(
   const PredictedObject & obj, const lanelet::ConstLineString2d & ll_string)
 {
-  const auto poly = tier4_autoware_utils::toPolygon2d(obj);
+  const auto poly = autoware_universe_utils::toPolygon2d(obj);
   std::deque<lanelet::ArcCoordinates> arcs;
   for (const auto & p : poly.outer()) {
     lanelet::BasicPoint2d obj_p = {p.x(), p.y()};
@@ -374,7 +374,7 @@ std::vector<PredictedObject> filterVehiclesByDetectionArea(
   // stuck points by predicted objects
   for (const auto & object : objs) {
     // check if the footprint is in the stuck detect area
-    const auto obj_footprint = tier4_autoware_utils::toPolygon2d(object);
+    const auto obj_footprint = autoware_universe_utils::toPolygon2d(object);
     for (const auto & p : polys) {
       if (!bg::disjoint(obj_footprint, p)) {
         filtered_obj.emplace_back(object);
@@ -402,8 +402,8 @@ bool generatePossibleCollisionsFromGridMap(
       param.detection_area.min_occlusion_spot_size);
     if (param.is_show_occlusion) {
       for (const auto & op : occlusion_spot_positions) {
-        Point p =
-          tier4_autoware_utils::createPoint(op[0], op[1], path.points.at(0).point.pose.position.z);
+        Point p = autoware_universe_utils::createPoint(
+          op[0], op[1], path.points.at(0).point.pose.position.z);
         debug_data.occlusion_points.emplace_back(p);
       }
     }
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp
index 8e7060ba2932c..d6f39dd56bdee 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/src/scene_occlusion_spot.hpp
@@ -19,8 +19,8 @@
 
 #include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
@@ -61,7 +61,7 @@ class OcclusionSpotModule : public SceneModuleInterface
 private:
   // Parameter
   PlannerParam param_;
-  tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch_;
+  autoware_universe_utils::StopWatch<std::chrono::milliseconds> stop_watch_;
   std::vector<lanelet::BasicPolygon2d> partition_lanelets_;
 
 protected:
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_grid_utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_grid_utils.cpp
index b19505cc4b82f..b0f4a48b9dbdc 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_grid_utils.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/test/src/test_grid_utils.cpp
@@ -16,7 +16,7 @@
 #include "utils.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 
 #include <gtest/gtest.h>
 
@@ -85,7 +85,7 @@ TEST(compareTime, polygon_vs_line_iterator)
     }
   }
   const grid_map::Matrix & grid_data = grid["layer"];
-  tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch;
+  autoware_universe_utils::StopWatch<std::chrono::milliseconds> stop_watch;
   stop_watch.tic("processing_time");
   size_t count = 0;
   [[maybe_unused]] double time = 0;
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
index 376ac6cf5bf31..271efdc1a1b42 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/package.xml
@@ -39,6 +39,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_velocity_smoother</depend>
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
@@ -56,7 +57,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_api_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_v2x_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp
index ba41f7afdf15f..9ed221f9df0bc 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.cpp
@@ -15,12 +15,12 @@
 #include "node.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/path_utilization.hpp>
+#include <autoware/universe_utils/ros/wait_for_param.hpp>
+#include <autoware/universe_utils/transform/transforms.hpp>
 #include <autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <motion_utils/trajectory/path_with_lane_id.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/ros/wait_for_param.hpp>
-#include <tier4_autoware_utils/transform/transforms.hpp>
 
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
@@ -130,8 +130,9 @@ BehaviorVelocityPlannerNode::BehaviorVelocityPlannerNode(const rclcpp::NodeOptio
     planner_manager_.launchScenePlugin(*this, name);
   }
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void BehaviorVelocityPlannerNode::onLoadPlugin(
@@ -193,7 +194,7 @@ void BehaviorVelocityPlannerNode::processNoGroundPointCloud(
   Eigen::Affine3f affine = tf2::transformToEigen(transform.transform).cast<float>();
   pcl::PointCloud<pcl::PointXYZ>::Ptr pc_transformed(new pcl::PointCloud<pcl::PointXYZ>);
   if (!pc.empty()) {
-    tier4_autoware_utils::transformPointCloud(pc, *pc_transformed, affine);
+    autoware_universe_utils::transformPointCloud(pc, *pc_transformed, affine);
   }
 
   planner_data_.no_ground_pointcloud = pc_transformed;
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp
index 20cb452c86cd8..1db2766fdf686 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner/src/node.hpp
@@ -15,15 +15,15 @@
 #ifndef NODE_HPP_
 #define NODE_HPP_
 
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
 #include "planner_manager.hpp"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 
 #include <autoware/behavior_velocity_planner_common/planner_data.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <autoware_behavior_velocity_planner/srv/load_plugin.hpp>
 #include <autoware_behavior_velocity_planner/srv/unload_plugin.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
@@ -69,30 +69,30 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
   rclcpp::Subscription<VelocityLimit>::SharedPtr sub_external_velocity_limit_;
 
   // polling subscribers
-  tier4_autoware_utils::InterProcessPollingSubscriber<
+  autoware_universe_utils::InterProcessPollingSubscriber<
     autoware_perception_msgs::msg::PredictedObjects>
     sub_predicted_objects_{this, "~/input/dynamic_objects"};
 
-  tier4_autoware_utils::InterProcessPollingSubscriber<sensor_msgs::msg::PointCloud2>
+  autoware_universe_utils::InterProcessPollingSubscriber<sensor_msgs::msg::PointCloud2>
     sub_no_ground_pointcloud_{
-      this, "~/input/no_ground_pointcloud", tier4_autoware_utils::SingleDepthSensorQoS()};
+      this, "~/input/no_ground_pointcloud", autoware_universe_utils::SingleDepthSensorQoS()};
 
-  tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry>
+  autoware_universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry>
     sub_vehicle_odometry_{this, "~/input/vehicle_odometry"};
 
-  tier4_autoware_utils::InterProcessPollingSubscriber<
+  autoware_universe_utils::InterProcessPollingSubscriber<
     geometry_msgs::msg::AccelWithCovarianceStamped>
     sub_acceleration_{this, "~/input/accel"};
 
-  tier4_autoware_utils::InterProcessPollingSubscriber<
+  autoware_universe_utils::InterProcessPollingSubscriber<
     autoware_perception_msgs::msg::TrafficLightGroupArray>
     sub_traffic_signals_{this, "~/input/traffic_signals"};
 
-  tier4_autoware_utils::InterProcessPollingSubscriber<
+  autoware_universe_utils::InterProcessPollingSubscriber<
     tier4_v2x_msgs::msg::VirtualTrafficLightStateArray>
     sub_virtual_traffic_light_states_{this, "~/input/virtual_traffic_light_states"};
 
-  tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::OccupancyGrid>
+  autoware_universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::OccupancyGrid>
     sub_occupancy_grid_{this, "~/input/occupancy_grid"};
 
   void onTrigger(const tier4_planning_msgs::msg::PathWithLaneId::ConstSharedPtr input_path_msg);
@@ -143,9 +143,9 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node
     const tier4_planning_msgs::msg::PathWithLaneId::ConstSharedPtr input_path_msg,
     const PlannerData & planner_data);
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 
   static constexpr int logger_throttle_interval = 3000;
 };
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp
index bdc37e794ca8a..f9a6210d74019 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/scene_module_interface.hpp
@@ -18,11 +18,11 @@
 #include <autoware/behavior_velocity_planner_common/planner_data.hpp>
 #include <autoware/objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp>
 #include <autoware/rtc_interface/rtc_interface.hpp>
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
 #include <builtin_interfaces/msg/time.hpp>
 #include <motion_utils/factor/velocity_factor_interface.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/velocity_factor.hpp>
 #include <autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp>
@@ -51,11 +51,11 @@ namespace autoware::behavior_velocity_planner
 using autoware::objects_of_interest_marker_interface::ColorName;
 using autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface;
 using autoware::rtc_interface::RTCInterface;
+using autoware_universe_utils::DebugPublisher;
+using autoware_universe_utils::getOrDeclareParameter;
 using builtin_interfaces::msg::Time;
 using motion_utils::PlanningBehavior;
 using motion_utils::VelocityFactor;
-using tier4_autoware_utils::DebugPublisher;
-using tier4_autoware_utils::getOrDeclareParameter;
 using tier4_debug_msgs::msg::Float64Stamped;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using tier4_planning_msgs::msg::StopFactor;
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp
index 8e5f88973ab13..09a9125ef0eac 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp
@@ -16,7 +16,7 @@
 #define AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__UTILIZATION__ARC_LANE_UTIL_HPP_
 
 #include <autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
@@ -31,7 +31,7 @@ namespace autoware::behavior_velocity_planner
 {
 namespace
 {
-geometry_msgs::msg::Point convertToGeomPoint(const tier4_autoware_utils::Point2d & p)
+geometry_msgs::msg::Point convertToGeomPoint(const autoware_universe_utils::Point2d & p)
 {
   geometry_msgs::msg::Point geom_p;
   geom_p.x = p.x();
@@ -46,7 +46,7 @@ namespace arc_lane_utils
 {
 using PathIndexWithPose = std::pair<size_t, geometry_msgs::msg::Pose>;  // front index, pose
 using PathIndexWithPoint2d =
-  std::pair<size_t, tier4_autoware_utils::Point2d>;                       // front index, point2d
+  std::pair<size_t, autoware_universe_utils::Point2d>;                    // front index, point2d
 using PathIndexWithPoint = std::pair<size_t, geometry_msgs::msg::Point>;  // front index, point2d
 using PathIndexWithOffset = std::pair<size_t, double>;                    // front index, offset
 
@@ -76,9 +76,9 @@ std::optional<PathIndexWithPoint> findCollisionSegment(
     }
 
     const auto & p1 =
-      tier4_autoware_utils::getPoint(path.points.at(i));  // Point before collision point
+      autoware_universe_utils::getPoint(path.points.at(i));  // Point before collision point
     const auto & p2 =
-      tier4_autoware_utils::getPoint(path.points.at(i + 1));  // Point after collision point
+      autoware_universe_utils::getPoint(path.points.at(i + 1));  // Point after collision point
 
     const auto collision_point = checkCollision(p1, p2, stop_line_p1, stop_line_p2);
 
@@ -106,7 +106,7 @@ std::optional<PathIndexWithOffset> findForwardOffsetSegment(
 {
   double sum_length = 0.0;
   for (size_t i = base_idx; i < path.points.size() - 1; ++i) {
-    sum_length += tier4_autoware_utils::calcDistance2d(path.points.at(i), path.points.at(i + 1));
+    sum_length += autoware_universe_utils::calcDistance2d(path.points.at(i), path.points.at(i + 1));
 
     // If it's over offset point, return front index and remain offset length
     if (sum_length >= offset_length) {
@@ -125,7 +125,7 @@ std::optional<PathIndexWithOffset> findBackwardOffsetSegment(
   double sum_length = 0.0;
   const auto start = static_cast<std::int32_t>(base_idx) - 1;
   for (std::int32_t i = start; i >= 0; --i) {
-    sum_length += tier4_autoware_utils::calcDistance2d(path.points.at(i), path.points.at(i + 1));
+    sum_length += autoware_universe_utils::calcDistance2d(path.points.at(i), path.points.at(i + 1));
 
     // If it's over offset point, return front index and remain offset length
     if (sum_length >= offset_length) {
@@ -149,13 +149,13 @@ std::optional<PathIndexWithOffset> findOffsetSegment(
     return findForwardOffsetSegment(
       path, collision_idx,
       offset_length +
-        tier4_autoware_utils::calcDistance2d(path.points.at(collision_idx), collision_point));
+        autoware_universe_utils::calcDistance2d(path.points.at(collision_idx), collision_point));
   }
 
   return findBackwardOffsetSegment(
     path, collision_idx + 1,
     -offset_length +
-      tier4_autoware_utils::calcDistance2d(path.points.at(collision_idx + 1), collision_point));
+      autoware_universe_utils::calcDistance2d(path.points.at(collision_idx + 1), collision_point));
 }
 
 std::optional<PathIndexWithOffset> findOffsetSegment(
@@ -185,8 +185,8 @@ geometry_msgs::msg::Pose calcTargetPose(const T & path, const PathIndexWithOffse
   target_pose.position.x = target_point_2d.x();
   target_pose.position.y = target_point_2d.y();
   target_pose.position.z = interpolated_z;
-  const double yaw = tier4_autoware_utils::calcAzimuthAngle(p_front, p_back);
-  target_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw);
+  const double yaw = autoware_universe_utils::calcAzimuthAngle(p_front, p_back);
+  target_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(yaw);
   return target_pose;
 }
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp
index cf72334c7b993..608d136a418bb 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__UTILIZATION__BOOST_GEOMETRY_HELPER_HPP_
 #define AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__UTILIZATION__BOOST_GEOMETRY_HELPER_HPP_
 
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_planning_msgs/msg/path_point.hpp>
 #include <autoware_planning_msgs/msg/trajectory_point.hpp>
@@ -50,9 +50,9 @@ namespace autoware::behavior_velocity_planner
 {
 namespace bg = boost::geometry;
 
-using Point2d = tier4_autoware_utils::Point2d;
-using LineString2d = tier4_autoware_utils::LineString2d;
-using Polygon2d = tier4_autoware_utils::Polygon2d;
+using Point2d = autoware_universe_utils::Point2d;
+using LineString2d = autoware_universe_utils::LineString2d;
+using Polygon2d = autoware_universe_utils::Polygon2d;
 
 template <class T>
 Point2d to_bg2d(const T & p)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp
index 78e032a918ac3..9dd3792e2799a 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/include/autoware/behavior_velocity_planner_common/utilization/util.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__UTILIZATION__UTIL_HPP_
 #define AUTOWARE__BEHAVIOR_VELOCITY_PLANNER_COMMON__UTILIZATION__UTIL_HPP_
 
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_perception_msgs/msg/traffic_light_group.hpp>
@@ -57,9 +57,9 @@ struct TrafficSignalStamped
 };
 
 using Pose = geometry_msgs::msg::Pose;
-using Point2d = tier4_autoware_utils::Point2d;
-using LineString2d = tier4_autoware_utils::LineString2d;
-using Polygon2d = tier4_autoware_utils::Polygon2d;
+using Point2d = autoware_universe_utils::Point2d;
+using LineString2d = autoware_universe_utils::LineString2d;
+using Polygon2d = autoware_universe_utils::Polygon2d;
 using BasicPolygons2d = std::vector<lanelet::BasicPolygon2d>;
 using Polygons2d = std::vector<Polygon2d>;
 using autoware_perception_msgs::msg::PredictedObjects;
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml
index 69b153ad5d9a9..96bad9b21b27c 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/package.xml
@@ -26,6 +26,7 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_rtc_interface</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_velocity_smoother</depend>
   <depend>diagnostic_msgs</depend>
@@ -44,7 +45,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_api_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_v2x_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp
index 95e8978cd6136..d70d56509cc47 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp
@@ -14,9 +14,9 @@
 
 #include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <algorithm>
 #include <limits>
@@ -24,7 +24,7 @@
 namespace autoware::behavior_velocity_planner
 {
 
-using tier4_autoware_utils::StopWatch;
+using autoware_universe_utils::StopWatch;
 
 SceneModuleInterface::SceneModuleInterface(
   const int64_t module_id, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock)
@@ -236,7 +236,7 @@ UUID SceneModuleManagerInterfaceWithRTC::getUUID(const int64_t & module_id) cons
 
 void SceneModuleManagerInterfaceWithRTC::generateUUID(const int64_t & module_id)
 {
-  map_uuid_.insert({module_id, tier4_autoware_utils::generateUUID()});
+  map_uuid_.insert({module_id, autoware_universe_utils::generateUUID()});
 }
 
 void SceneModuleManagerInterfaceWithRTC::removeUUID(const int64_t & module_id)
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/arc_lane_util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/arc_lane_util.cpp
index fce9b04e5a4cb..3e029174b288d 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/arc_lane_util.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/arc_lane_util.cpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 #include <autoware/behavior_velocity_planner_common/utilization/arc_lane_util.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp
index c0c5ff12cc981..9061508e6d77d 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/debug.cpp
@@ -14,16 +14,16 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/debug.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 namespace autoware::behavior_velocity_planner
 {
 namespace debug
 {
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerOrientation;
-using tier4_autoware_utils::createMarkerScale;
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerOrientation;
+using autoware_universe_utils::createMarkerScale;
 
 visualization_msgs::msg::MarkerArray createPolygonMarkerArray(
   const geometry_msgs::msg::Polygon & polygon, const std::string & ns, const int64_t module_id,
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp
index 0043475e07954..a189dd52a8c90 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/path_utilization.cpp
@@ -79,7 +79,7 @@ autoware_planning_msgs::msg::Path interpolatePath(
       v.push_back(path_point.longitudinal_velocity_mps);
       if (idx != 0) {
         const auto path_point_prev = path.points.at(idx - 1);
-        s += tier4_autoware_utils::calcDistance2d(path_point_prev.pose, path_point.pose);
+        s += autoware_universe_utils::calcDistance2d(path_point_prev.pose, path_point.pose);
       }
       if (s > path_len) {
         break;
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp
index 56b784d20b084..16a8cd1e69be8 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/utilization/util.cpp
@@ -45,8 +45,10 @@ size_t calcPointIndexFromSegmentIndex(
   const size_t prev_point_idx = seg_idx;
   const size_t next_point_idx = seg_idx + 1;
 
-  const double prev_dist = tier4_autoware_utils::calcDistance2d(point, points.at(prev_point_idx));
-  const double next_dist = tier4_autoware_utils::calcDistance2d(point, points.at(next_point_idx));
+  const double prev_dist =
+    autoware_universe_utils::calcDistance2d(point, points.at(prev_point_idx));
+  const double next_dist =
+    autoware_universe_utils::calcDistance2d(point, points.at(next_point_idx));
 
   if (prev_dist < next_dist) {
     return prev_point_idx;
@@ -60,7 +62,7 @@ PathPoint getLerpPathPointWithLaneId(const PathPoint p0, const PathPoint p1, con
 {
   auto lerp = [](const double a, const double b, const double t) { return a + t * (b - a); };
   PathPoint p;
-  p.pose = tier4_autoware_utils::calcInterpolatedPose(p0, p1, ratio);
+  p.pose = autoware_universe_utils::calcInterpolatedPose(p0, p1, ratio);
   const double v = lerp(p0.longitudinal_velocity_mps, p1.longitudinal_velocity_mps, ratio);
   p.longitudinal_velocity_mps = v;
   return p;
@@ -82,7 +84,7 @@ geometry_msgs::msg::Pose transformRelCoordinate2D(
   res.position.y = ((-1.0) * std::sin(yaw) * trans_p.x) + (std::cos(yaw) * trans_p.y);
   res.position.z = target.position.z - origin.position.z;
   res.orientation =
-    tier4_autoware_utils::createQuaternionFromYaw(tf2::getYaw(target.orientation) - yaw);
+    autoware_universe_utils::createQuaternionFromYaw(tf2::getYaw(target.orientation) - yaw);
 
   return res;
 }
@@ -94,15 +96,15 @@ namespace autoware::behavior_velocity_planner
 namespace planning_utils
 {
 using autoware_planning_msgs::msg::PathPoint;
+using autoware_universe_utils::calcAzimuthAngle;
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::calcSquaredDistance2d;
+using autoware_universe_utils::createQuaternionFromYaw;
+using autoware_universe_utils::getPoint;
 using motion_utils::calcLongitudinalOffsetToSegment;
 using motion_utils::calcSignedArcLength;
 using motion_utils::validateNonEmpty;
-using tier4_autoware_utils::calcAzimuthAngle;
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::calcSquaredDistance2d;
-using tier4_autoware_utils::createQuaternionFromYaw;
-using tier4_autoware_utils::getPoint;
 
 size_t calcSegmentIndexFromPointIndex(
   const std::vector<tier4_planning_msgs::msg::PathPointWithLaneId> & points,
@@ -315,7 +317,7 @@ geometry_msgs::msg::Pose getAheadPose(
   for (size_t i = start_idx; i < path.points.size() - 1; ++i) {
     const geometry_msgs::msg::Pose p0 = path.points.at(i).point.pose;
     const geometry_msgs::msg::Pose p1 = path.points.at(i + 1).point.pose;
-    curr_dist += tier4_autoware_utils::calcDistance2d(p0, p1);
+    curr_dist += autoware_universe_utils::calcDistance2d(p0, p1);
     if (curr_dist > ahead_dist) {
       const double dl = std::max(curr_dist - prev_dist, 0.0001 /* avoid 0 divide */);
       const double w_p0 = (curr_dist - ahead_dist) / dl;
@@ -635,7 +637,7 @@ std::optional<geometry_msgs::msg::Pose> insertDecelPoint(
     output.points.at(i).point.longitudinal_velocity_mps =
       std::min(original_velocity, target_velocity);
   }
-  return tier4_autoware_utils::getPose(output.points.at(insert_idx.value()));
+  return autoware_universe_utils::getPose(output.points.at(insert_idx.value()));
 }
 
 // TODO(murooka): remove this function for u-turn and crossing-path
@@ -649,7 +651,7 @@ std::optional<geometry_msgs::msg::Pose> insertStopPoint(
     return {};
   }
 
-  return tier4_autoware_utils::getPose(output.points.at(insert_idx.value()));
+  return autoware_universe_utils::getPose(output.points.at(insert_idx.value()));
 }
 
 std::optional<geometry_msgs::msg::Pose> insertStopPoint(
@@ -661,7 +663,7 @@ std::optional<geometry_msgs::msg::Pose> insertStopPoint(
     return {};
   }
 
-  return tier4_autoware_utils::getPose(output.points.at(insert_idx.value()));
+  return autoware_universe_utils::getPose(output.points.at(insert_idx.value()));
 }
 
 std::set<lanelet::Id> getAssociativeIntersectionLanelets(
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml
index 433c1470c4bbe..a1feae8c4113c 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/package.xml
@@ -24,6 +24,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
@@ -38,7 +39,6 @@
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp
index 129d5299385fd..9346d05128c69 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/debug.cpp
@@ -16,17 +16,17 @@
 
 #include "scene.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerOrientation;
-using tier4_autoware_utils::createMarkerScale;
-using tier4_autoware_utils::createPoint;
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerOrientation;
+using autoware_universe_utils::createMarkerScale;
+using autoware_universe_utils::createPoint;
 
 namespace autoware::behavior_velocity_planner
 {
@@ -35,7 +35,7 @@ namespace
 RunOutDebug::TextWithPosition createDebugText(
   const std::string text, const geometry_msgs::msg::Pose pose, const float lateral_offset)
 {
-  const auto offset_pose = tier4_autoware_utils::calcOffsetPose(pose, 0, lateral_offset, 0);
+  const auto offset_pose = autoware_universe_utils::calcOffsetPose(pose, 0, lateral_offset, 0);
 
   RunOutDebug::TextWithPosition text_with_position;
   text_with_position.text = text;
@@ -136,7 +136,7 @@ void RunOutDebug::pushDetectionAreaPolygons(const Polygon2d & debug_polygon)
 {
   std::vector<geometry_msgs::msg::Point> ros_points;
   for (const auto & p : debug_polygon.outer()) {
-    ros_points.push_back(tier4_autoware_utils::createPoint(p.x(), p.y(), 0.0));
+    ros_points.push_back(autoware_universe_utils::createPoint(p.x(), p.y(), 0.0));
   }
 
   detection_area_polygons_.push_back(ros_points);
@@ -146,7 +146,7 @@ void RunOutDebug::pushMandatoryDetectionAreaPolygons(const Polygon2d & debug_pol
 {
   std::vector<geometry_msgs::msg::Point> ros_points;
   for (const auto & p : debug_polygon.outer()) {
-    ros_points.push_back(tier4_autoware_utils::createPoint(p.x(), p.y(), 0.0));
+    ros_points.push_back(autoware_universe_utils::createPoint(p.x(), p.y(), 0.0));
   }
 
   mandatory_detection_area_polygons_.push_back(ros_points);
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp
index 5e8b0382a07c0..fe4162504095f 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/dynamic_obstacle.cpp
@@ -14,12 +14,12 @@
 
 #include "dynamic_obstacle.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/pose_deviation.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
+#include <autoware/universe_utils/transform/transforms.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/geometry/pose_deviation.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
-#include <tier4_autoware_utils/transform/transforms.hpp>
 
 #include <boost/geometry/algorithms/covered_by.hpp>
 #include <boost/geometry/algorithms/envelope.hpp>
@@ -42,12 +42,12 @@ geometry_msgs::msg::Quaternion createQuaternionFacingToTrajectory(
   const auto & nearest_pose = path_points.at(nearest_idx).point.pose;
 
   const auto longitudinal_offset =
-    tier4_autoware_utils::calcLongitudinalDeviation(nearest_pose, point);
+    autoware_universe_utils::calcLongitudinalDeviation(nearest_pose, point);
   const auto vertical_point =
-    tier4_autoware_utils::calcOffsetPose(nearest_pose, longitudinal_offset, 0, 0).position;
-  const auto azimuth_angle = tier4_autoware_utils::calcAzimuthAngle(point, vertical_point);
+    autoware_universe_utils::calcOffsetPose(nearest_pose, longitudinal_offset, 0, 0).position;
+  const auto azimuth_angle = autoware_universe_utils::calcAzimuthAngle(point, vertical_point);
 
-  return tier4_autoware_utils::createQuaternionFromYaw(azimuth_angle);
+  return autoware_universe_utils::createQuaternionFromYaw(azimuth_angle);
 }
 
 // create predicted path assuming that obstacles move with constant velocity
@@ -60,7 +60,7 @@ std::vector<geometry_msgs::msg::Pose> createPredictedPath(
   for (size_t i = 0; i < path_size; i++) {
     const float travel_dist = max_velocity_mps * time_step * i;
     const auto predicted_pose =
-      tier4_autoware_utils::calcOffsetPose(initial_pose, travel_dist, 0, 0);
+      autoware_universe_utils::calcOffsetPose(initial_pose, travel_dist, 0, 0);
     path_points.emplace_back(predicted_pose);
   }
 
@@ -115,7 +115,7 @@ bool isAheadOf(
   const geometry_msgs::msg::Point & target_point, const geometry_msgs::msg::Pose & base_pose)
 {
   const auto longitudinal_deviation =
-    tier4_autoware_utils::calcLongitudinalDeviation(base_pose, target_point);
+    autoware_universe_utils::calcLongitudinalDeviation(base_pose, target_point);
   const bool is_ahead = longitudinal_deviation > 0;
   return is_ahead;
 }
@@ -136,7 +136,7 @@ pcl::PointCloud<pcl::PointXYZ> extractObstaclePointsWithinPolygon(
   pcl::PointCloud<pcl::PointXYZ> output_points;
   output_points.header = input_points.header;
   for (const auto & poly : polys) {
-    const auto bounding_box = bg::return_envelope<tier4_autoware_utils::Box2d>(poly);
+    const auto bounding_box = bg::return_envelope<autoware_universe_utils::Box2d>(poly);
     for (const auto & p : input_points) {
       Point2d point(p.x, p.y);
 
@@ -165,7 +165,7 @@ std::vector<pcl::PointCloud<pcl::PointXYZ>> groupPointsWithNearestSegmentIndex(
   points_with_index.resize(path_points.size());
 
   for (const auto & p : input_points.points) {
-    const auto ros_point = tier4_autoware_utils::createPoint(p.x, p.y, p.z);
+    const auto ros_point = autoware_universe_utils::createPoint(p.x, p.y, p.z);
     const size_t nearest_seg_idx = motion_utils::findNearestSegmentIndex(path_points, ros_point);
 
     // if the point is ahead of end of the path, index should be path.size() - 1
@@ -188,10 +188,10 @@ pcl::PointXYZ calculateLateralNearestPoint(
 {
   const auto lateral_nearest_point = std::min_element(
     input_points.points.begin(), input_points.points.end(), [&](const auto & p1, const auto & p2) {
-      const auto lateral_deviation_p1 = std::abs(tier4_autoware_utils::calcLateralDeviation(
-        base_pose, tier4_autoware_utils::createPoint(p1.x, p1.y, 0)));
-      const auto lateral_deviation_p2 = std::abs(tier4_autoware_utils::calcLateralDeviation(
-        base_pose, tier4_autoware_utils::createPoint(p2.x, p2.y, 0)));
+      const auto lateral_deviation_p1 = std::abs(autoware_universe_utils::calcLateralDeviation(
+        base_pose, autoware_universe_utils::createPoint(p1.x, p1.y, 0)));
+      const auto lateral_deviation_p2 = std::abs(autoware_universe_utils::calcLateralDeviation(
+        base_pose, autoware_universe_utils::createPoint(p2.x, p2.y, 0)));
 
       return lateral_deviation_p1 < lateral_deviation_p2;
     });
@@ -266,7 +266,7 @@ pcl::PointCloud<pcl::PointXYZ> transformPointCloud(
   pcl::PointCloud<pcl::PointXYZ> pointcloud_pcl;
   pcl::fromROSMsg(input_pointcloud, pointcloud_pcl);
   pcl::PointCloud<pcl::PointXYZ> pointcloud_pcl_transformed;
-  tier4_autoware_utils::transformPointCloud(
+  autoware_universe_utils::transformPointCloud(
     pointcloud_pcl, pointcloud_pcl_transformed, transform_matrix);
 
   return pointcloud_pcl_transformed;
@@ -365,8 +365,8 @@ std::vector<DynamicObstacle> DynamicObstacleCreatorForObject::createDynamicObsta
     dynamic_obstacle.pose = predicted_object.kinematics.initial_pose_with_covariance.pose;
 
     if (param_.assume_fixed_velocity) {
-      dynamic_obstacle.min_velocity_mps = tier4_autoware_utils::kmph2mps(param_.min_vel_kmph);
-      dynamic_obstacle.max_velocity_mps = tier4_autoware_utils::kmph2mps(param_.max_vel_kmph);
+      dynamic_obstacle.min_velocity_mps = autoware_universe_utils::kmph2mps(param_.min_vel_kmph);
+      dynamic_obstacle.max_velocity_mps = autoware_universe_utils::kmph2mps(param_.max_vel_kmph);
     } else {
       calculateMinAndMaxVelFromCovariance(
         predicted_object.kinematics.initial_twist_with_covariance, param_.std_dev_multiplier,
@@ -408,8 +408,8 @@ std::vector<DynamicObstacle> DynamicObstacleCreatorForObjectWithoutPath::createD
     dynamic_obstacle.pose.orientation = createQuaternionFacingToTrajectory(
       dynamic_obstacle_data_.path.points, dynamic_obstacle.pose.position);
 
-    dynamic_obstacle.min_velocity_mps = tier4_autoware_utils::kmph2mps(param_.min_vel_kmph);
-    dynamic_obstacle.max_velocity_mps = tier4_autoware_utils::kmph2mps(param_.max_vel_kmph);
+    dynamic_obstacle.min_velocity_mps = autoware_universe_utils::kmph2mps(param_.min_vel_kmph);
+    dynamic_obstacle.max_velocity_mps = autoware_universe_utils::kmph2mps(param_.max_vel_kmph);
     dynamic_obstacle.classifications = predicted_object.classification;
     dynamic_obstacle.shape = predicted_object.shape;
 
@@ -467,12 +467,13 @@ std::vector<DynamicObstacle> DynamicObstacleCreatorForPoints::createDynamicObsta
     DynamicObstacle dynamic_obstacle;
 
     // create pose facing the direction of the lane
-    dynamic_obstacle.pose.position = tier4_autoware_utils::createPoint(point.x, point.y, point.z);
+    dynamic_obstacle.pose.position =
+      autoware_universe_utils::createPoint(point.x, point.y, point.z);
     dynamic_obstacle.pose.orientation = createQuaternionFacingToTrajectory(
       dynamic_obstacle_data_.path.points, dynamic_obstacle.pose.position);
 
-    dynamic_obstacle.min_velocity_mps = tier4_autoware_utils::kmph2mps(param_.min_vel_kmph);
-    dynamic_obstacle.max_velocity_mps = tier4_autoware_utils::kmph2mps(param_.max_vel_kmph);
+    dynamic_obstacle.min_velocity_mps = autoware_universe_utils::kmph2mps(param_.min_vel_kmph);
+    dynamic_obstacle.max_velocity_mps = autoware_universe_utils::kmph2mps(param_.max_vel_kmph);
 
     // create classification of points as pedestrian
     ObjectClassification classification;
@@ -493,7 +494,7 @@ std::vector<DynamicObstacle> DynamicObstacleCreatorForPoints::createDynamicObsta
       param_.max_prediction_time);
     predicted_path.confidence = 1.0;
     dynamic_obstacle.predicted_paths.emplace_back(predicted_path);
-    dynamic_obstacle.uuid = tier4_autoware_utils::generateUUID();
+    dynamic_obstacle.uuid = autoware_universe_utils::generateUUID();
     dynamic_obstacles.emplace_back(dynamic_obstacle);
   }
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp
index 4da58522165d6..00a44a0cf625e 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/manager.cpp
@@ -14,7 +14,7 @@
 
 #include "manager.hpp"
 
-#include <tier4_autoware_utils/ros/parameter.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
 
 #include <string>
 #include <utility>
@@ -22,7 +22,7 @@
 
 namespace autoware::behavior_velocity_planner
 {
-using tier4_autoware_utils::getOrDeclareParameter;
+using autoware_universe_utils::getOrDeclareParameter;
 RunOutModuleManager::RunOutModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
 {
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp
index 50e60d71f7249..7c3f538c4253b 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/scene.cpp
@@ -19,10 +19,10 @@
 
 #include <autoware/behavior_velocity_planner_common/utilization/trajectory_utils.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 #include <motion_utils/distance/distance.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <boost/geometry/algorithms/intersection.hpp>
 #include <boost/geometry/algorithms/within.hpp>
@@ -177,7 +177,7 @@ bool RunOutModule::modifyPathVelocity(
       insertStopPoint(last_stop_point_, *path);
       // debug
       debug_ptr_->setAccelReason(RunOutDebug::AccelReason::STOP);
-      debug_ptr_->pushStopPose(tier4_autoware_utils::calcOffsetPose(
+      debug_ptr_->pushStopPose(autoware_universe_utils::calcOffsetPose(
         *last_stop_point_, planner_param_.vehicle_param.base_to_front, 0, 0));
     }
   }
@@ -222,7 +222,7 @@ std::optional<DynamicObstacle> RunOutModule::detectCollision(
     const auto & p2 = path.points.at(idx).point;
     const float prev_vel =
       std::max(p1.longitudinal_velocity_mps, planner_param_.run_out.min_vel_ego_kmph / 3.6f);
-    const float ds = tier4_autoware_utils::calcDistance2d(p1, p2);
+    const float ds = autoware_universe_utils::calcDistance2d(p1, p2);
 
     // calculate travel time from nearest point to p2
     travel_time += ds / prev_vel;
@@ -316,10 +316,10 @@ std::optional<DynamicObstacle> RunOutModule::findNearestCollisionObstacle(
 float RunOutModule::calcCollisionPositionOfVehicleSide(
   const geometry_msgs::msg::Point & point, const geometry_msgs::msg::Pose & base_pose) const
 {
-  const auto vehicle_front_pose = tier4_autoware_utils::calcOffsetPose(
+  const auto vehicle_front_pose = autoware_universe_utils::calcOffsetPose(
     base_pose, planner_param_.vehicle_param.base_to_front, 0, 0);
   const auto longitudinal_offset_from_front =
-    std::abs(tier4_autoware_utils::calcLongitudinalDeviation(vehicle_front_pose, point));
+    std::abs(autoware_universe_utils::calcLongitudinalDeviation(vehicle_front_pose, point));
 
   return longitudinal_offset_from_front;
 }
@@ -341,7 +341,7 @@ std::vector<geometry_msgs::msg::Point> RunOutModule::createVehiclePolygon(
   const double base_to_left =
     (planner_param_.vehicle_param.wheel_tread / 2.0) + planner_param_.vehicle_param.left_overhang;
 
-  using tier4_autoware_utils::calcOffsetPose;
+  using autoware_universe_utils::calcOffsetPose;
   const auto p1 = calcOffsetPose(base_pose, base_to_front, base_to_left, 0.0);
   const auto p2 = calcOffsetPose(base_pose, base_to_front, -base_to_right, 0.0);
   const auto p3 = calcOffsetPose(base_pose, -base_to_rear, -base_to_right, 0.0);
@@ -359,8 +359,8 @@ std::vector<geometry_msgs::msg::Point> RunOutModule::createVehiclePolygon(
 std::vector<DynamicObstacle> RunOutModule::excludeObstaclesOnEgoPath(
   const std::vector<DynamicObstacle> & dynamic_obstacles, const PathWithLaneId & path)
 {
+  using autoware_universe_utils::calcOffsetPose;
   using motion_utils::findNearestIndex;
-  using tier4_autoware_utils::calcOffsetPose;
   if (!planner_param_.run_out.exclude_obstacles_already_in_path || path.points.empty()) {
     return dynamic_obstacles;
   }
@@ -379,18 +379,18 @@ std::vector<DynamicObstacle> RunOutModule::excludeObstaclesOnEgoPath(
     }
     const auto object_position = o.pose.position;
     const auto closest_ego_pose = path.points.at(*idx).point.pose;
-    const auto vehicle_left_pose =
-      tier4_autoware_utils::calcOffsetPose(closest_ego_pose, 0, vehicle_with_with_margin_halved, 0);
-    const auto vehicle_right_pose = tier4_autoware_utils::calcOffsetPose(
+    const auto vehicle_left_pose = autoware_universe_utils::calcOffsetPose(
+      closest_ego_pose, 0, vehicle_with_with_margin_halved, 0);
+    const auto vehicle_right_pose = autoware_universe_utils::calcOffsetPose(
       closest_ego_pose, 0, -vehicle_with_with_margin_halved, 0);
     const double signed_distance_from_left =
-      tier4_autoware_utils::calcLateralDeviation(vehicle_left_pose, object_position);
+      autoware_universe_utils::calcLateralDeviation(vehicle_left_pose, object_position);
     const double signed_distance_from_right =
-      tier4_autoware_utils::calcLateralDeviation(vehicle_right_pose, object_position);
+      autoware_universe_utils::calcLateralDeviation(vehicle_right_pose, object_position);
 
     // If object is outside of the ego path, include it in list of possible target objects
     // It is also deleted from the path of objects inside ego path
-    const auto obstacle_uuid_hex = tier4_autoware_utils::toHexString(o.uuid);
+    const auto obstacle_uuid_hex = autoware_universe_utils::toHexString(o.uuid);
     if (signed_distance_from_left > 0.0 || signed_distance_from_right < 0.0) {
       obstacles_outside_of_path.push_back(o);
       obstacle_in_ego_path_times_.erase(obstacle_uuid_hex);
@@ -482,7 +482,7 @@ std::optional<geometry_msgs::msg::Pose> RunOutModule::calcPredictedObstaclePose(
     const auto & p1 = predicted_path.at(i - 1);
     const auto & p2 = predicted_path.at(i);
 
-    const float ds = tier4_autoware_utils::calcDistance2d(p1, p2);
+    const float ds = autoware_universe_utils::calcDistance2d(p1, p2);
     const float dt = ds / velocity_mps;
 
     // apply linear interpolation between the predicted path points
@@ -555,7 +555,7 @@ bool RunOutModule::checkCollisionWithCylinder(
     run_out_utils::createBoostPolyFromMsg(bounding_box_for_points);
 
   // check collision with 2d polygon
-  std::vector<tier4_autoware_utils::Point2d> collision_points_bg;
+  std::vector<autoware_universe_utils::Point2d> collision_points_bg;
   bg::intersection(vehicle_polygon, bg_bounding_box_for_points, collision_points_bg);
 
   // no collision detected
@@ -568,7 +568,7 @@ bool RunOutModule::checkCollisionWithCylinder(
   debug_ptr_->pushCollisionObstaclePolygons(bounding_box_for_points);
   for (const auto & p : collision_points_bg) {
     const auto p_msg =
-      tier4_autoware_utils::createPoint(p.x(), p.y(), pose_with_range.pose_min.position.z);
+      autoware_universe_utils::createPoint(p.x(), p.y(), pose_with_range.pose_min.position.z);
     collision_points.emplace_back(p_msg);
   }
 
@@ -581,30 +581,30 @@ std::vector<geometry_msgs::msg::Point> RunOutModule::createBoundingBoxForRangedP
   const PoseWithRange & pose_with_range, const float x_offset, const float y_offset) const
 {
   const auto dist_p1_p2 =
-    tier4_autoware_utils::calcDistance2d(pose_with_range.pose_min, pose_with_range.pose_max);
+    autoware_universe_utils::calcDistance2d(pose_with_range.pose_min, pose_with_range.pose_max);
 
   geometry_msgs::msg::Pose p_min_to_p_max;
   if (dist_p1_p2 < std::numeric_limits<double>::epsilon()) {
     // can't calculate the angle if two points are the same
     p_min_to_p_max = pose_with_range.pose_min;
   } else {
-    const auto azimuth_angle = tier4_autoware_utils::calcAzimuthAngle(
+    const auto azimuth_angle = autoware_universe_utils::calcAzimuthAngle(
       pose_with_range.pose_min.position, pose_with_range.pose_max.position);
     p_min_to_p_max.position = pose_with_range.pose_min.position;
-    p_min_to_p_max.orientation = tier4_autoware_utils::createQuaternionFromYaw(azimuth_angle);
+    p_min_to_p_max.orientation = autoware_universe_utils::createQuaternionFromYaw(azimuth_angle);
   }
 
   std::vector<geometry_msgs::msg::Point> poly;
   poly.emplace_back(
-    tier4_autoware_utils::calcOffsetPose(p_min_to_p_max, dist_p1_p2 + x_offset, y_offset, 0.0)
+    autoware_universe_utils::calcOffsetPose(p_min_to_p_max, dist_p1_p2 + x_offset, y_offset, 0.0)
       .position);
   poly.emplace_back(
-    tier4_autoware_utils::calcOffsetPose(p_min_to_p_max, dist_p1_p2 + x_offset, -y_offset, 0.0)
+    autoware_universe_utils::calcOffsetPose(p_min_to_p_max, dist_p1_p2 + x_offset, -y_offset, 0.0)
       .position);
   poly.emplace_back(
-    tier4_autoware_utils::calcOffsetPose(p_min_to_p_max, -x_offset, -y_offset, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(p_min_to_p_max, -x_offset, -y_offset, 0.0).position);
   poly.emplace_back(
-    tier4_autoware_utils::calcOffsetPose(p_min_to_p_max, -x_offset, y_offset, 0.0).position);
+    autoware_universe_utils::calcOffsetPose(p_min_to_p_max, -x_offset, y_offset, 0.0).position);
 
   return poly;
 }
@@ -620,7 +620,7 @@ bool RunOutModule::checkCollisionWithBoundingBox(
   const auto bg_bounding_box = run_out_utils::createBoostPolyFromMsg(bounding_box);
 
   // check collision with 2d polygon
-  std::vector<tier4_autoware_utils::Point2d> collision_points_bg;
+  std::vector<autoware_universe_utils::Point2d> collision_points_bg;
   bg::intersection(vehicle_polygon, bg_bounding_box, collision_points_bg);
 
   // no collision detected
@@ -633,7 +633,7 @@ bool RunOutModule::checkCollisionWithBoundingBox(
   debug_ptr_->pushCollisionObstaclePolygons(bounding_box);
   for (const auto & p : collision_points_bg) {
     const auto p_msg =
-      tier4_autoware_utils::createPoint(p.x(), p.y(), pose_with_range.pose_min.position.z);
+      autoware_universe_utils::createPoint(p.x(), p.y(), pose_with_range.pose_min.position.z);
     collision_points.emplace_back(p_msg);
   }
 
@@ -678,7 +678,7 @@ std::optional<geometry_msgs::msg::Pose> RunOutModule::calcStopPoint(
 
     // debug
     debug_ptr_->setAccelReason(RunOutDebug::AccelReason::STOP);
-    debug_ptr_->pushStopPose(tier4_autoware_utils::calcOffsetPose(
+    debug_ptr_->pushStopPose(autoware_universe_utils::calcOffsetPose(
       *stop_point, planner_param_.vehicle_param.base_to_front, 0, 0));
 
     return stop_point;
@@ -736,7 +736,7 @@ std::optional<geometry_msgs::msg::Pose> RunOutModule::calcStopPoint(
 
   // debug
   debug_ptr_->setAccelReason(RunOutDebug::AccelReason::STOP);
-  debug_ptr_->pushStopPose(tier4_autoware_utils::calcOffsetPose(
+  debug_ptr_->pushStopPose(autoware_universe_utils::calcOffsetPose(
     *stop_point, planner_param_.vehicle_param.base_to_front, 0, 0));
 
   return stop_point;
@@ -872,7 +872,7 @@ void RunOutModule::insertApproachingVelocity(
   }
 
   // debug
-  debug_ptr_->pushStopPose(tier4_autoware_utils::calcOffsetPose(
+  debug_ptr_->pushStopPose(autoware_universe_utils::calcOffsetPose(
     *stop_point, planner_param_.vehicle_param.base_to_front, 0, 0));
 
   const auto nearest_seg_idx_stop =
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp
index ed745cbb92679..448fdce82028f 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp
@@ -31,8 +31,8 @@
 #else
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 namespace autoware::behavior_velocity_planner
 {
 namespace run_out_utils
@@ -101,13 +101,15 @@ std::vector<geometry_msgs::msg::Point> findLateralSameSidePoints(
   const std::vector<geometry_msgs::msg::Point> & points, const geometry_msgs::msg::Pose & base_pose,
   const geometry_msgs::msg::Point & target_point)
 {
-  const auto signed_deviation = tier4_autoware_utils::calcLateralDeviation(base_pose, target_point);
+  const auto signed_deviation =
+    autoware_universe_utils::calcLateralDeviation(base_pose, target_point);
   RCLCPP_DEBUG_STREAM(
     rclcpp::get_logger("findLateralSameSidePoints"), "signed dev of target: " << signed_deviation);
 
   std::vector<geometry_msgs::msg::Point> same_side_points;
   for (const auto & p : points) {
-    const auto signed_deviation_of_point = tier4_autoware_utils::calcLateralDeviation(base_pose, p);
+    const auto signed_deviation_of_point =
+      autoware_universe_utils::calcLateralDeviation(base_pose, p);
     RCLCPP_DEBUG_STREAM(
       rclcpp::get_logger("findLateralSameSidePoints"),
       "signed dev of point: " << signed_deviation_of_point);
@@ -125,7 +127,7 @@ std::vector<geometry_msgs::msg::Point> findLateralSameSidePoints(
 
 bool isSamePoint(const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2)
 {
-  if (tier4_autoware_utils::calcDistance2d(p1, p2) < std::numeric_limits<float>::epsilon()) {
+  if (autoware_universe_utils::calcDistance2d(p1, p2) < std::numeric_limits<float>::epsilon()) {
     return true;
   }
 
@@ -182,15 +184,15 @@ bool pathIntersectsEgoCutLine(
 {
   if (path.size() < 2) return false;
   const auto p1 =
-    tier4_autoware_utils::calcOffsetPose(ego_pose, 0.0, half_line_length, 0.0).position;
+    autoware_universe_utils::calcOffsetPose(ego_pose, 0.0, half_line_length, 0.0).position;
   const auto p2 =
-    tier4_autoware_utils::calcOffsetPose(ego_pose, 0.0, -half_line_length, 0.0).position;
+    autoware_universe_utils::calcOffsetPose(ego_pose, 0.0, -half_line_length, 0.0).position;
   ego_cut_line = {p1, p2};
 
   for (size_t i = 1; i < path.size(); ++i) {
     const auto & p3 = path.at(i).position;
     const auto & p4 = path.at(i - 1).position;
-    const auto intersection = tier4_autoware_utils::intersect(p1, p2, p3, p4);
+    const auto intersection = autoware_universe_utils::intersect(p1, p2, p3, p4);
     if (intersection.has_value()) {
       return true;
     }
@@ -253,7 +255,7 @@ PathPointsWithLaneId decimatePathPoints(
   for (size_t i = 1; i < input_path_points.size(); i++) {
     const auto p1 = input_path_points.at(i - 1);
     const auto p2 = input_path_points.at(i);
-    const auto dist = tier4_autoware_utils::calcDistance2d(p1, p2);
+    const auto dist = autoware_universe_utils::calcDistance2d(p1, p2);
     dist_sum += dist;
 
     if (dist_sum > step) {
@@ -281,7 +283,8 @@ PathWithLaneId trimPathFromSelfPose(
     output.points.push_back(input.points.at(i));
 
     if (i != nearest_idx) {
-      dist_sum += tier4_autoware_utils::calcDistance2d(input.points.at(i - 1), input.points.at(i));
+      dist_sum +=
+        autoware_universe_utils::calcDistance2d(input.points.at(i - 1), input.points.at(i));
     }
 
     if (dist_sum > trim_distance) {
@@ -325,7 +328,7 @@ PathPointWithLaneId createExtendPathPoint(
 {
   PathPointWithLaneId extend_path_point = goal_point;
   extend_path_point.point.pose =
-    tier4_autoware_utils::calcOffsetPose(goal_point.point.pose, extend_distance, 0.0, 0.0);
+    autoware_universe_utils::calcOffsetPose(goal_point.point.pose, extend_distance, 0.0, 0.0);
   return extend_path_point;
 }
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp
index 2a920c4b67a8e..0b79b7bbb9a7d 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp
@@ -15,7 +15,7 @@
 #ifndef UTILS_HPP_
 #define UTILS_HPP_
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <autoware/behavior_velocity_planner_common/planner_data.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
@@ -39,10 +39,10 @@ using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_perception_msgs::msg::Shape;
 using autoware_planning_msgs::msg::PathPoint;
-using tier4_autoware_utils::Box2d;
-using tier4_autoware_utils::LineString2d;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
+using autoware_universe_utils::Box2d;
+using autoware_universe_utils::LineString2d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 using tier4_debug_msgs::msg::Float32Stamped;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using PathPointsWithLaneId = std::vector<tier4_planning_msgs::msg::PathPointWithLaneId>;
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp
index 3d7679814cddd..e33d189ede54b 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/debug.cpp
@@ -15,9 +15,9 @@
 #include "scene.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #else
@@ -26,9 +26,9 @@
 
 namespace autoware::behavior_velocity_planner
 {
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerScale;
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
 
 namespace
 {
@@ -105,7 +105,7 @@ motion_utils::VirtualWalls StopLineModule::createVirtualWalls()
     wall.text = "stopline";
     wall.style = motion_utils::VirtualWallType::stop;
     wall.ns = std::to_string(module_id_) + "_";
-    wall.pose = tier4_autoware_utils::calcOffsetPose(
+    wall.pose = autoware_universe_utils::calcOffsetPose(
       *debug_data_.stop_pose, debug_data_.base_link2front, 0.0, 0.0);
     virtual_walls.push_back(wall);
   }
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp
index 80f48fa65efaf..e510e6a32f7e3 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/manager.cpp
@@ -14,7 +14,7 @@
 
 #include "manager.hpp"
 
-#include "tier4_autoware_utils/ros/parameter.hpp"
+#include "autoware/universe_utils/ros/parameter.hpp"
 
 #include <memory>
 #include <set>
@@ -23,8 +23,8 @@
 
 namespace autoware::behavior_velocity_planner
 {
+using autoware_universe_utils::getOrDeclareParameter;
 using lanelet::TrafficSign;
-using tier4_autoware_utils::getOrDeclareParameter;
 
 StopLineModuleManager::StopLineModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml
index dc7e57d421d1f..49f3ab940d0df 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/package.xml
@@ -16,6 +16,7 @@
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
@@ -25,7 +26,6 @@
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/manager.cpp
index 8aaf6be9bbfe9..768799382a27f 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/manager.cpp
@@ -14,8 +14,8 @@
 
 #include "manager.hpp"
 
+#include <autoware/universe_utils/ros/parameter.hpp>
 #include <lanelet2_extension/utility/query.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
 
 #include <tf2/utils.h>
 
@@ -28,7 +28,7 @@
 
 namespace autoware::behavior_velocity_planner
 {
-using tier4_autoware_utils::getOrDeclareParameter;
+using autoware_universe_utils::getOrDeclareParameter;
 
 TemplateModuleManager::TemplateModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp
index 644e59e6b3011..b664186bb6bb5 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_template_module/src/scene.cpp
@@ -15,7 +15,7 @@
 #include "scene.hpp"
 
 #include "motion_utils/trajectory/trajectory.hpp"
-// #include "tier4_autoware_utils/tier4_autoware_utils.hpp"
+// #include "autoware/universe_utils/autoware_universe_utils.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
index 4d011050a8675..d983a4ac27901 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
@@ -23,6 +23,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
@@ -32,7 +33,6 @@
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>traffic_light_utils</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/debug.cpp
index 2b6d3cef9c364..d4af01842c786 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/debug.cpp
@@ -15,9 +15,9 @@
 #include "scene.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #else
@@ -41,13 +41,13 @@ motion_utils::VirtualWalls TrafficLightModule::createVirtualWalls()
 
   wall.style = motion_utils::VirtualWallType::deadline;
   for (const auto & p : debug_data_.dead_line_poses) {
-    wall.pose = tier4_autoware_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
+    wall.pose = autoware_universe_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
     virtual_walls.push_back(wall);
   }
 
   wall.style = motion_utils::VirtualWallType::stop;
   for (const auto & p : debug_data_.stop_poses) {
-    wall.pose = tier4_autoware_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
+    wall.pose = autoware_universe_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
     virtual_walls.push_back(wall);
   }
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp
index 12f972423aa40..375533fee48f2 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp
@@ -15,7 +15,7 @@
 #include "manager.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
 
 #include <tf2/utils.h>
 
@@ -26,8 +26,8 @@
 #include <utility>
 namespace autoware::behavior_velocity_planner
 {
+using autoware_universe_utils::getOrDeclareParameter;
 using lanelet::TrafficLight;
-using tier4_autoware_utils::getOrDeclareParameter;
 
 TrafficLightModuleManager::TrafficLightModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml
index 7bec0b7fa9c01..b123d64d2eac6 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/package.xml
@@ -20,6 +20,7 @@
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
@@ -27,7 +28,6 @@
   <depend>nlohmann-json-dev</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>tier4_v2x_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp
index 2f389d5d1104f..292680a68838b 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp
@@ -14,31 +14,31 @@
 
 #include "scene.hpp"
 
+#include <autoware/universe_utils/math/constants.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/marker_helper.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
-#include <tier4_autoware_utils/math/constants.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerOrientation;
+using autoware_universe_utils::createMarkerPosition;
+using autoware_universe_utils::createMarkerScale;
+using autoware_universe_utils::toMsg;
 using motion_utils::createStopVirtualWallMarker;
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerOrientation;
-using tier4_autoware_utils::createMarkerPosition;
-using tier4_autoware_utils::createMarkerScale;
-using tier4_autoware_utils::toMsg;
 using namespace std::literals::string_literals;
 
 namespace autoware::behavior_velocity_planner
 {
 namespace
 {
-[[maybe_unused]] tier4_autoware_utils::LinearRing3d createCircle(
-  const tier4_autoware_utils::Point3d & p, const double radius, const size_t num_points = 50)
+[[maybe_unused]] autoware_universe_utils::LinearRing3d createCircle(
+  const autoware_universe_utils::Point3d & p, const double radius, const size_t num_points = 50)
 {
-  tier4_autoware_utils::LinearRing3d ring;  // clockwise and closed
+  autoware_universe_utils::LinearRing3d ring;  // clockwise and closed
 
   for (size_t i = 0; i < num_points; ++i) {
-    const double theta = i * (2 * tier4_autoware_utils::pi / num_points);
+    const double theta = i * (2 * autoware_universe_utils::pi / num_points);
     const double x = p.x() + radius * std::sin(theta);
     const double y = p.y() + radius * std::cos(theta);
     ring.emplace_back(x, y, p.z());
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.cpp
index 75d40f99a0f65..1009acaae768b 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/manager.cpp
@@ -14,12 +14,12 @@
 
 #include "manager.hpp"
 
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
 
 #include <boost/geometry/algorithms/intersects.hpp>
 
@@ -33,8 +33,8 @@
 
 namespace autoware::behavior_velocity_planner
 {
+using autoware_universe_utils::getOrDeclareParameter;
 using lanelet::autoware::VirtualTrafficLight;
-using tier4_autoware_utils::getOrDeclareParameter;
 namespace planning_utils = autoware::behavior_velocity_planner::planning_utils;
 
 VirtualTrafficLightModuleManager::VirtualTrafficLightModuleManager(rclcpp::Node & node)
@@ -49,7 +49,7 @@ VirtualTrafficLightModuleManager::VirtualTrafficLightModuleManager(rclcpp::Node
     p.dead_line_margin = getOrDeclareParameter<double>(node, ns + ".dead_line_margin");
     p.hold_stop_margin_distance =
       getOrDeclareParameter<double>(node, ns + ".hold_stop_margin_distance");
-    p.max_yaw_deviation_rad = tier4_autoware_utils::deg2rad(
+    p.max_yaw_deviation_rad = autoware_universe_utils::deg2rad(
       getOrDeclareParameter<double>(node, ns + ".max_yaw_deviation_deg"));
     p.check_timeout_after_stop_line =
       getOrDeclareParameter<bool>(node, ns + ".check_timeout_after_stop_line");
@@ -59,10 +59,10 @@ VirtualTrafficLightModuleManager::VirtualTrafficLightModuleManager(rclcpp::Node
 void VirtualTrafficLightModuleManager::launchNewModules(
   const tier4_planning_msgs::msg::PathWithLaneId & path)
 {
-  tier4_autoware_utils::LineString2d ego_path_linestring;
+  autoware_universe_utils::LineString2d ego_path_linestring;
   for (const auto & path_point : path.points) {
     ego_path_linestring.push_back(
-      tier4_autoware_utils::fromMsg(path_point.point.pose.position).to_2d());
+      autoware_universe_utils::fromMsg(path_point.point.pose.position).to_2d());
   }
 
   for (const auto & m : planning_utils::getRegElemMapOnPath<VirtualTrafficLight>(
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp
index 70c8fe731761f..bb398d9610685 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.cpp
@@ -27,7 +27,7 @@ namespace autoware::behavior_velocity_planner
 {
 namespace
 {
-using tier4_autoware_utils::calcDistance2d;
+using autoware_universe_utils::calcDistance2d;
 
 struct SegmentIndexWithPoint
 {
@@ -46,16 +46,17 @@ tier4_v2x_msgs::msg::KeyValue createKeyValue(const std::string & key, const std:
   return tier4_v2x_msgs::build<tier4_v2x_msgs::msg::KeyValue>().key(key).value(value);
 }
 
-tier4_autoware_utils::LineString3d toAutowarePoints(const lanelet::ConstLineString3d & line_string)
+autoware_universe_utils::LineString3d toAutowarePoints(
+  const lanelet::ConstLineString3d & line_string)
 {
-  tier4_autoware_utils::LineString3d output;
+  autoware_universe_utils::LineString3d output;
   for (const auto & p : line_string) {
     output.emplace_back(p.x(), p.y(), p.z());
   }
   return output;
 }
 
-std::optional<tier4_autoware_utils::LineString3d> toAutowarePoints(
+std::optional<autoware_universe_utils::LineString3d> toAutowarePoints(
   const lanelet::Optional<lanelet::ConstLineString3d> & line_string)
 {
   if (!line_string) {
@@ -64,27 +65,28 @@ std::optional<tier4_autoware_utils::LineString3d> toAutowarePoints(
   return toAutowarePoints(*line_string);
 }
 
-std::vector<tier4_autoware_utils::LineString3d> toAutowarePoints(
+std::vector<autoware_universe_utils::LineString3d> toAutowarePoints(
   const lanelet::ConstLineStrings3d & line_strings)
 {
-  std::vector<tier4_autoware_utils::LineString3d> output;
+  std::vector<autoware_universe_utils::LineString3d> output;
   for (const auto & line_string : line_strings) {
     output.emplace_back(toAutowarePoints(line_string));
   }
   return output;
 }
 
-[[maybe_unused]] tier4_autoware_utils::LineString2d to_2d(
-  const tier4_autoware_utils::LineString3d & line_string)
+[[maybe_unused]] autoware_universe_utils::LineString2d to_2d(
+  const autoware_universe_utils::LineString3d & line_string)
 {
-  tier4_autoware_utils::LineString2d output;
+  autoware_universe_utils::LineString2d output;
   for (const auto & p : line_string) {
     output.emplace_back(p.x(), p.y());
   }
   return output;
 }
 
-tier4_autoware_utils::Point3d calcCenter(const tier4_autoware_utils::LineString3d & line_string)
+autoware_universe_utils::Point3d calcCenter(
+  const autoware_universe_utils::LineString3d & line_string)
 {
   const auto p1 = line_string.front();
   const auto p2 = line_string.back();
@@ -95,10 +97,10 @@ tier4_autoware_utils::Point3d calcCenter(const tier4_autoware_utils::LineString3
 geometry_msgs::msg::Pose calcHeadPose(
   const geometry_msgs::msg::Pose & base_link_pose, const double base_link_to_front)
 {
-  return tier4_autoware_utils::calcOffsetPose(base_link_pose, base_link_to_front, 0.0, 0.0);
+  return autoware_universe_utils::calcOffsetPose(base_link_pose, base_link_to_front, 0.0, 0.0);
 }
 
-geometry_msgs::msg::Point convertToGeomPoint(const tier4_autoware_utils::Point3d & p)
+geometry_msgs::msg::Point convertToGeomPoint(const autoware_universe_utils::Point3d & p)
 {
   geometry_msgs::msg::Point geom_p;
   geom_p.x = p.x();
@@ -109,7 +111,7 @@ geometry_msgs::msg::Point convertToGeomPoint(const tier4_autoware_utils::Point3d
 
 template <class T>
 std::optional<SegmentIndexWithPoint> findLastCollisionBeforeEndLine(
-  const T & points, const tier4_autoware_utils::LineString3d & target_line,
+  const T & points, const autoware_universe_utils::LineString3d & target_line,
   const size_t end_line_idx)
 {
   const auto target_line_p1 = convertToGeomPoint(target_line.at(0));
@@ -117,8 +119,8 @@ std::optional<SegmentIndexWithPoint> findLastCollisionBeforeEndLine(
 
   for (size_t i = end_line_idx; 0 < i;
        --i) {  // NOTE: size_t can be used since it will not be negative.
-    const auto & p1 = tier4_autoware_utils::getPoint(points.at(i));
-    const auto & p2 = tier4_autoware_utils::getPoint(points.at(i - 1));
+    const auto & p1 = autoware_universe_utils::getPoint(points.at(i));
+    const auto & p2 = autoware_universe_utils::getPoint(points.at(i - 1));
     const auto collision_point =
       arc_lane_utils::checkCollision(p1, p2, target_line_p1, target_line_p2);
 
@@ -132,7 +134,7 @@ std::optional<SegmentIndexWithPoint> findLastCollisionBeforeEndLine(
 
 template <class T>
 std::optional<SegmentIndexWithPoint> findLastCollisionBeforeEndLine(
-  const T & points, const std::vector<tier4_autoware_utils::LineString3d> & lines,
+  const T & points, const std::vector<autoware_universe_utils::LineString3d> & lines,
   const size_t end_line_idx)
 {
   for (const auto & line : lines) {
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp
index cccc52b92293c..5ffc583067f09 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/scene.hpp
@@ -16,13 +16,13 @@
 #define SCENE_HPP_
 
 #include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info.hpp>
 #include <lanelet2_extension/regulatory_elements/virtual_traffic_light.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <nlohmann/json.hpp>
 #include <rclcpp/clock.hpp>
 #include <rclcpp/logger.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_routing/RoutingGraph.h>
@@ -48,10 +48,10 @@ class VirtualTrafficLightModule : public SceneModuleInterface
     std::string instrument_type{};
     std::string instrument_id{};
     std::vector<tier4_v2x_msgs::msg::KeyValue> custom_tags{};
-    tier4_autoware_utils::Point3d instrument_center{};
-    std::optional<tier4_autoware_utils::LineString3d> stop_line{};
-    tier4_autoware_utils::LineString3d start_line{};
-    std::vector<tier4_autoware_utils::LineString3d> end_lines{};
+    autoware_universe_utils::Point3d instrument_center{};
+    std::optional<autoware_universe_utils::LineString3d> stop_line{};
+    autoware_universe_utils::LineString3d start_line{};
+    std::vector<autoware_universe_utils::LineString3d> end_lines{};
   };
 
   struct ModuleData
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml
index 544cb9fb1b84f..27d31f840524b 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/package.xml
@@ -21,6 +21,7 @@
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
@@ -28,7 +29,6 @@
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/debug.cpp
index fdc29f3b4f2dd..d95b3c54ae597 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/debug.cpp
@@ -15,24 +15,24 @@
 #include "scene_walkway.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/marker_helper.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <vector>
 
 namespace autoware::behavior_velocity_planner
 {
 
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
+using autoware_universe_utils::createPoint;
 using motion_utils::createSlowDownVirtualWallMarker;
 using motion_utils::createStopVirtualWallMarker;
-using tier4_autoware_utils::appendMarkerArray;
-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;
 using visualization_msgs::msg::Marker;
 
 namespace
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp
index 0ecd7005e4267..821e37ae8c618 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/manager.cpp
@@ -15,7 +15,7 @@
 #include "manager.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
 
 #include <limits>
 #include <memory>
@@ -26,8 +26,8 @@
 namespace autoware::behavior_velocity_planner
 {
 
+using autoware_universe_utils::getOrDeclareParameter;
 using lanelet::autoware::Crosswalk;
-using tier4_autoware_utils::getOrDeclareParameter;
 
 WalkwayModuleManager::WalkwayModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp
index ec295913504cf..7b008d9541553 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/src/scene_walkway.cpp
@@ -22,11 +22,11 @@
 namespace autoware::behavior_velocity_planner
 {
 namespace bg = boost::geometry;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::getPose;
 using motion_utils::calcLongitudinalOffsetPose;
 using motion_utils::calcSignedArcLength;
 using motion_utils::findNearestSegmentIndex;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::getPose;
 
 WalkwayModule::WalkwayModule(
   const int64_t module_id, const lanelet::LaneletMapPtr & lanelet_map_ptr,
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/package.xml b/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/package.xml
index f728167f09f23..e0230fb2fb213 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/package.xml
+++ b/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/package.xml
@@ -22,6 +22,7 @@
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
@@ -31,7 +32,6 @@
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/debug.cpp b/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/debug.cpp
index ff80faf06bbc4..33a25c82429ef 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/debug.cpp
@@ -15,19 +15,19 @@
 #include "scene.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <vector>
 
 namespace autoware::behavior_velocity_planner
 {
-using tier4_autoware_utils::appendMarkerArray;
-using tier4_autoware_utils::createDefaultMarker;
-using tier4_autoware_utils::createMarkerColor;
-using tier4_autoware_utils::createMarkerScale;
-using tier4_autoware_utils::createPoint;
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
+using autoware_universe_utils::createPoint;
 using visualization_msgs::msg::Marker;
 
 namespace
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/manager.cpp b/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/manager.cpp
index e4c3eb659362e..99b9dcc366eb4 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/manager.cpp
@@ -15,13 +15,13 @@
 #include "manager.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
 
 #include <string>
 
 namespace autoware::behavior_velocity_planner
 {
-using tier4_autoware_utils::getOrDeclareParameter;
+using autoware_universe_utils::getOrDeclareParameter;
 
 NoDrivableLaneModuleManager::NoDrivableLaneModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/scene.cpp b/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/scene.cpp
index 7fdbde77754e9..ad4c6fc9cf637 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/scene.cpp
@@ -14,8 +14,8 @@
 
 #include "scene.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 #include "util.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
@@ -23,7 +23,7 @@
 
 namespace autoware::behavior_velocity_planner
 {
-using tier4_autoware_utils::createPoint;
+using autoware_universe_utils::createPoint;
 
 NoDrivableLaneModule::NoDrivableLaneModule(
   const int64_t module_id, const int64_t lane_id, const PlannerParam & planner_param,
@@ -154,7 +154,7 @@ void NoDrivableLaneModule::handle_approaching_state(PathWithLaneId * path, StopR
   }
 
   geometry_msgs::msg::Point stop_point =
-    tier4_autoware_utils::getPoint(path->points.at(target_point_idx).point);
+    autoware_universe_utils::getPoint(path->points.at(target_point_idx).point);
 
   const auto & op_stop_pose =
     planning_utils::insertStopPoint(stop_point, target_segment_idx, *path);
@@ -215,7 +215,7 @@ void NoDrivableLaneModule::handle_inside_no_drivable_lane_state(
   // Get stop point and stop factor
   {
     tier4_planning_msgs::msg::StopFactor stop_factor;
-    const auto & stop_pose = tier4_autoware_utils::getPose(path->points.at(0));
+    const auto & stop_pose = autoware_universe_utils::getPose(path->points.at(0));
     stop_factor.stop_pose = stop_pose;
     stop_factor.stop_factor_points.push_back(current_point);
     planning_utils::appendStopReason(stop_factor, stop_reason);
diff --git a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/util.cpp b/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/util.cpp
index 2b3e26ecaa36d..afa4a09560219 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/util.cpp
+++ b/planning/behavior_velocity_planner/behavior_velocity_no_drivable_lane_module/src/util.cpp
@@ -32,8 +32,8 @@ using Point = bg::model::d2::point_xy<double>;
 using Polygon = bg::model::polygon<Point>;
 using Line = bg::model::linestring<Point>;
 
+using autoware_universe_utils::createPoint;
 using motion_utils::calcSignedArcLength;
-using tier4_autoware_utils::createPoint;
 
 PathWithNoDrivableLanePolygonIntersection getPathIntersectionWithNoDrivableLanePolygon(
   const PathWithLaneId & ego_path, const lanelet::BasicPolygon2d & polygon,
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/package.xml b/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/package.xml
index 491e8704bef41..73d7582131111 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/package.xml
+++ b/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/package.xml
@@ -18,6 +18,7 @@
   <depend>autoware_behavior_velocity_planner_common</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
@@ -27,7 +28,6 @@
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/debug.cpp b/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/debug.cpp
index c9818219fe671..3858490c19f57 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/debug.cpp
@@ -15,23 +15,23 @@
 #include "scene.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <lanelet2_extension/regulatory_elements/speed_bump.hpp>
 #include <motion_utils/marker/marker_helper.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <vector>
 
 namespace autoware::behavior_velocity_planner
 {
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
+using autoware_universe_utils::createPoint;
 using motion_utils::createSlowDownVirtualWallMarker;
-using tier4_autoware_utils::appendMarkerArray;
-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;
 using visualization_msgs::msg::Marker;
 
 namespace
@@ -104,7 +104,7 @@ motion_utils::VirtualWalls SpeedBumpModule::createVirtualWalls()
   wall.ns = std::to_string(module_id_) + "_";
   wall.style = motion_utils::VirtualWallType::slowdown;
   for (const auto & p : debug_data_.slow_start_poses) {
-    wall.pose = tier4_autoware_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
+    wall.pose = autoware_universe_utils::calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
     virtual_walls.push_back(wall);
   }
   return virtual_walls;
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/manager.cpp b/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/manager.cpp
index 87d72cc326c7e..2c753f6dd2fd2 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/manager.cpp
+++ b/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/manager.cpp
@@ -15,9 +15,9 @@
 #include "manager.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
 #include <lanelet2_extension/regulatory_elements/speed_bump.hpp>
 #include <lanelet2_extension/utility/query.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
 
 #include <tf2/utils.h>
 
@@ -30,8 +30,8 @@
 
 namespace autoware::behavior_velocity_planner
 {
+using autoware_universe_utils::getOrDeclareParameter;
 using lanelet::autoware::SpeedBump;
-using tier4_autoware_utils::getOrDeclareParameter;
 
 SpeedBumpModuleManager::SpeedBumpModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterface(node, getModuleName())
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/scene.cpp b/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/scene.cpp
index 0ca4e0731b155..5c4f8a39c0217 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/scene.cpp
+++ b/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/scene.cpp
@@ -14,16 +14,16 @@
 
 #include "scene.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 #include "util.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
 namespace autoware::behavior_velocity_planner
 {
+using autoware_universe_utils::createPoint;
 using motion_utils::calcSignedArcLength;
-using tier4_autoware_utils::createPoint;
 
 using geometry_msgs::msg::Point32;
 
diff --git a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/util.cpp b/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/util.cpp
index cbe0b057c0c7e..41cfc911e2985 100644
--- a/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/util.cpp
+++ b/planning/behavior_velocity_planner/behavior_velocity_speed_bump_module/src/util.cpp
@@ -18,7 +18,7 @@
 #include "motion_utils/trajectory/trajectory.hpp"
 
 #include <autoware/behavior_velocity_planner_common/utilization/util.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <boost/geometry.hpp>
 #include <boost/geometry/geometries/linestring.hpp>
@@ -40,11 +40,11 @@ using Point = bg::model::d2::point_xy<double>;
 using Polygon = bg::model::polygon<Point>;
 using Line = bg::model::linestring<Point>;
 
+using autoware_universe_utils::createPoint;
 using motion_utils::calcLongitudinalOffsetPoint;
 using motion_utils::calcSignedArcLength;
 using motion_utils::findNearestSegmentIndex;
 using motion_utils::insertTargetPoint;
-using tier4_autoware_utils::createPoint;
 
 PathPolygonIntersectionStatus getPathPolygonIntersectionStatus(
   const PathWithLaneId & ego_path, const lanelet::BasicPolygon2d & polygon,
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml
index c0eca8028cb95..da2ff14c76813 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/package.xml
@@ -16,6 +16,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>libboost-dev</depend>
@@ -23,7 +24,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.cpp
index c79c6c32802a3..d5873e5f462a1 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.cpp
@@ -14,9 +14,9 @@
 
 #include "collision.hpp"
 
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <boost/geometry.hpp>
 
@@ -29,7 +29,7 @@ namespace autoware::motion_velocity_planner::dynamic_obstacle_stop
 
 std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
   const EgoData & ego_data, const geometry_msgs::msg::Pose & object_pose,
-  const tier4_autoware_utils::Polygon2d & object_footprint)
+  const autoware_universe_utils::Polygon2d & object_footprint)
 {
   std::optional<geometry_msgs::msg::Point> closest_collision_point;
   auto closest_dist = std::numeric_limits<double>::max();
@@ -40,10 +40,10 @@ std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
     const auto traj_idx = rough_collision.second;
     const auto & ego_footprint = ego_data.trajectory_footprints[traj_idx];
     const auto & ego_pose = ego_data.trajectory[traj_idx].pose;
-    const auto angle_diff = tier4_autoware_utils::normalizeRadian(
+    const auto angle_diff = autoware_universe_utils::normalizeRadian(
       tf2::getYaw(ego_pose.orientation) - tf2::getYaw(object_pose.orientation));
     if (std::abs(angle_diff) > (M_PI_2 + M_PI_4)) {  // TODO(Maxime): make this angle a parameter
-      tier4_autoware_utils::MultiPoint2d collision_points;
+      autoware_universe_utils::MultiPoint2d collision_points;
       boost::geometry::intersection(
         object_footprint.outer(), ego_footprint.outer(), collision_points);
       for (const auto & coll_p : collision_points) {
@@ -63,7 +63,7 @@ std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
 std::vector<Collision> find_collisions(
   const EgoData & ego_data,
   const std::vector<autoware_perception_msgs::msg::PredictedObject> & objects,
-  const tier4_autoware_utils::MultiPolygon2d & object_forward_footprints)
+  const autoware_universe_utils::MultiPolygon2d & object_forward_footprints)
 {
   std::vector<Collision> collisions;
   for (auto object_idx = 0UL; object_idx < objects.size(); ++object_idx) {
@@ -72,7 +72,7 @@ std::vector<Collision> find_collisions(
     const auto collision = find_closest_collision_point(ego_data, object_pose, object_footprint);
     if (collision) {
       Collision c;
-      c.object_uuid = tier4_autoware_utils::toHexString(objects[object_idx].object_id);
+      c.object_uuid = autoware_universe_utils::toHexString(objects[object_idx].object_id);
       c.point = *collision;
       collisions.push_back(c);
     }
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.hpp
index 6b995d715c190..78413d2faacad 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/collision.hpp
@@ -30,7 +30,7 @@ namespace autoware::motion_velocity_planner::dynamic_obstacle_stop
 /// @return the collision point closest to ego (if any)
 std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
   const EgoData & ego_data, const geometry_msgs::msg::Pose & object_pose,
-  const tier4_autoware_utils::Polygon2d & object_footprint);
+  const autoware_universe_utils::Polygon2d & object_footprint);
 
 /// @brief find the earliest collision along the ego trajectory
 /// @param [in] ego_data ego data including its trajectory and footprint
@@ -40,7 +40,7 @@ std::optional<geometry_msgs::msg::Point> find_closest_collision_point(
 std::vector<Collision> find_collisions(
   const EgoData & ego_data,
   const std::vector<autoware_perception_msgs::msg::PredictedObject> & objects,
-  const tier4_autoware_utils::MultiPolygon2d & obstacle_forward_footprints);
+  const autoware_universe_utils::MultiPolygon2d & obstacle_forward_footprints);
 
 }  // namespace autoware::motion_velocity_planner::dynamic_obstacle_stop
 
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/debug.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/debug.cpp
index bfca43edaeac9..eaa148111dc49 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/debug.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/debug.cpp
@@ -16,7 +16,7 @@
 
 #include "types.hpp"
 
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 
 #include <visualization_msgs/msg/marker.hpp>
 
@@ -59,8 +59,8 @@ std::vector<visualization_msgs::msg::Marker> make_collision_markers(
   marker.ns = ns;
   marker.id = 0;
   marker.action = visualization_msgs::msg::Marker::ADD;
-  marker.scale = tier4_autoware_utils::createMarkerScale(0.2, 0.2, 0.5);
-  marker.color = tier4_autoware_utils::createMarkerColor(0.6, 0.0, 0.6, 1.0);
+  marker.scale = autoware_universe_utils::createMarkerScale(0.2, 0.2, 0.5);
+  marker.color = autoware_universe_utils::createMarkerColor(0.6, 0.0, 0.6, 1.0);
   for (const auto & [object_uuid, decision] : object_map) {
     marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
     marker.text = object_uuid.substr(0, 5) + "\n";
@@ -85,7 +85,8 @@ std::vector<visualization_msgs::msg::Marker> make_collision_markers(
 }
 
 std::vector<visualization_msgs::msg::Marker> make_polygon_markers(
-  const tier4_autoware_utils::MultiPolygon2d & footprints, const std::string & ns, const double z)
+  const autoware_universe_utils::MultiPolygon2d & footprints, const std::string & ns,
+  const double z)
 {
   std::vector<visualization_msgs::msg::Marker> markers;
   visualization_msgs::msg::Marker marker;
@@ -95,8 +96,8 @@ std::vector<visualization_msgs::msg::Marker> make_polygon_markers(
   marker.id = 0;
   marker.type = visualization_msgs::msg::Marker::LINE_STRIP;
   marker.action = visualization_msgs::msg::Marker::ADD;
-  marker.scale = tier4_autoware_utils::createMarkerScale(0.1, 0.1, 0.1);
-  marker.color = tier4_autoware_utils::createMarkerColor(0.1, 1.0, 0.1, 0.8);
+  marker.scale = autoware_universe_utils::createMarkerScale(0.1, 0.1, 0.1);
+  marker.color = autoware_universe_utils::createMarkerColor(0.1, 1.0, 0.1, 0.8);
   for (const auto & footprint : footprints) {
     marker.points.clear();
     for (const auto & p : footprint.outer()) {
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/debug.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/debug.hpp
index c708f0c86a983..35656acb0b267 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/debug.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/debug.hpp
@@ -18,8 +18,8 @@
 #include "object_stop_decision.hpp"
 #include "types.hpp"
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <rclcpp/time.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
 #include <visualization_msgs/msg/marker.hpp>
@@ -39,7 +39,8 @@ std::vector<visualization_msgs::msg::Marker> make_collision_markers(
   const ObjectStopDecisionMap & object_map, const std::string & ns, const double z,
   const rclcpp::Time & now);
 std::vector<visualization_msgs::msg::Marker> make_polygon_markers(
-  const tier4_autoware_utils::MultiPolygon2d & footprints, const std::string & ns, const double z);
+  const autoware_universe_utils::MultiPolygon2d & footprints, const std::string & ns,
+  const double z);
 }  // namespace autoware::motion_velocity_planner::dynamic_obstacle_stop::debug
 
 #endif  // DEBUG_HPP_
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.cpp
index 4d4b9b32a0f32..ee4dbb01bd71d 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/dynamic_obstacle_stop_module.cpp
@@ -21,12 +21,12 @@
 #include "object_stop_decision.hpp"
 #include "types.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/parameter.hpp>
+#include <autoware/universe_utils/ros/update_param.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <motion_utils/distance/distance.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
-#include <tier4_autoware_utils/ros/update_param.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <algorithm>
 #include <memory>
@@ -49,7 +49,7 @@ void DynamicObstacleStopModule::init(rclcpp::Node & node, const std::string & mo
   virtual_wall_publisher_ =
     node.create_publisher<visualization_msgs::msg::MarkerArray>("~/" + ns_ + "/virtual_walls", 1);
 
-  using tier4_autoware_utils::getOrDeclareParameter;
+  using autoware_universe_utils::getOrDeclareParameter;
   auto & p = params_;
   p.extra_object_width = getOrDeclareParameter<double>(node, ns_ + ".extra_object_width");
   p.minimum_object_velocity = getOrDeclareParameter<double>(node, ns_ + ".minimum_object_velocity");
@@ -72,7 +72,7 @@ void DynamicObstacleStopModule::init(rclcpp::Node & node, const std::string & mo
 
 void DynamicObstacleStopModule::update_parameters(const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
   auto & p = params_;
   updateParam(parameters, ns_ + ".extra_object_width", p.extra_object_width);
   updateParam(parameters, ns_ + ".minimum_object_velocity", p.minimum_object_velocity);
@@ -95,7 +95,7 @@ VelocityPlanningResult DynamicObstacleStopModule::plan(
   debug_data_.reset_data();
   if (ego_trajectory_points.size() < 2) return result;
 
-  tier4_autoware_utils::StopWatch<std::chrono::microseconds> stopwatch;
+  autoware_universe_utils::StopWatch<std::chrono::microseconds> stopwatch;
   stopwatch.tic();
   stopwatch.tic("preprocessing");
   dynamic_obstacle_stop::EgoData ego_data;
@@ -156,7 +156,7 @@ VelocityPlanningResult DynamicObstacleStopModule::plan(
       result.stop_points.push_back(stop_pose->position);
       const auto stop_pose_reached =
         planner_data->current_odometry.twist.twist.linear.x < 1e-3 &&
-        tier4_autoware_utils::calcDistance2d(ego_data.pose, *stop_pose) < 1e-3;
+        autoware_universe_utils::calcDistance2d(ego_data.pose, *stop_pose) < 1e-3;
       velocity_factor_interface_.set(
         ego_trajectory_points, ego_data.pose, *stop_pose,
         stop_pose_reached ? motion_utils::VelocityFactor::STOPPED
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.cpp
index d5b0ad3d117d2..b4f2bdc55cea1 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.cpp
@@ -14,7 +14,7 @@
 
 #include "footprint.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 
 #include <geometry_msgs/msg/pose.hpp>
 
@@ -28,11 +28,11 @@
 
 namespace autoware::motion_velocity_planner::dynamic_obstacle_stop
 {
-tier4_autoware_utils::MultiPolygon2d make_forward_footprints(
+autoware_universe_utils::MultiPolygon2d make_forward_footprints(
   const std::vector<autoware_perception_msgs::msg::PredictedObject> & obstacles,
   const PlannerParam & params, const double hysteresis)
 {
-  tier4_autoware_utils::MultiPolygon2d forward_footprints;
+  autoware_universe_utils::MultiPolygon2d forward_footprints;
   for (const auto & obstacle : obstacles)
     forward_footprints.push_back(project_to_pose(
       make_forward_footprint(obstacle, params, hysteresis),
@@ -40,7 +40,7 @@ tier4_autoware_utils::MultiPolygon2d make_forward_footprints(
   return forward_footprints;
 }
 
-tier4_autoware_utils::Polygon2d make_forward_footprint(
+autoware_universe_utils::Polygon2d make_forward_footprint(
   const autoware_perception_msgs::msg::PredictedObject & obstacle, const PlannerParam & params,
   const double hysteresis)
 {
@@ -49,7 +49,7 @@ tier4_autoware_utils::Polygon2d make_forward_footprint(
     shape.x / 2.0 +
     obstacle.kinematics.initial_twist_with_covariance.twist.linear.x * params.time_horizon;
   const auto lateral_offset = (shape.y + params.extra_object_width) / 2.0 + hysteresis;
-  return tier4_autoware_utils::Polygon2d{
+  return autoware_universe_utils::Polygon2d{
     {{longitudinal_offset, -lateral_offset},
      {longitudinal_offset, lateral_offset},
      {shape.x / 2.0, lateral_offset},
@@ -58,12 +58,12 @@ tier4_autoware_utils::Polygon2d make_forward_footprint(
     {}};
 }
 
-tier4_autoware_utils::Polygon2d project_to_pose(
-  const tier4_autoware_utils::Polygon2d & base_footprint, const geometry_msgs::msg::Pose & pose)
+autoware_universe_utils::Polygon2d project_to_pose(
+  const autoware_universe_utils::Polygon2d & base_footprint, const geometry_msgs::msg::Pose & pose)
 {
   const auto angle = tf2::getYaw(pose.orientation);
-  const auto rotated_footprint = tier4_autoware_utils::rotatePolygon(base_footprint, angle);
-  tier4_autoware_utils::Polygon2d footprint;
+  const auto rotated_footprint = autoware_universe_utils::rotatePolygon(base_footprint, angle);
+  autoware_universe_utils::Polygon2d footprint;
   for (const auto & p : rotated_footprint.outer())
     footprint.outer().emplace_back(p.x() + pose.position.x, p.y() + pose.position.y);
   return footprint;
@@ -72,10 +72,10 @@ tier4_autoware_utils::Polygon2d project_to_pose(
 void make_ego_footprint_rtree(EgoData & ego_data, const PlannerParam & params)
 {
   for (const auto & p : ego_data.trajectory)
-    ego_data.trajectory_footprints.push_back(tier4_autoware_utils::toFootprint(
+    ego_data.trajectory_footprints.push_back(autoware_universe_utils::toFootprint(
       p.pose, params.ego_longitudinal_offset, 0.0, params.ego_lateral_offset * 2.0));
   for (auto i = 0UL; i < ego_data.trajectory_footprints.size(); ++i) {
-    const auto box = boost::geometry::return_envelope<tier4_autoware_utils::Box2d>(
+    const auto box = boost::geometry::return_envelope<autoware_universe_utils::Box2d>(
       ego_data.trajectory_footprints[i]);
     ego_data.rtree.insert(std::make_pair(box, i));
   }
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.hpp
index 8ceb19d679ea0..85a736869a7f8 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/footprint.hpp
@@ -17,7 +17,7 @@
 
 #include "types.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <vector>
 
@@ -29,7 +29,7 @@ namespace autoware::motion_velocity_planner::dynamic_obstacle_stop
 /// @param [in] params parameters used to create the footprint
 /// @param [in] hysteresis [m] extra lateral distance to add to the footprints
 /// @return forward footprint of the obstacle
-tier4_autoware_utils::MultiPolygon2d make_forward_footprints(
+autoware_universe_utils::MultiPolygon2d make_forward_footprints(
   const std::vector<autoware_perception_msgs::msg::PredictedObject> & obstacles,
   const PlannerParam & params, const double hysteresis);
 /// @brief create the footprint of the given obstacle and its projection over a fixed time horizon
@@ -37,15 +37,15 @@ tier4_autoware_utils::MultiPolygon2d make_forward_footprints(
 /// @param [in] params parameters used to create the footprint
 /// @param [in] hysteresis [m] extra lateral distance to add to the footprint
 /// @return forward footprint of the obstacle
-tier4_autoware_utils::Polygon2d make_forward_footprint(
+autoware_universe_utils::Polygon2d make_forward_footprint(
   const autoware_perception_msgs::msg::PredictedObject & obstacle, const PlannerParam & params,
   const double hysteresis);
 /// @brief project a footprint to the given pose
 /// @param [in] base_footprint footprint to project
 /// @param [in] pose projection pose
 /// @return footprint projected to the given pose
-tier4_autoware_utils::Polygon2d project_to_pose(
-  const tier4_autoware_utils::Polygon2d & base_footprint, const geometry_msgs::msg::Pose & pose);
+autoware_universe_utils::Polygon2d project_to_pose(
+  const autoware_universe_utils::Polygon2d & base_footprint, const geometry_msgs::msg::Pose & pose);
 /// @brief create the rtree indexing the ego footprint along the trajectory
 /// @param [inout] ego_data ego data with its trajectory and the rtree to populate
 /// @param [in] params parameters
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_filtering.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_filtering.cpp
index 0bb3c90ad262b..223e7487b36e9 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_filtering.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/object_filtering.cpp
@@ -62,7 +62,7 @@ std::vector<autoware_perception_msgs::msg::PredictedObject> filter_predicted_obj
     const auto & o_pose = o.kinematics.initial_pose_with_covariance.pose;
     const auto o_yaw = tf2::getYaw(o_pose.orientation);
     const auto ego_yaw = tf2::getYaw(ego_data.pose.orientation);
-    const auto yaw_diff = std::abs(tier4_autoware_utils::normalizeRadian(o_yaw - ego_yaw));
+    const auto yaw_diff = std::abs(autoware_universe_utils::normalizeRadian(o_yaw - ego_yaw));
     const auto opposite_heading = yaw_diff > M_PI_2 + M_PI_4;
     const auto collision_distance_threshold =
       params.ego_lateral_offset + o.shape.dimensions.y / 2.0 + params.hysteresis;
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/types.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/types.hpp
index 93170bead32e8..0a286112010a7 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/types.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/src/types.hpp
@@ -15,8 +15,8 @@
 #ifndef TYPES_HPP_
 #define TYPES_HPP_
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <rclcpp/time.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
 #include <autoware_planning_msgs/msg/trajectory_point.hpp>
@@ -32,7 +32,7 @@
 namespace autoware::motion_velocity_planner::dynamic_obstacle_stop
 {
 using TrajectoryPoints = std::vector<autoware_planning_msgs::msg::TrajectoryPoint>;
-using BoxIndexPair = std::pair<tier4_autoware_utils::Box2d, size_t>;
+using BoxIndexPair = std::pair<autoware_universe_utils::Box2d, size_t>;
 using Rtree = boost::geometry::index::rtree<BoxIndexPair, boost::geometry::index::rstar<16, 4>>;
 
 /// @brief parameters for the "out of lane" module
@@ -57,7 +57,7 @@ struct EgoData
   size_t first_trajectory_idx{};
   double longitudinal_offset_to_first_trajectory_idx;  // [m]
   geometry_msgs::msg::Pose pose;
-  tier4_autoware_utils::MultiPolygon2d trajectory_footprints;
+  autoware_universe_utils::MultiPolygon2d trajectory_footprints;
   Rtree rtree;
   std::optional<geometry_msgs::msg::Pose> earliest_stop_pose;
 };
@@ -65,9 +65,9 @@ struct EgoData
 /// @brief debug data
 struct DebugData
 {
-  tier4_autoware_utils::MultiPolygon2d obstacle_footprints{};
+  autoware_universe_utils::MultiPolygon2d obstacle_footprints{};
   size_t prev_dynamic_obstacles_nb{};
-  tier4_autoware_utils::MultiPolygon2d ego_footprints{};
+  autoware_universe_utils::MultiPolygon2d ego_footprints{};
   size_t prev_ego_footprints_nb{};
   std::optional<geometry_msgs::msg::Pose> stop_pose{};
   size_t prev_collisions_nb{};
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
index ff30193cafee1..7b6f3c6a49c6c 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/package.xml
@@ -16,6 +16,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>eigen</depend>
   <depend>grid_map_msgs</depend>
@@ -31,7 +32,6 @@
   <depend>sensor_msgs</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp
index f67ca131ee91c..a281826b64ed7 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp
@@ -17,7 +17,7 @@
 #include "distance.hpp"
 #include "forward_projection.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <boost/geometry.hpp>
 #include <boost/geometry/algorithms/correct.hpp>
@@ -129,7 +129,7 @@ std::vector<autoware::motion_velocity_planner::SlowdownInterval> calculate_slowd
     if (i > 0) {
       const auto & prev_point = trajectory[i - 1];
       time += static_cast<double>(
-        tier4_autoware_utils::calcDistance2d(prev_point, trajectory_point) /
+        autoware_universe_utils::calcDistance2d(prev_point, trajectory_point) /
         prev_point.longitudinal_velocity_mps);
     }
     // First linestring is used to calculate distance
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp
index f845cf040dd64..74b027efd3d1a 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp
@@ -21,14 +21,14 @@
 #include "parameters.hpp"
 #include "trajectory_preprocessing.hpp"
 
+#include <autoware/universe_utils/ros/update_param.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <motion_utils/marker/virtual_wall_marker_creator.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <rclcpp/duration.hpp>
 #include <rclcpp/logging.hpp>
-#include <tier4_autoware_utils/ros/update_param.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <boost/geometry.hpp>
 
@@ -132,7 +132,7 @@ VelocityPlanningResult ObstacleVelocityLimiterModule::plan(
   const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & ego_trajectory_points,
   const std::shared_ptr<const PlannerData> planner_data)
 {
-  tier4_autoware_utils::StopWatch<std::chrono::microseconds> stopwatch;
+  autoware_universe_utils::StopWatch<std::chrono::microseconds> stopwatch;
   stopwatch.tic();
   VelocityPlanningResult result;
   stopwatch.tic("preprocessing");
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.hpp
index 796516253f680..e06ca4fffae28 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.hpp
@@ -21,10 +21,10 @@
 
 #include <autoware/motion_velocity_planner_common/plugin_module_interface.hpp>
 #include <autoware/motion_velocity_planner_common/velocity_planning_result.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
+#include <autoware/universe_utils/ros/self_pose_listener.hpp>
+#include <autoware/universe_utils/ros/transform_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
-#include <tier4_autoware_utils/ros/self_pose_listener.hpp>
-#include <tier4_autoware_utils/ros/transform_listener.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacles.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacles.hpp
index 5276761ca3ee0..7e4704ba6818c 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacles.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacles.hpp
@@ -18,7 +18,7 @@
 #include "parameters.hpp"
 #include "types.hpp"
 
-#include <tier4_autoware_utils/ros/transform_listener.hpp>
+#include <autoware/universe_utils/ros/transform_listener.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <geometry_msgs/msg/pose.hpp>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/pointcloud_utils.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/pointcloud_utils.hpp
index 3360d7e201231..eda2e2624ca4a 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/pointcloud_utils.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/pointcloud_utils.hpp
@@ -15,8 +15,8 @@
 #ifndef POINTCLOUD_UTILS_HPP_
 #define POINTCLOUD_UTILS_HPP_
 
+#include "autoware/universe_utils/ros/transform_listener.hpp"
 #include "obstacles.hpp"
-#include "tier4_autoware_utils/ros/transform_listener.hpp"
 #include "types.hpp"
 
 #include <geometry_msgs/msg/transform.hpp>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.cpp
index 73cede754b748..430c19c3d35ff 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.cpp
@@ -14,7 +14,7 @@
 
 #include "trajectory_preprocessing.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
@@ -31,7 +31,7 @@ size_t calculateStartIndex(
   auto dist = 0.0;
   auto idx = ego_idx;
   while (idx + 1 < trajectory.size() && dist < start_distance) {
-    dist += tier4_autoware_utils::calcDistance2d(trajectory[idx], trajectory[idx + 1]);
+    dist += autoware_universe_utils::calcDistance2d(trajectory[idx], trajectory[idx + 1]);
     ++idx;
   }
   return idx;
@@ -46,7 +46,7 @@ size_t calculateEndIndex(
   auto idx = start_idx;
   while (idx + 1 < trajectory.size() && length < max_length && duration < max_duration) {
     const auto length_d =
-      tier4_autoware_utils::calcDistance2d(trajectory[idx], trajectory[idx + 1]);
+      autoware_universe_utils::calcDistance2d(trajectory[idx], trajectory[idx + 1]);
     length += length_d;
     if (trajectory[idx].longitudinal_velocity_mps > 0.0)
       duration += length_d / trajectory[idx].longitudinal_velocity_mps;
@@ -74,7 +74,7 @@ void calculateSteeringAngles(TrajectoryPoints & trajectory, const double wheel_b
   for (auto i = 1ul; i < trajectory.size(); ++i) {
     const auto & prev_point = trajectory[i - 1];
     auto & point = trajectory[i];
-    const auto dt = tier4_autoware_utils::calcDistance2d(prev_point, point) /
+    const auto dt = autoware_universe_utils::calcDistance2d(prev_point, point) /
                     prev_point.longitudinal_velocity_mps;
     t += dt;
     const auto heading = tf2::getYaw(point.pose.orientation);
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/types.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/types.hpp
index c24b1aff66eec..dcab3d8d1bcac 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/types.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/types.hpp
@@ -15,7 +15,7 @@
 #ifndef TYPES_HPP_
 #define TYPES_HPP_
 
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
@@ -35,13 +35,13 @@ using nav_msgs::msg::OccupancyGrid;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
 
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
-using point_t = tier4_autoware_utils::Point2d;
-using multipoint_t = tier4_autoware_utils::MultiPoint2d;
-using polygon_t = tier4_autoware_utils::Polygon2d;
-using multi_polygon_t = tier4_autoware_utils::MultiPolygon2d;
-using segment_t = tier4_autoware_utils::Segment2d;
-using linestring_t = tier4_autoware_utils::LineString2d;
-using multi_linestring_t = tier4_autoware_utils::MultiLineString2d;
+using point_t = autoware_universe_utils::Point2d;
+using multipoint_t = autoware_universe_utils::MultiPoint2d;
+using polygon_t = autoware_universe_utils::Polygon2d;
+using multi_polygon_t = autoware_universe_utils::MultiPolygon2d;
+using segment_t = autoware_universe_utils::Segment2d;
+using linestring_t = autoware_universe_utils::LineString2d;
+using multi_linestring_t = autoware_universe_utils::MultiLineString2d;
 
 struct ObstacleMasks
 {
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_collision_distance.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_collision_distance.cpp
index 325f17d36a37d..0112de62f3950 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_collision_distance.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_collision_distance.cpp
@@ -15,7 +15,7 @@
 #include "../src/distance.hpp"
 #include "../src/obstacles.hpp"
 #include "../src/types.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <autoware_perception_msgs/msg/predicted_object.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
@@ -400,7 +400,7 @@ TEST(TestCollisionDistance, createObjPolygons)
   object1.kinematics.initial_pose_with_covariance.pose.position.x = 0.0;
   object1.kinematics.initial_pose_with_covariance.pose.position.y = 0.0;
   object1.kinematics.initial_pose_with_covariance.pose.orientation =
-    tier4_autoware_utils::createQuaternionFromYaw(0.0);
+    autoware_universe_utils::createQuaternionFromYaw(0.0);
   object1.kinematics.initial_twist_with_covariance.twist.linear.x = 0.0;
   object1.shape.dimensions.x = 1.0;
   object1.shape.dimensions.y = 1.0;
@@ -427,7 +427,7 @@ TEST(TestCollisionDistance, createObjPolygons)
   object2.kinematics.initial_pose_with_covariance.pose.position.x = 10.0;
   object2.kinematics.initial_pose_with_covariance.pose.position.y = 10.0;
   object2.kinematics.initial_pose_with_covariance.pose.orientation =
-    tier4_autoware_utils::createQuaternionFromYaw(M_PI_2);
+    autoware_universe_utils::createQuaternionFromYaw(M_PI_2);
   object2.kinematics.initial_twist_with_covariance.twist.linear.x = 2.0;
   object2.shape.dimensions.x = 2.0;
   object2.shape.dimensions.y = 1.0;
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_forward_projection.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_forward_projection.cpp
index 96dd5932806b2..0b8aad36580e6 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_forward_projection.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/test/test_forward_projection.cpp
@@ -14,7 +14,7 @@
 
 #include "../src/forward_projection.hpp"
 #include "../src/types.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <geometry_msgs/msg/point.hpp>
 
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml
index 8dab409b48ad5..df17c10cd4184 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml
@@ -18,6 +18,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
@@ -26,7 +27,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>traffic_light_utils</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp
index 157d545dcac0d..97df4e400e4df 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp
@@ -39,7 +39,7 @@ bool can_decelerate(
 
 std::optional<TrajectoryPoint> calculate_last_in_lane_pose(
   const EgoData & ego_data, const Slowdown & decision,
-  const tier4_autoware_utils::Polygon2d & footprint,
+  const autoware_universe_utils::Polygon2d & footprint,
   const std::optional<SlowdownToInsert> & prev_slowdown_point, const PlannerParam & params)
 {
   const auto from_arc_length =
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp
index 19ed066548d0f..47ea84dd74a06 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp
@@ -17,7 +17,7 @@
 
 #include "types.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <optional>
 #include <vector>
@@ -42,7 +42,7 @@ bool can_decelerate(
 /// @return the last pose that is not out of lane (if found)
 std::optional<TrajectoryPoint> calculate_last_in_lane_pose(
   const EgoData & ego_data, const Slowdown & decision,
-  const tier4_autoware_utils::Polygon2d & footprint,
+  const autoware_universe_utils::Polygon2d & footprint,
   const std::optional<SlowdownToInsert> & prev_slowdown_point, const PlannerParam & params);
 
 /// @brief calculate the slowdown point to insert in the trajectory
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp
index efb957ea85691..e7554c449d264 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp
@@ -16,7 +16,7 @@
 
 #include "types.hpp"
 
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 
 #include <visualization_msgs/msg/marker.hpp>
 
@@ -36,10 +36,10 @@ visualization_msgs::msg::Marker get_base_marker()
   base_marker.id = 0;
   base_marker.type = visualization_msgs::msg::Marker::LINE_STRIP;
   base_marker.action = visualization_msgs::msg::Marker::ADD;
-  base_marker.pose.position = tier4_autoware_utils::createMarkerPosition(0.0, 0.0, 0);
-  base_marker.pose.orientation = tier4_autoware_utils::createMarkerOrientation(0, 0, 0, 1.0);
-  base_marker.scale = tier4_autoware_utils::createMarkerScale(0.1, 0.1, 0.1);
-  base_marker.color = tier4_autoware_utils::createMarkerColor(1.0, 0.1, 0.1, 0.5);
+  base_marker.pose.position = autoware_universe_utils::createMarkerPosition(0.0, 0.0, 0);
+  base_marker.pose.orientation = autoware_universe_utils::createMarkerOrientation(0, 0, 0, 1.0);
+  base_marker.scale = autoware_universe_utils::createMarkerScale(0.1, 0.1, 0.1);
+  base_marker.color = autoware_universe_utils::createMarkerColor(1.0, 0.1, 0.1, 0.5);
   return base_marker;
 }
 void add_footprint_markers(
@@ -52,7 +52,7 @@ void add_footprint_markers(
     debug_marker.points.clear();
     for (const auto & p : f)
       debug_marker.points.push_back(
-        tier4_autoware_utils::createMarkerPosition(p.x(), p.y(), z + 0.5));
+        autoware_universe_utils::createMarkerPosition(p.x(), p.y(), z + 0.5));
     debug_marker.points.push_back(debug_marker.points.front());
     debug_marker_array.markers.push_back(debug_marker);
     debug_marker.id++;
@@ -71,19 +71,19 @@ void add_current_overlap_marker(
   debug_marker.ns = "current_overlap";
   debug_marker.points.clear();
   for (const auto & p : current_footprint)
-    debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition(p.x(), p.y(), z));
+    debug_marker.points.push_back(autoware_universe_utils::createMarkerPosition(p.x(), p.y(), z));
   if (!debug_marker.points.empty()) debug_marker.points.push_back(debug_marker.points.front());
   if (current_overlapped_lanelets.empty())
-    debug_marker.color = tier4_autoware_utils::createMarkerColor(0.1, 1.0, 0.1, 0.5);
+    debug_marker.color = autoware_universe_utils::createMarkerColor(0.1, 1.0, 0.1, 0.5);
   else
-    debug_marker.color = tier4_autoware_utils::createMarkerColor(1.0, 0.1, 0.1, 0.5);
+    debug_marker.color = autoware_universe_utils::createMarkerColor(1.0, 0.1, 0.1, 0.5);
   debug_marker_array.markers.push_back(debug_marker);
   debug_marker.id++;
   for (const auto & ll : current_overlapped_lanelets) {
     debug_marker.points.clear();
     for (const auto & p : ll.polygon3d())
       debug_marker.points.push_back(
-        tier4_autoware_utils::createMarkerPosition(p.x(), p.y(), p.z() + 0.5));
+        autoware_universe_utils::createMarkerPosition(p.x(), p.y(), p.z() + 0.5));
     debug_marker.points.push_back(debug_marker.points.front());
     debug_marker_array.markers.push_back(debug_marker);
     debug_marker.id++;
@@ -106,7 +106,7 @@ void add_lanelet_markers(
     // add a small z offset to draw above the lanelet map
     for (const auto & p : ll.polygon3d())
       debug_marker.points.push_back(
-        tier4_autoware_utils::createMarkerPosition(p.x(), p.y(), p.z() + 0.1));
+        autoware_universe_utils::createMarkerPosition(p.x(), p.y(), p.z() + 0.1));
     debug_marker.points.push_back(debug_marker.points.front());
     debug_marker_array.markers.push_back(debug_marker);
     debug_marker.id++;
@@ -123,20 +123,20 @@ void add_range_markers(
 {
   auto debug_marker = get_base_marker();
   debug_marker.ns = "ranges";
-  debug_marker.color = tier4_autoware_utils::createMarkerColor(0.2, 0.9, 0.1, 0.5);
+  debug_marker.color = autoware_universe_utils::createMarkerColor(0.2, 0.9, 0.1, 0.5);
   for (const auto & range : ranges) {
     debug_marker.points.clear();
     debug_marker.points.push_back(
       trajectory_points[first_ego_idx + range.entering_trajectory_idx].pose.position);
-    debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition(
+    debug_marker.points.push_back(autoware_universe_utils::createMarkerPosition(
       range.entering_point.x(), range.entering_point.y(), z));
     for (const auto & overlap : range.debug.overlaps) {
-      debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition(
+      debug_marker.points.push_back(autoware_universe_utils::createMarkerPosition(
         overlap.min_overlap_point.x(), overlap.min_overlap_point.y(), z));
-      debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition(
+      debug_marker.points.push_back(autoware_universe_utils::createMarkerPosition(
         overlap.max_overlap_point.x(), overlap.max_overlap_point.y(), z));
     }
-    debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition(
+    debug_marker.points.push_back(autoware_universe_utils::createMarkerPosition(
       range.exiting_point.x(), range.exiting_point.y(), z));
     debug_marker.points.push_back(
       trajectory_points[first_ego_idx + range.exiting_trajectory_idx].pose.position);
@@ -156,12 +156,12 @@ void add_decision_markers(
   debug_marker.action = debug_marker.ADD;
   debug_marker.id = 0;
   debug_marker.ns = "decisions";
-  debug_marker.color = tier4_autoware_utils::createMarkerColor(0.9, 0.1, 0.1, 1.0);
+  debug_marker.color = autoware_universe_utils::createMarkerColor(0.9, 0.1, 0.1, 1.0);
   debug_marker.points.clear();
   for (const auto & range : ranges) {
     debug_marker.type = debug_marker.LINE_STRIP;
     if (range.debug.decision) {
-      debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition(
+      debug_marker.points.push_back(autoware_universe_utils::createMarkerPosition(
         range.entering_point.x(), range.entering_point.y(), z));
       debug_marker.points.push_back(
         range.debug.object->kinematics.initial_pose_with_covariance.pose.position);
@@ -210,14 +210,15 @@ visualization_msgs::msg::MarkerArray create_debug_marker_array(const DebugData &
     debug_data.prev_current_overlapped_lanelets);
   debug::add_lanelet_markers(
     debug_marker_array, debug_data.trajectory_lanelets, "trajectory_lanelets",
-    tier4_autoware_utils::createMarkerColor(0.1, 0.1, 1.0, 0.5),
+    autoware_universe_utils::createMarkerColor(0.1, 0.1, 1.0, 0.5),
     debug_data.prev_trajectory_lanelets);
   debug::add_lanelet_markers(
     debug_marker_array, debug_data.ignored_lanelets, "ignored_lanelets",
-    tier4_autoware_utils::createMarkerColor(0.7, 0.7, 0.2, 0.5), debug_data.prev_ignored_lanelets);
+    autoware_universe_utils::createMarkerColor(0.7, 0.7, 0.2, 0.5),
+    debug_data.prev_ignored_lanelets);
   debug::add_lanelet_markers(
     debug_marker_array, debug_data.other_lanelets, "other_lanelets",
-    tier4_autoware_utils::createMarkerColor(0.4, 0.4, 0.7, 0.5), debug_data.prev_other_lanelets);
+    autoware_universe_utils::createMarkerColor(0.4, 0.4, 0.7, 0.5), debug_data.prev_other_lanelets);
   debug::add_range_markers(
     debug_marker_array, debug_data.ranges, debug_data.trajectory_points,
     debug_data.first_trajectory_idx, z, debug_data.prev_ranges);
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.cpp
index 81610f750e753..7746f1d9ba793 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.cpp
@@ -14,10 +14,10 @@
 
 #include "decisions.hpp"
 
+#include <autoware/universe_utils/ros/marker_helper.hpp>
+#include <autoware/universe_utils/ros/uuid_helper.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
-#include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 #include <boost/geometry/algorithms/within.hpp>
 
@@ -91,7 +91,7 @@ std::optional<std::pair<double, double>> object_time_to_range(
       unique_path_points, enter_segment_idx, enter_point);
     const auto enter_lat_dist =
       std::abs(motion_utils::calcLateralOffset(unique_path_points, enter_point, enter_segment_idx));
-    const auto enter_segment_length = tier4_autoware_utils::calcDistance2d(
+    const auto enter_segment_length = autoware_universe_utils::calcDistance2d(
       unique_path_points[enter_segment_idx], unique_path_points[enter_segment_idx + 1]);
     const auto enter_offset_ratio = enter_offset / enter_segment_length;
     const auto enter_time =
@@ -105,7 +105,7 @@ std::optional<std::pair<double, double>> object_time_to_range(
       unique_path_points, exit_segment_idx, exit_point);
     const auto exit_lat_dist =
       std::abs(motion_utils::calcLateralOffset(unique_path_points, exit_point, exit_segment_idx));
-    const auto exit_segment_length = tier4_autoware_utils::calcDistance2d(
+    const auto exit_segment_length = autoware_universe_utils::calcDistance2d(
       unique_path_points[exit_segment_idx], unique_path_points[exit_segment_idx + 1]);
     const auto exit_offset_ratio = exit_offset / static_cast<double>(exit_segment_length);
     const auto exit_time =
@@ -314,7 +314,7 @@ bool should_not_enter(
   for (const auto & object : inputs.objects.objects) {
     RCLCPP_DEBUG(
       logger, "\t\t[%s] going at %2.2fm/s",
-      tier4_autoware_utils::toHexString(object.object_id).c_str(),
+      autoware_universe_utils::toHexString(object.object_id).c_str(),
       object.kinematics.initial_twist_with_covariance.twist.linear.x);
     if (object.kinematics.initial_twist_with_covariance.twist.linear.x < params.objects_min_vel) {
       RCLCPP_DEBUG(logger, " SKIP (velocity bellow threshold %2.2fm/s)\n", params.objects_min_vel);
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp
index 77292a41b9cf1..ea50946a32267 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp
@@ -50,7 +50,7 @@ void cut_predicted_path_beyond_line(
     auto cut_idx = stop_line_idx;
     double arc_length = 0;
     while (cut_idx > 0 && arc_length < object_front_overhang) {
-      arc_length += tier4_autoware_utils::calcDistance2d(
+      arc_length += autoware_universe_utils::calcDistance2d(
         predicted_path.path[cut_idx], predicted_path.path[cut_idx - 1]);
       --cut_idx;
     }
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.cpp
index 824a847b17414..f411485a0750f 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.cpp
@@ -14,7 +14,7 @@
 
 #include "footprint.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 
 #include <geometry_msgs/msg/pose.hpp>
 
@@ -26,10 +26,10 @@
 
 namespace autoware::motion_velocity_planner::out_of_lane
 {
-tier4_autoware_utils::Polygon2d make_base_footprint(
+autoware_universe_utils::Polygon2d make_base_footprint(
   const PlannerParam & p, const bool ignore_offset)
 {
-  tier4_autoware_utils::Polygon2d base_footprint;
+  autoware_universe_utils::Polygon2d base_footprint;
   const auto front_offset = ignore_offset ? 0.0 : p.extra_front_offset;
   const auto rear_offset = ignore_offset ? 0.0 : p.extra_rear_offset;
   const auto right_offset = ignore_offset ? 0.0 : p.extra_right_offset;
@@ -43,10 +43,10 @@ tier4_autoware_utils::Polygon2d make_base_footprint(
 }
 
 lanelet::BasicPolygon2d project_to_pose(
-  const tier4_autoware_utils::Polygon2d & base_footprint, const geometry_msgs::msg::Pose & pose)
+  const autoware_universe_utils::Polygon2d & base_footprint, const geometry_msgs::msg::Pose & pose)
 {
   const auto angle = tf2::getYaw(pose.orientation);
-  const auto rotated_footprint = tier4_autoware_utils::rotatePolygon(base_footprint, angle);
+  const auto rotated_footprint = autoware_universe_utils::rotatePolygon(base_footprint, angle);
   lanelet::BasicPolygon2d footprint;
   for (const auto & p : rotated_footprint.outer())
     footprint.emplace_back(p.x() + pose.position.x, p.y() + pose.position.y);
@@ -66,14 +66,14 @@ std::vector<lanelet::BasicPolygon2d> calculate_trajectory_footprints(
        i < ego_data.trajectory_points.size() && length < range; ++i) {
     const auto & trajectory_pose = ego_data.trajectory_points[i].pose;
     const auto angle = tf2::getYaw(trajectory_pose.orientation);
-    const auto rotated_footprint = tier4_autoware_utils::rotatePolygon(base_footprint, angle);
+    const auto rotated_footprint = autoware_universe_utils::rotatePolygon(base_footprint, angle);
     lanelet::BasicPolygon2d footprint;
     for (const auto & p : rotated_footprint.outer())
       footprint.emplace_back(
         p.x() + trajectory_pose.position.x, p.y() + trajectory_pose.position.y);
     trajectory_footprints.push_back(footprint);
     if (i + 1 < ego_data.trajectory_points.size())
-      length += tier4_autoware_utils::calcDistance2d(
+      length += autoware_universe_utils::calcDistance2d(
         trajectory_pose, ego_data.trajectory_points[i + 1].pose);
   }
   return trajectory_footprints;
@@ -84,7 +84,7 @@ lanelet::BasicPolygon2d calculate_current_ego_footprint(
 {
   const auto base_footprint = make_base_footprint(params, ignore_offset);
   const auto angle = tf2::getYaw(ego_data.pose.orientation);
-  const auto rotated_footprint = tier4_autoware_utils::rotatePolygon(base_footprint, angle);
+  const auto rotated_footprint = autoware_universe_utils::rotatePolygon(base_footprint, angle);
   lanelet::BasicPolygon2d footprint;
   for (const auto & p : rotated_footprint.outer())
     footprint.emplace_back(p.x() + ego_data.pose.position.x, p.y() + ego_data.pose.position.y);
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.hpp
index 7b80dd9618bb7..bbcdd7b84dd18 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.hpp
@@ -17,7 +17,7 @@
 
 #include "types.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <vector>
 
@@ -30,14 +30,14 @@ namespace out_of_lane
 /// @param [in] ignore_offset optional parameter, if true, ignore the "extra offsets" to build the
 /// footprint
 /// @return base ego footprint
-tier4_autoware_utils::Polygon2d make_base_footprint(
+autoware_universe_utils::Polygon2d make_base_footprint(
   const PlannerParam & p, const bool ignore_offset = false);
 /// @brief project a footprint to the given pose
 /// @param [in] base_footprint footprint to project
 /// @param [in] pose projection pose
 /// @return footprint projected to the given pose
 lanelet::BasicPolygon2d project_to_pose(
-  const tier4_autoware_utils::Polygon2d & base_footprint, const geometry_msgs::msg::Pose & pose);
+  const autoware_universe_utils::Polygon2d & base_footprint, const geometry_msgs::msg::Pose & pose);
 /// @brief calculate the trajectory footprints
 /// @details the resulting polygon follows the format used by the lanelet library: clockwise order
 /// and implicit closing edge
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp
index 23dbf77f08151..60d627a4b8c5d 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp
@@ -14,7 +14,7 @@
 
 #include "lanelets_selection.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <lanelet2_core/geometry/LaneletMap.h>
 #include <lanelet2_routing/RoutingGraph.h>
@@ -91,7 +91,7 @@ lanelet::ConstLanelets calculate_ignored_lanelets(
   lanelet::ConstLanelets ignored_lanelets;
   // ignore lanelets directly behind ego
   const auto behind =
-    tier4_autoware_utils::calcOffsetPose(ego_data.pose, params.rear_offset, 0.0, 0.0);
+    autoware_universe_utils::calcOffsetPose(ego_data.pose, params.rear_offset, 0.0, 0.0);
   const lanelet::BasicPoint2d behind_point(behind.position.x, behind.position.y);
   const auto behind_lanelets = lanelet::geometry::findWithin2d(
     route_handler->getLaneletMapPtr()->laneletLayer, behind_point, 0.0);
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp
index 11640f9ad2c8e..d4f8e3a33e6e8 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp
@@ -23,11 +23,11 @@
 #include "overlapping_range.hpp"
 #include "types.hpp"
 
+#include <autoware/universe_utils/ros/parameter.hpp>
+#include <autoware/universe_utils/ros/update_param.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <motion_utils/trajectory/interpolation.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/ros/parameter.hpp>
-#include <tier4_autoware_utils/ros/update_param.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <boost/geometry/algorithms/intersects.hpp>
 
@@ -59,7 +59,7 @@ void OutOfLaneModule::init(rclcpp::Node & node, const std::string & module_name)
 }
 void OutOfLaneModule::init_parameters(rclcpp::Node & node)
 {
-  using tier4_autoware_utils::getOrDeclareParameter;
+  using autoware_universe_utils::getOrDeclareParameter;
   auto & pp = params_;
 
   pp.mode = getOrDeclareParameter<std::string>(node, ns_ + ".mode");
@@ -109,7 +109,7 @@ void OutOfLaneModule::init_parameters(rclcpp::Node & node)
 
 void OutOfLaneModule::update_parameters(const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
   auto & pp = params_;
   updateParam(parameters, ns_ + ".mode", pp.mode);
   updateParam(parameters, ns_ + ".skip_if_already_overlapping", pp.skip_if_already_overlapping);
@@ -151,7 +151,7 @@ VelocityPlanningResult OutOfLaneModule::plan(
   const std::shared_ptr<const PlannerData> planner_data)
 {
   VelocityPlanningResult result;
-  tier4_autoware_utils::StopWatch<std::chrono::microseconds> stopwatch;
+  autoware_universe_utils::StopWatch<std::chrono::microseconds> stopwatch;
   stopwatch.tic();
   out_of_lane::EgoData ego_data;
   ego_data.pose = planner_data->current_odometry.pose.pose;
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.cpp
index f89c620b75fb6..a1a722bb07f14 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.cpp
@@ -14,8 +14,8 @@
 
 #include "overlapping_range.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
 
 #include <geometry_msgs/msg/pose.hpp>
 
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.hpp
index 07c8663ea21bc..bc5872db16e03 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.hpp
@@ -17,7 +17,7 @@
 
 #include "types.hpp"
 
-#include <tier4_autoware_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
 
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml
index 7c1d370ae0ced..2f29f9a8a8d1c 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml
@@ -19,6 +19,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_velocity_smoother</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
@@ -26,7 +27,6 @@
   <depend>libboost-dev</depend>
   <depend>motion_utils</depend>
   <depend>rclcpp</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
index 26bbcce3ee2a4..7d272eedd4a70 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml
@@ -21,6 +21,7 @@
   <depend>autoware_motion_velocity_planner_common</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_velocity_smoother</depend>
   <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
@@ -37,7 +38,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp
index 9e4816329a7cd..77caa70ce5626 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp
@@ -14,14 +14,14 @@
 
 #include "node.hpp"
 
+#include <autoware/universe_utils/ros/update_param.hpp>
+#include <autoware/universe_utils/ros/wait_for_param.hpp>
+#include <autoware/universe_utils/transform/transforms.hpp>
 #include <autoware/velocity_smoother/smoother/analytical_jerk_constrained_smoother/analytical_jerk_constrained_smoother.hpp>
 #include <autoware/velocity_smoother/trajectory_utils.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
-#include <tier4_autoware_utils/ros/update_param.hpp>
-#include <tier4_autoware_utils/ros/wait_for_param.hpp>
-#include <tier4_autoware_utils/transform/transforms.hpp>
 
 #include <autoware_planning_msgs/msg/trajectory_point.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
@@ -102,8 +102,9 @@ MotionVelocityPlannerNode::MotionVelocityPlannerNode(const rclcpp::NodeOptions &
   set_param_callback_ = this->add_on_set_parameters_callback(
     std::bind(&MotionVelocityPlannerNode::on_set_param, this, std::placeholders::_1));
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void MotionVelocityPlannerNode::on_load_plugin(
@@ -192,7 +193,7 @@ MotionVelocityPlannerNode::process_no_ground_pointcloud(
 
   Eigen::Affine3f affine = tf2::transformToEigen(transform.transform).cast<float>();
   pcl::PointCloud<pcl::PointXYZ>::Ptr pc_transformed(new pcl::PointCloud<pcl::PointXYZ>);
-  if (!pc.empty()) tier4_autoware_utils::transformPointCloud(pc, *pc_transformed, affine);
+  if (!pc.empty()) autoware_universe_utils::transformPointCloud(pc, *pc_transformed, affine);
   return *pc_transformed;
 }
 
@@ -385,7 +386,7 @@ autoware_planning_msgs::msg::Trajectory MotionVelocityPlannerNode::generate_traj
 rcl_interfaces::msg::SetParametersResult MotionVelocityPlannerNode::on_set_param(
   const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   {
     std::unique_lock<std::mutex> lk(mutex_);  // for planner_manager_
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp
index 54ee64a7c861f..42c34a9a8c68d 100644
--- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp
+++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp
@@ -18,12 +18,12 @@
 #include "planner_manager.hpp"
 
 #include <autoware/motion_velocity_planner_common/planner_data.hpp>
+#include <autoware/universe_utils/ros/logger_level_configure.hpp>
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <autoware_motion_velocity_planner_node/srv/load_plugin.hpp>
 #include <autoware_motion_velocity_planner_node/srv/unload_plugin.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/ros/logger_level_configure.hpp>
-#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
@@ -62,23 +62,23 @@ class MotionVelocityPlannerNode : public rclcpp::Node
 
   // subscriber
   rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr sub_trajectory_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<
+  autoware_universe_utils::InterProcessPollingSubscriber<
     autoware_perception_msgs::msg::PredictedObjects>
     sub_predicted_objects_{this, "~/input/dynamic_objects"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<sensor_msgs::msg::PointCloud2>
+  autoware_universe_utils::InterProcessPollingSubscriber<sensor_msgs::msg::PointCloud2>
     sub_no_ground_pointcloud_{
-      this, "~/input/no_ground_pointcloud", tier4_autoware_utils::SingleDepthSensorQoS()};
-  tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry>
+      this, "~/input/no_ground_pointcloud", autoware_universe_utils::SingleDepthSensorQoS()};
+  autoware_universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry>
     sub_vehicle_odometry_{this, "~/input/vehicle_odometry"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<
+  autoware_universe_utils::InterProcessPollingSubscriber<
     geometry_msgs::msg::AccelWithCovarianceStamped>
     sub_acceleration_{this, "~/input/accel"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::OccupancyGrid>
+  autoware_universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::OccupancyGrid>
     sub_occupancy_grid_{this, "~/input/occupancy_grid"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<
+  autoware_universe_utils::InterProcessPollingSubscriber<
     autoware_perception_msgs::msg::TrafficLightGroupArray>
     sub_traffic_signals_{this, "~/input/traffic_signals"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<
+  autoware_universe_utils::InterProcessPollingSubscriber<
     tier4_v2x_msgs::msg::VirtualTrafficLightStateArray>
     sub_virtual_traffic_light_states_{this, "~/input/virtual_traffic_light_states"};
   rclcpp::Subscription<autoware_map_msgs::msg::LaneletMapBin>::SharedPtr sub_lanelet_map_;
@@ -138,9 +138,9 @@ class MotionVelocityPlannerNode : public rclcpp::Node
   autoware_planning_msgs::msg::Trajectory generate_trajectory(
     autoware::motion_velocity_planner::TrajectoryPoints input_trajectory_points);
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace autoware::motion_velocity_planner
 
diff --git a/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp b/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp
index ef035b94054aa..54c12ed0ef543 100644
--- a/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp
+++ b/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp
@@ -33,7 +33,7 @@
 #define EIGEN_MPL2_ONLY
 #include <Eigen/Core>
 #include <Eigen/Geometry>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 namespace motion_planning
 {
 
@@ -108,10 +108,10 @@ class ObstacleStopPlannerDebugNode
   explicit ObstacleStopPlannerDebugNode(rclcpp::Node * node, const double base_link2front);
   ~ObstacleStopPlannerDebugNode() {}
   bool pushPolygon(
-    const tier4_autoware_utils::Polygon2d & polygon, const double z, const PolygonType & type);
+    const autoware_universe_utils::Polygon2d & polygon, const double z, const PolygonType & type);
   bool pushPolygon(const std::vector<Eigen::Vector3d> & polygon, const PolygonType & type);
   bool pushPolyhedron(
-    const tier4_autoware_utils::Polygon2d & polyhedron, const double z_min, const double z_max,
+    const autoware_universe_utils::Polygon2d & polyhedron, const double z_min, const double z_max,
     const PolygonType & type);
   bool pushPolyhedron(const std::vector<Eigen::Vector3d> & polyhedron, const PolygonType & type);
   bool pushPose(const Pose & pose, const PoseType & type);
diff --git a/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp b/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp
index d7fc83dbdf7ed..7bcaf44bbc443 100644
--- a/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp
+++ b/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp
@@ -15,19 +15,19 @@
 #ifndef OBSTACLE_STOP_PLANNER__NODE_HPP_
 #define OBSTACLE_STOP_PLANNER__NODE_HPP_
 
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 #include "obstacle_stop_planner/adaptive_cruise_control.hpp"
 #include "obstacle_stop_planner/debug_marker.hpp"
 #include "obstacle_stop_planner/planner_data.hpp"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <motion_utils/trajectory/conversion.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
@@ -81,9 +81,9 @@ using autoware::vehicle_info_utils::VehicleInfo;
 using autoware_perception_msgs::msg::PredictedObjects;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
-using tier4_autoware_utils::StopWatch;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
+using autoware_universe_utils::StopWatch;
 using tier4_debug_msgs::msg::BoolStamped;
 using tier4_debug_msgs::msg::Float32MultiArrayStamped;
 using tier4_debug_msgs::msg::Float32Stamped;
@@ -315,9 +315,9 @@ class ObstacleStopPlannerNode : public rclcpp::Node
     return ret;
   }
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 };
 }  // namespace motion_planning
 
diff --git a/planning/obstacle_stop_planner/include/obstacle_stop_planner/planner_utils.hpp b/planning/obstacle_stop_planner/include/obstacle_stop_planner/planner_utils.hpp
index 7b30ac61af46f..bdd2a0a403fcb 100644
--- a/planning/obstacle_stop_planner/include/obstacle_stop_planner/planner_utils.hpp
+++ b/planning/obstacle_stop_planner/include/obstacle_stop_planner/planner_utils.hpp
@@ -18,8 +18,8 @@
 
 #include "obstacle_stop_planner/planner_data.hpp"
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
@@ -47,8 +47,8 @@ using std_msgs::msg::Header;
 
 using autoware::vehicle_info_utils::VehicleInfo;
 using autoware_planning_msgs::msg::TrajectoryPoint;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 
 using TrajectoryPoints = std::vector<TrajectoryPoint>;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
diff --git a/planning/obstacle_stop_planner/package.xml b/planning/obstacle_stop_planner/package.xml
index 39195f2840b81..4d68dbfac2b80 100644
--- a/planning/obstacle_stop_planner/package.xml
+++ b/planning/obstacle_stop_planner/package.xml
@@ -24,6 +24,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_planning_test_manager</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>motion_utils</depend>
@@ -39,7 +40,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/obstacle_stop_planner/src/adaptive_cruise_control.cpp b/planning/obstacle_stop_planner/src/adaptive_cruise_control.cpp
index 2931da5830a60..b2ccf896619de 100644
--- a/planning/obstacle_stop_planner/src/adaptive_cruise_control.cpp
+++ b/planning/obstacle_stop_planner/src/adaptive_cruise_control.cpp
@@ -30,7 +30,7 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-#include <tier4_autoware_utils/math/normalization.hpp>
+#include <autoware/universe_utils/math/normalization.hpp>
 
 #include <algorithm>
 #include <limits>
@@ -458,7 +458,7 @@ void AdaptiveCruiseController::calculateProjectedVelocityFromObject(
                 object.kinematics.initial_twist_with_covariance.twist.linear.x);
 
   *velocity =
-    obj_vel_norm * std::cos(tier4_autoware_utils::normalizeRadian(obj_vel_yaw - traj_yaw));
+    obj_vel_norm * std::cos(autoware_universe_utils::normalizeRadian(obj_vel_yaw - traj_yaw));
   debug_values_.data.at(DBGVAL::ESTIMATED_VEL_OBJ) = *velocity;
 }
 
diff --git a/planning/obstacle_stop_planner/src/debug_marker.cpp b/planning/obstacle_stop_planner/src/debug_marker.cpp
index 031c7d79bf4c5..d105777b49f9f 100644
--- a/planning/obstacle_stop_planner/src/debug_marker.cpp
+++ b/planning/obstacle_stop_planner/src/debug_marker.cpp
@@ -14,9 +14,9 @@
 
 #include "obstacle_stop_planner/debug_marker.hpp"
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/ros/marker_helper.hpp>
 #include <motion_utils/marker/marker_helper.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
@@ -27,16 +27,16 @@
 #include <memory>
 #include <vector>
 
+using autoware_universe_utils::appendMarkerArray;
+using autoware_universe_utils::calcOffsetPose;
+using autoware_universe_utils::createDefaultMarker;
+using autoware_universe_utils::createMarkerColor;
+using autoware_universe_utils::createMarkerScale;
+using autoware_universe_utils::createPoint;
 using motion_utils::createDeletedSlowDownVirtualWallMarker;
 using motion_utils::createDeletedStopVirtualWallMarker;
 using motion_utils::createSlowDownVirtualWallMarker;
 using motion_utils::createStopVirtualWallMarker;
-using tier4_autoware_utils::appendMarkerArray;
-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 motion_planning
 {
@@ -54,7 +54,7 @@ ObstacleStopPlannerDebugNode::ObstacleStopPlannerDebugNode(
 }
 
 bool ObstacleStopPlannerDebugNode::pushPolygon(
-  const tier4_autoware_utils::Polygon2d & polygon, const double z, const PolygonType & type)
+  const autoware_universe_utils::Polygon2d & polygon, const double z, const PolygonType & type)
 {
   std::vector<Eigen::Vector3d> eigen_polygon;
   for (const auto & point : polygon.outer()) {
@@ -100,7 +100,7 @@ bool ObstacleStopPlannerDebugNode::pushPolygon(
 }
 
 bool ObstacleStopPlannerDebugNode::pushPolyhedron(
-  const tier4_autoware_utils::Polygon2d & polyhedron, const double z_min, const double z_max,
+  const autoware_universe_utils::Polygon2d & polyhedron, const double z_min, const double z_max,
   const PolygonType & type)
 {
   std::vector<Eigen::Vector3d> eigen_polyhedron;
diff --git a/planning/obstacle_stop_planner/src/node.cpp b/planning/obstacle_stop_planner/src/node.cpp
index 3a269d738e02d..245ed69eb04fc 100644
--- a/planning/obstacle_stop_planner/src/node.cpp
+++ b/planning/obstacle_stop_planner/src/node.cpp
@@ -41,16 +41,16 @@
 namespace motion_planning
 {
 using autoware_perception_msgs::msg::PredictedObject;
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::createPoint;
+using autoware_universe_utils::getPoint;
+using autoware_universe_utils::getPose;
+using autoware_universe_utils::getRPY;
 using motion_utils::calcLongitudinalOffsetPose;
 using motion_utils::calcLongitudinalOffsetToSegment;
 using motion_utils::calcSignedArcLength;
 using motion_utils::findFirstNearestIndexWithSoftConstraints;
 using motion_utils::findFirstNearestSegmentIndexWithSoftConstraints;
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::createPoint;
-using tier4_autoware_utils::getPoint;
-using tier4_autoware_utils::getPose;
-using tier4_autoware_utils::getRPY;
 
 ObstacleStopPlannerNode::ObstacleStopPlannerNode(const rclcpp::NodeOptions & node_options)
 : Node("obstacle_stop_planner", node_options)
@@ -245,8 +245,9 @@ ObstacleStopPlannerNode::ObstacleStopPlannerNode(const rclcpp::NodeOptions & nod
     std::bind(&ObstacleStopPlannerNode::onExpandStopRange, this, std::placeholders::_1),
     createSubscriptionOptions(this));
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
 }
 
 void ObstacleStopPlannerNode::onPointCloud(const PointCloud2::ConstSharedPtr input_msg)
@@ -1557,8 +1558,8 @@ void ObstacleStopPlannerNode::filterObstacles(
     const double max_length = calcObstacleMaxLength(object.shape);
     const size_t seg_idx = motion_utils::findNearestSegmentIndex(
       traj, object.kinematics.initial_pose_with_covariance.pose.position);
-    const auto p_front = tier4_autoware_utils::getPoint(traj.at(seg_idx));
-    const auto p_back = tier4_autoware_utils::getPoint(traj.at(seg_idx + 1));
+    const auto p_front = autoware_universe_utils::getPoint(traj.at(seg_idx));
+    const auto p_back = autoware_universe_utils::getPoint(traj.at(seg_idx + 1));
     const auto & p_target = object.kinematics.initial_pose_with_covariance.pose.position;
     const Eigen::Vector3d segment_vec{p_back.x - p_front.x, p_back.y - p_front.y, 0.0};
     const Eigen::Vector3d target_vec{p_target.x - p_front.x, p_target.y - p_front.y, 0.0};
diff --git a/planning/obstacle_stop_planner/src/planner_utils.cpp b/planning/obstacle_stop_planner/src/planner_utils.cpp
index 3e2ecca8ec4d7..ed1ee450140a5 100644
--- a/planning/obstacle_stop_planner/src/planner_utils.cpp
+++ b/planning/obstacle_stop_planner/src/planner_utils.cpp
@@ -14,10 +14,10 @@
 
 #include "obstacle_stop_planner/planner_utils.hpp"
 
+#include <autoware/universe_utils/geometry/boost_polygon_utils.hpp>
 #include <motion_utils/distance/distance.hpp>
 #include <motion_utils/trajectory/conversion.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
-#include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 
 #include <diagnostic_msgs/msg/key_value.hpp>
 
@@ -34,11 +34,11 @@ namespace motion_planning
 
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
+using autoware_universe_utils::calcDistance2d;
+using autoware_universe_utils::getRPY;
 using motion_utils::calcDecelDistWithJerkAndAccConstraints;
 using motion_utils::findFirstNearestIndexWithSoftConstraints;
 using motion_utils::findFirstNearestSegmentIndexWithSoftConstraints;
-using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::getRPY;
 
 std::optional<std::pair<double, double>> calcFeasibleMarginAndVelocity(
   const SlowDownParam & slow_down_param, const double dist_baselink_to_obstacle,
@@ -325,40 +325,42 @@ void createOneStepPolygon(
   const double rear_overhang = vehicle_info.rear_overhang_m;
 
   {  // base step
-    appendPointToPolygon(
-      polygon, tier4_autoware_utils::calcOffsetPose(base_step_pose, longitudinal_offset, width, 0.0)
-                 .position);
     appendPointToPolygon(
       polygon,
-      tier4_autoware_utils::calcOffsetPose(base_step_pose, longitudinal_offset, -width, 0.0)
+      autoware_universe_utils::calcOffsetPose(base_step_pose, longitudinal_offset, width, 0.0)
         .position);
     appendPointToPolygon(
       polygon,
-      tier4_autoware_utils::calcOffsetPose(base_step_pose, -rear_overhang, -width, 0.0).position);
+      autoware_universe_utils::calcOffsetPose(base_step_pose, longitudinal_offset, -width, 0.0)
+        .position);
+    appendPointToPolygon(
+      polygon, autoware_universe_utils::calcOffsetPose(base_step_pose, -rear_overhang, -width, 0.0)
+                 .position);
     appendPointToPolygon(
       polygon,
-      tier4_autoware_utils::calcOffsetPose(base_step_pose, -rear_overhang, width, 0.0).position);
+      autoware_universe_utils::calcOffsetPose(base_step_pose, -rear_overhang, width, 0.0).position);
   }
 
   {  // next step
-    appendPointToPolygon(
-      polygon, tier4_autoware_utils::calcOffsetPose(next_step_pose, longitudinal_offset, width, 0.0)
-                 .position);
     appendPointToPolygon(
       polygon,
-      tier4_autoware_utils::calcOffsetPose(next_step_pose, longitudinal_offset, -width, 0.0)
+      autoware_universe_utils::calcOffsetPose(next_step_pose, longitudinal_offset, width, 0.0)
         .position);
     appendPointToPolygon(
       polygon,
-      tier4_autoware_utils::calcOffsetPose(next_step_pose, -rear_overhang, -width, 0.0).position);
+      autoware_universe_utils::calcOffsetPose(next_step_pose, longitudinal_offset, -width, 0.0)
+        .position);
+    appendPointToPolygon(
+      polygon, autoware_universe_utils::calcOffsetPose(next_step_pose, -rear_overhang, -width, 0.0)
+                 .position);
     appendPointToPolygon(
       polygon,
-      tier4_autoware_utils::calcOffsetPose(next_step_pose, -rear_overhang, width, 0.0).position);
+      autoware_universe_utils::calcOffsetPose(next_step_pose, -rear_overhang, width, 0.0).position);
   }
 
-  polygon = tier4_autoware_utils::isClockwise(polygon)
+  polygon = autoware_universe_utils::isClockwise(polygon)
               ? polygon
-              : tier4_autoware_utils::inverseClockwise(polygon);
+              : autoware_universe_utils::inverseClockwise(polygon);
 
   boost::geometry::convex_hull(polygon, hull_polygon);
 }
@@ -550,7 +552,7 @@ double getNearestPointAndDistanceForPredictedObject(
   bool is_init = false;
 
   for (const auto & p : points.poses) {
-    double norm = tier4_autoware_utils::calcDistance2d(p, base_pose);
+    double norm = autoware_universe_utils::calcDistance2d(p, base_pose);
     if (norm < min_norm || !is_init) {
       min_norm = norm;
       *nearest_collision_point = p.position;
@@ -625,9 +627,9 @@ Polygon2d convertBoundingBoxObjectToGeometryPolygon(
   object_polygon.outer().emplace_back(p4_obj.x(), p4_obj.y());
 
   object_polygon.outer().push_back(object_polygon.outer().front());
-  object_polygon = tier4_autoware_utils::isClockwise(object_polygon)
+  object_polygon = autoware_universe_utils::isClockwise(object_polygon)
                      ? object_polygon
-                     : tier4_autoware_utils::inverseClockwise(object_polygon);
+                     : autoware_universe_utils::inverseClockwise(object_polygon);
   return object_polygon;
 }
 
@@ -648,9 +650,9 @@ Polygon2d convertCylindricalObjectToGeometryPolygon(
   }
 
   object_polygon.outer().push_back(object_polygon.outer().front());
-  object_polygon = tier4_autoware_utils::isClockwise(object_polygon)
+  object_polygon = autoware_universe_utils::isClockwise(object_polygon)
                      ? object_polygon
-                     : tier4_autoware_utils::inverseClockwise(object_polygon);
+                     : autoware_universe_utils::inverseClockwise(object_polygon);
   return object_polygon;
 }
 
@@ -668,9 +670,9 @@ Polygon2d convertPolygonObjectToGeometryPolygon(
     object_polygon.outer().emplace_back(tf_obj.x(), tf_obj.y());
   }
   object_polygon.outer().push_back(object_polygon.outer().front());
-  object_polygon = tier4_autoware_utils::isClockwise(object_polygon)
+  object_polygon = autoware_universe_utils::isClockwise(object_polygon)
                      ? object_polygon
-                     : tier4_autoware_utils::inverseClockwise(object_polygon);
+                     : autoware_universe_utils::inverseClockwise(object_polygon);
   return object_polygon;
 }
 
@@ -690,7 +692,7 @@ std::optional<PredictedObject> getObstacleFromUuid(
 
 bool isFrontObstacle(const Pose & ego_pose, const geometry_msgs::msg::Point & obstacle_pos)
 {
-  const auto yaw = tier4_autoware_utils::getRPY(ego_pose).z;
+  const auto yaw = autoware_universe_utils::getRPY(ego_pose).z;
   const Eigen::Vector2d base_pose_vec(std::cos(yaw), std::sin(yaw));
   const Eigen::Vector2d obstacle_vec(
     obstacle_pos.x - ego_pose.position.x, obstacle_pos.y - ego_pose.position.y);
diff --git a/planning/sampling_based_planner/autoware_frenet_planner/include/autoware_frenet_planner/frenet_planner.hpp b/planning/sampling_based_planner/autoware_frenet_planner/include/autoware_frenet_planner/frenet_planner.hpp
index 88eb2f3244e40..0dd4c74ddbb06 100644
--- a/planning/sampling_based_planner/autoware_frenet_planner/include/autoware_frenet_planner/frenet_planner.hpp
+++ b/planning/sampling_based_planner/autoware_frenet_planner/include/autoware_frenet_planner/frenet_planner.hpp
@@ -15,10 +15,10 @@
 #ifndef AUTOWARE_FRENET_PLANNER__FRENET_PLANNER_HPP_
 #define AUTOWARE_FRENET_PLANNER__FRENET_PLANNER_HPP_
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
 #include "autoware_frenet_planner/structures.hpp"
 #include "autoware_sampler_common/structures.hpp"
 #include "autoware_sampler_common/transform/spline_transform.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <optional>
 #include <vector>
diff --git a/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp b/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp
index ba3156c6b085d..0aae35126e8ab 100644
--- a/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp
+++ b/planning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp
@@ -176,7 +176,7 @@ void calculateCartesian(
       pose.position.x = it->x();
       pose.position.y = it->y();
       pose.position.z = 0.0;
-      pose.orientation = tier4_autoware_utils::createQuaternionFromRPY(0.0, 0.0, yaw);
+      pose.orientation = autoware_universe_utils::createQuaternionFromRPY(0.0, 0.0, yaw);
       path.poses.push_back(pose);
     }
     path.yaws.push_back(path.yaws.back());
diff --git a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/common_structs.hpp b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/common_structs.hpp
index 5a8183d8e5926..9fdf7191a911d 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/common_structs.hpp
+++ b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/common_structs.hpp
@@ -15,13 +15,13 @@
 #ifndef AUTOWARE_PATH_SAMPLER__COMMON_STRUCTS_HPP_
 #define AUTOWARE_PATH_SAMPLER__COMMON_STRUCTS_HPP_
 
+#include "autoware/universe_utils/ros/update_param.hpp"
+#include "autoware/universe_utils/system/stop_watch.hpp"
 #include "autoware_path_sampler/type_alias.hpp"
 #include "autoware_sampler_common/structures.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
-#include "tier4_autoware_utils/system/stop_watch.hpp"
 
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 
 #include <memory>
 #include <optional>
@@ -80,7 +80,7 @@ struct TimeKeeper
   std::string accumulated_msg = "\n";
   std::stringstream latest_stream;
 
-  tier4_autoware_utils::StopWatch<
+  autoware_universe_utils::StopWatch<
     std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock>
     stop_watch_;
 };
@@ -89,8 +89,8 @@ struct DebugData
 {
   std::vector<autoware::sampler_common::Path> sampled_candidates{};
   size_t previous_sampled_candidates_nb = 0UL;
-  std::vector<tier4_autoware_utils::Polygon2d> obstacles{};
-  std::vector<tier4_autoware_utils::MultiPoint2d> footprints{};
+  std::vector<autoware_universe_utils::Polygon2d> obstacles{};
+  std::vector<autoware_universe_utils::MultiPoint2d> footprints{};
 };
 
 struct TrajectoryParam
@@ -103,7 +103,7 @@ struct TrajectoryParam
 
   void onParam(const std::vector<rclcpp::Parameter> & parameters)
   {
-    using tier4_autoware_utils::updateParam;
+    using autoware_universe_utils::updateParam;
 
     // common
     updateParam<double>(parameters, "common.output_delta_arc_length", output_delta_arc_length);
@@ -123,7 +123,7 @@ struct EgoNearestParam
 
   void onParam(const std::vector<rclcpp::Parameter> & parameters)
   {
-    using tier4_autoware_utils::updateParam;
+    using autoware_universe_utils::updateParam;
     updateParam<double>(parameters, "ego_nearest_dist_threshold", dist_threshold);
     updateParam<double>(parameters, "ego_nearest_yaw_threshold", yaw_threshold);
   }
diff --git a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/node.hpp b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/node.hpp
index 780c71b1ab9cd..ceab5229b36d4 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/node.hpp
+++ b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/node.hpp
@@ -22,8 +22,8 @@
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 #include "rclcpp/rclcpp.hpp"
 
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
 #include <autoware_sampler_common/structures.hpp>
-#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
 
 #include <algorithm>
 #include <memory>
@@ -62,8 +62,9 @@ class PathSampler : public rclcpp::Node
 
   // interface subscriber
   rclcpp::Subscription<Path>::SharedPtr path_sub_;
-  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> odom_sub_{this, "~/input/odometry"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<PredictedObjects> objects_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Odometry> odom_sub_{
+    this, "~/input/odometry"};
+  autoware_universe_utils::InterProcessPollingSubscriber<PredictedObjects> objects_sub_{
     this, "~/input/objects"};
 
   // debug publisher
diff --git a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/geometry_utils.hpp b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/geometry_utils.hpp
index b6c63eeffed18..004739c7c9ecf 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/geometry_utils.hpp
+++ b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/geometry_utils.hpp
@@ -42,8 +42,8 @@ namespace geometry_utils
 template <typename T1, typename T2>
 bool isSamePoint(const T1 & t1, const T2 & t2)
 {
-  const auto p1 = tier4_autoware_utils::getPoint(t1);
-  const auto p2 = tier4_autoware_utils::getPoint(t2);
+  const auto p1 = autoware_universe_utils::getPoint(t1);
+  const auto p2 = autoware_universe_utils::getPoint(t2);
 
   constexpr double epsilon = 1e-6;
   if (epsilon < std::abs(p1.x - p2.x) || epsilon < std::abs(p1.y - p2.y)) {
diff --git a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp
index 4f346ae910f44..70909231de176 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp
+++ b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp
@@ -52,7 +52,7 @@ std::optional<size_t> getPointIndexAfter(
   // search forward
   if (sum_length < offset) {
     for (size_t i = target_seg_idx + 1; i < points.size(); ++i) {
-      sum_length += tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i - 1));
+      sum_length += autoware_universe_utils::calcDistance2d(points.at(i), points.at(i - 1));
       if (offset < sum_length) {
         return i - 1;
       }
@@ -64,7 +64,7 @@ std::optional<size_t> getPointIndexAfter(
   // search backward
   for (size_t i = target_seg_idx; 0 < i;
        --i) {  // NOTE: use size_t since i is always positive value
-    sum_length -= tier4_autoware_utils::calcDistance2d(points.at(i), points.at(i - 1));
+    sum_length -= autoware_universe_utils::calcDistance2d(points.at(i), points.at(i - 1));
     if (sum_length < offset) {
       return i - 1;
     }
@@ -77,7 +77,7 @@ template <typename T>
 TrajectoryPoint convertToTrajectoryPoint(const T & point)
 {
   TrajectoryPoint traj_point;
-  traj_point.pose = tier4_autoware_utils::getPose(point);
+  traj_point.pose = autoware_universe_utils::getPose(point);
   traj_point.longitudinal_velocity_mps = point.longitudinal_velocity_mps;
   traj_point.lateral_velocity_mps = point.lateral_velocity_mps;
   traj_point.heading_rate_rps = point.heading_rate_rps;
@@ -152,7 +152,7 @@ std::optional<size_t> updateFrontPointForFix(
 {
   // calculate front point to insert in points as a fixed point
   const size_t front_seg_idx_for_fix = trajectory_utils::findEgoSegmentIndex(
-    points_for_fix, tier4_autoware_utils::getPose(points.front()), ego_nearest_param);
+    points_for_fix, autoware_universe_utils::getPose(points.front()), ego_nearest_param);
   const size_t front_point_idx_for_fix = front_seg_idx_for_fix;
   const auto & front_fix_point = points_for_fix.at(front_point_idx_for_fix);
 
@@ -166,7 +166,7 @@ std::optional<size_t> updateFrontPointForFix(
     return std::nullopt;
   }
 
-  const double dist = tier4_autoware_utils::calcDistance2d(points.front(), front_fix_point);
+  const double dist = autoware_universe_utils::calcDistance2d(points.front(), front_fix_point);
 
   // check if deviation is not too large
   constexpr double max_lat_error = 3.0;
diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml
index a48e6c0b836bc..48fc6ae8d4b1f 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/package.xml
+++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml
@@ -17,6 +17,7 @@
   <depend>autoware_frenet_planner</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>interpolation</depend>
@@ -26,7 +27,6 @@
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
diff --git a/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp b/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp
index 2b8a1bd115856..5e59cd977b655 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp
+++ b/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp
@@ -144,7 +144,7 @@ PathSampler::PathSampler(const rclcpp::NodeOptions & node_options)
 rcl_interfaces::msg::SetParametersResult PathSampler::onParam(
   const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
 
   updateParam(parameters, "constraints.hard.max_curvature", params_.constraints.hard.max_curvature);
   updateParam(parameters, "constraints.hard.min_curvature", params_.constraints.hard.min_curvature);
@@ -317,14 +317,14 @@ void PathSampler::copyZ(
   to_traj.front().pose.position.z = from_traj.front().pose.position.z;
   if (from_traj.size() < 2 || to_traj.size() < 2) return;
   auto from = from_traj.begin() + 1;
-  auto s_from = tier4_autoware_utils::calcDistance2d(from->pose, std::next(from)->pose);
+  auto s_from = autoware_universe_utils::calcDistance2d(from->pose, std::next(from)->pose);
   auto s_to = 0.0;
   auto s_from_prev = 0.0;
   for (auto to = to_traj.begin() + 1; to + 1 != to_traj.end(); ++to) {
-    s_to += tier4_autoware_utils::calcDistance2d(std::prev(to)->pose, to->pose);
+    s_to += autoware_universe_utils::calcDistance2d(std::prev(to)->pose, to->pose);
     for (; s_from < s_to && from + 1 != from_traj.end(); ++from) {
       s_from_prev = s_from;
-      s_from += tier4_autoware_utils::calcDistance2d(from->pose, std::next(from)->pose);
+      s_from += autoware_universe_utils::calcDistance2d(from->pose, std::next(from)->pose);
     }
     const auto ratio = (s_to - s_from_prev) / (s_from - s_from_prev);
     to->pose.position.z = std::prev(from)->pose.position.z +
@@ -340,8 +340,8 @@ void PathSampler::copyVelocity(
   if (to_traj.empty() || from_traj.empty()) return;
 
   const auto closest_fn = [&](const auto & p1, const auto & p2) {
-    return tier4_autoware_utils::calcDistance2d(p1.pose, ego_pose) <=
-           tier4_autoware_utils::calcDistance2d(p2.pose, ego_pose);
+    return autoware_universe_utils::calcDistance2d(p1.pose, ego_pose) <=
+           autoware_universe_utils::calcDistance2d(p2.pose, ego_pose);
   };
   const auto first_from = std::min_element(from_traj.begin(), from_traj.end() - 1, closest_fn);
   const auto first_to = std::min_element(to_traj.begin(), to_traj.end() - 1, closest_fn);
@@ -351,14 +351,14 @@ void PathSampler::copyVelocity(
     to->longitudinal_velocity_mps = first_from->longitudinal_velocity_mps;
 
   auto from = first_from;
-  auto s_from = tier4_autoware_utils::calcDistance2d(from->pose, std::next(from)->pose);
+  auto s_from = autoware_universe_utils::calcDistance2d(from->pose, std::next(from)->pose);
   auto s_to = 0.0;
   auto s_from_prev = 0.0;
   for (; to + 1 != to_traj.end(); ++to) {
-    s_to += tier4_autoware_utils::calcDistance2d(to->pose, std::next(to)->pose);
+    s_to += autoware_universe_utils::calcDistance2d(to->pose, std::next(to)->pose);
     for (; s_from < s_to && from + 1 != from_traj.end(); ++from) {
       s_from_prev = s_from;
-      s_from += tier4_autoware_utils::calcDistance2d(from->pose, std::next(from)->pose);
+      s_from += autoware_universe_utils::calcDistance2d(from->pose, std::next(from)->pose);
     }
     if (
       from->longitudinal_velocity_mps == 0.0 || std::prev(from)->longitudinal_velocity_mps == 0.0) {
diff --git a/planning/sampling_based_planner/autoware_path_sampler/src/prepare_inputs.cpp b/planning/sampling_based_planner/autoware_path_sampler/src/prepare_inputs.cpp
index 64a09087666ff..4d6f2dbd1e008 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/src/prepare_inputs.cpp
+++ b/planning/sampling_based_planner/autoware_path_sampler/src/prepare_inputs.cpp
@@ -14,11 +14,11 @@
 
 #include "autoware_path_sampler/prepare_inputs.hpp"
 
+#include "autoware/universe_utils/geometry/boost_polygon_utils.hpp"
 #include "autoware_frenet_planner/structures.hpp"
 #include "autoware_path_sampler/utils/geometry_utils.hpp"
 #include "autoware_sampler_common/structures.hpp"
 #include "autoware_sampler_common/transform/spline_transform.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
 #include <eigen3/unsupported/Eigen/Splines>
 
@@ -40,7 +40,7 @@ void prepareConstraints(
   constraints.obstacle_polygons = autoware::sampler_common::MultiPolygon2d();
   for (const auto & o : predicted_objects.objects)
     if (o.kinematics.initial_twist_with_covariance.twist.linear.x < 0.5)  // TODO(Maxime): param
-      constraints.obstacle_polygons.push_back(tier4_autoware_utils::toPolygon2d(o));
+      constraints.obstacle_polygons.push_back(autoware_universe_utils::toPolygon2d(o));
   constraints.dynamic_obstacles = {};  // TODO(Maxime): not implemented
 
   // TODO(Maxime): directly use lines instead of polygon
diff --git a/planning/sampling_based_planner/autoware_path_sampler/src/utils/trajectory_utils.cpp b/planning/sampling_based_planner/autoware_path_sampler/src/utils/trajectory_utils.cpp
index d161d60bc724d..e5d90521eb948 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/src/utils/trajectory_utils.cpp
+++ b/planning/sampling_based_planner/autoware_path_sampler/src/utils/trajectory_utils.cpp
@@ -47,11 +47,11 @@ void compensateLastPose(
   const geometry_msgs::msg::Pose last_traj_pose = traj_points.back().pose;
 
   const double dist =
-    tier4_autoware_utils::calcDistance2d(last_path_point.pose.position, last_traj_pose.position);
+    autoware_universe_utils::calcDistance2d(last_path_point.pose.position, last_traj_pose.position);
   const double norm_diff_yaw = [&]() {
     const double diff_yaw =
       tf2::getYaw(last_path_point.pose.orientation) - tf2::getYaw(last_traj_pose.orientation);
-    return tier4_autoware_utils::normalizeRadian(diff_yaw);
+    return autoware_universe_utils::normalizeRadian(diff_yaw);
   }();
   if (dist > delta_dist_threshold || std::fabs(norm_diff_yaw) > delta_yaw_threshold) {
     traj_points.push_back(convertToTrajectoryPoint(last_path_point));
diff --git a/planning/sampling_based_planner/autoware_sampler_common/include/autoware_sampler_common/structures.hpp b/planning/sampling_based_planner/autoware_sampler_common/include/autoware_sampler_common/structures.hpp
index a3ba25b6594e9..de58b02a75623 100644
--- a/planning/sampling_based_planner/autoware_sampler_common/include/autoware_sampler_common/structures.hpp
+++ b/planning/sampling_based_planner/autoware_sampler_common/include/autoware_sampler_common/structures.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE_SAMPLER_COMMON__STRUCTURES_HPP_
 #define AUTOWARE_SAMPLER_COMMON__STRUCTURES_HPP_
 
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
 
 #include <eigen3/Eigen/Core>
 #include <interpolation/linear_interpolation.hpp>
@@ -38,13 +38,13 @@
 
 namespace autoware::sampler_common
 {
-using tier4_autoware_utils::LinearRing2d;
-using tier4_autoware_utils::MultiPoint2d;
-using tier4_autoware_utils::MultiPolygon2d;
-using tier4_autoware_utils::Point2d;
-using tier4_autoware_utils::Polygon2d;
+using autoware_universe_utils::LinearRing2d;
+using autoware_universe_utils::MultiPoint2d;
+using autoware_universe_utils::MultiPolygon2d;
+using autoware_universe_utils::Point2d;
+using autoware_universe_utils::Polygon2d;
 
-typedef std::pair<tier4_autoware_utils::Box2d, size_t> BoxIndexPair;
+typedef std::pair<autoware_universe_utils::Box2d, size_t> BoxIndexPair;
 typedef boost::geometry::index::rtree<BoxIndexPair, boost::geometry::index::rstar<16, 4>> Rtree;
 
 /// @brief data about constraint check results of a given path
diff --git a/sensing/image_diagnostics/package.xml b/sensing/image_diagnostics/package.xml
index ceb1283b115a5..00d2751b86aa1 100644
--- a/sensing/image_diagnostics/package.xml
+++ b/sensing/image_diagnostics/package.xml
@@ -12,13 +12,13 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>cv_bridge</depend>
   <depend>diagnostic_updater</depend>
   <depend>image_transport</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/sensing/imu_corrector/package.xml b/sensing/imu_corrector/package.xml
index 3dff79bbf9f7f..cbc28e2ff0eeb 100644
--- a/sensing/imu_corrector/package.xml
+++ b/sensing/imu_corrector/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_updater</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
@@ -20,7 +21,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
diff --git a/sensing/imu_corrector/src/gyro_bias_estimation_module.cpp b/sensing/imu_corrector/src/gyro_bias_estimation_module.cpp
index 9b5719de69524..cdad454452f5c 100644
--- a/sensing/imu_corrector/src/gyro_bias_estimation_module.cpp
+++ b/sensing/imu_corrector/src/gyro_bias_estimation_module.cpp
@@ -14,7 +14,7 @@
 
 #include "gyro_bias_estimation_module.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -52,15 +52,15 @@ geometry_msgs::msg::Vector3 calculate_error_rpy(
   const geometry_msgs::msg::Vector3 & gyro_bias)
 {
   const geometry_msgs::msg::Vector3 rpy_0 =
-    tier4_autoware_utils::getRPY(pose_list.front().pose.orientation);
+    autoware_universe_utils::getRPY(pose_list.front().pose.orientation);
   const geometry_msgs::msg::Vector3 rpy_1 =
-    tier4_autoware_utils::getRPY(pose_list.back().pose.orientation);
+    autoware_universe_utils::getRPY(pose_list.back().pose.orientation);
   const geometry_msgs::msg::Vector3 d_rpy = integrate_orientation(gyro_list, gyro_bias);
 
   geometry_msgs::msg::Vector3 error_rpy;
-  error_rpy.x = tier4_autoware_utils::normalizeRadian(-rpy_1.x + rpy_0.x + d_rpy.x);
-  error_rpy.y = tier4_autoware_utils::normalizeRadian(-rpy_1.y + rpy_0.y + d_rpy.y);
-  error_rpy.z = tier4_autoware_utils::normalizeRadian(-rpy_1.z + rpy_0.z + d_rpy.z);
+  error_rpy.x = autoware_universe_utils::normalizeRadian(-rpy_1.x + rpy_0.x + d_rpy.x);
+  error_rpy.y = autoware_universe_utils::normalizeRadian(-rpy_1.y + rpy_0.y + d_rpy.y);
+  error_rpy.z = autoware_universe_utils::normalizeRadian(-rpy_1.z + rpy_0.z + d_rpy.z);
   return error_rpy;
 }
 
diff --git a/sensing/imu_corrector/src/gyro_bias_estimator.cpp b/sensing/imu_corrector/src/gyro_bias_estimator.cpp
index d79626f66801b..6ec5c9f64a623 100644
--- a/sensing/imu_corrector/src/gyro_bias_estimator.cpp
+++ b/sensing/imu_corrector/src/gyro_bias_estimator.cpp
@@ -14,7 +14,7 @@
 
 #include "gyro_bias_estimator.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
@@ -59,7 +59,7 @@ GyroBiasEstimator::GyroBiasEstimator(const rclcpp::NodeOptions & options)
     this->get_node_base_interface()->get_context());
   this->get_node_timers_interface()->add_timer(timer_, nullptr);
 
-  transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
+  transform_listener_ = std::make_shared<autoware_universe_utils::TransformListener>(this);
 
   // initialize diagnostics_info_
   {
@@ -150,10 +150,10 @@ void GyroBiasEstimator::timer_callback()
 
   // Check if the vehicle is moving straight
   const geometry_msgs::msg::Vector3 rpy_0 =
-    tier4_autoware_utils::getRPY(pose_buf.front().pose.orientation);
+    autoware_universe_utils::getRPY(pose_buf.front().pose.orientation);
   const geometry_msgs::msg::Vector3 rpy_1 =
-    tier4_autoware_utils::getRPY(pose_buf.back().pose.orientation);
-  const double yaw_diff = std::abs(tier4_autoware_utils::normalizeRadian(rpy_1.z - rpy_0.z));
+    autoware_universe_utils::getRPY(pose_buf.back().pose.orientation);
+  const double yaw_diff = std::abs(autoware_universe_utils::normalizeRadian(rpy_1.z - rpy_0.z));
   const double time_diff = (t1_rclcpp_time - t0_rclcpp_time).seconds();
   const double yaw_vel = yaw_diff / time_diff;
   const bool is_straight = (yaw_vel < straight_motion_ang_vel_upper_limit_);
diff --git a/sensing/imu_corrector/src/gyro_bias_estimator.hpp b/sensing/imu_corrector/src/gyro_bias_estimator.hpp
index 671c18de78f86..7f8d5e9084ce6 100644
--- a/sensing/imu_corrector/src/gyro_bias_estimator.hpp
+++ b/sensing/imu_corrector/src/gyro_bias_estimator.hpp
@@ -14,8 +14,8 @@
 #ifndef GYRO_BIAS_ESTIMATOR_HPP_
 #define GYRO_BIAS_ESTIMATOR_HPP_
 
+#include "autoware/universe_utils/ros/transform_listener.hpp"
 #include "gyro_bias_estimation_module.hpp"
-#include "tier4_autoware_utils/ros/transform_listener.hpp"
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -76,7 +76,7 @@ class GyroBiasEstimator : public rclcpp::Node
 
   std::optional<Vector3> gyro_bias_;
 
-  std::shared_ptr<tier4_autoware_utils::TransformListener> transform_listener_;
+  std::shared_ptr<autoware_universe_utils::TransformListener> transform_listener_;
 
   std::string imu_frame_;
 
diff --git a/sensing/imu_corrector/src/imu_corrector_core.cpp b/sensing/imu_corrector/src/imu_corrector_core.cpp
index c8e7698cb4e37..cc4efe1ba2f22 100644
--- a/sensing/imu_corrector/src/imu_corrector_core.cpp
+++ b/sensing/imu_corrector/src/imu_corrector_core.cpp
@@ -25,7 +25,7 @@
 
 std::array<double, 9> transformCovariance(const std::array<double, 9> & cov)
 {
-  using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX;
+  using COV_IDX = autoware_universe_utils::xyz_covariance_index::XYZ_COV_IDX;
 
   double max_cov = 0.0;
   max_cov = std::max(max_cov, cov[COV_IDX::X_X]);
@@ -57,7 +57,7 @@ ImuCorrector::ImuCorrector(const rclcpp::NodeOptions & options)
 : rclcpp::Node("imu_corrector", options),
   output_frame_(declare_parameter<std::string>("base_link", "base_link"))
 {
-  transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
+  transform_listener_ = std::make_shared<autoware_universe_utils::TransformListener>(this);
 
   angular_velocity_offset_x_imu_link_ = declare_parameter<double>("angular_velocity_offset_x", 0.0);
   angular_velocity_offset_y_imu_link_ = declare_parameter<double>("angular_velocity_offset_y", 0.0);
diff --git a/sensing/imu_corrector/src/imu_corrector_core.hpp b/sensing/imu_corrector/src/imu_corrector_core.hpp
index 4d5377274ae78..45f7b4e6142b2 100644
--- a/sensing/imu_corrector/src/imu_corrector_core.hpp
+++ b/sensing/imu_corrector/src/imu_corrector_core.hpp
@@ -14,8 +14,8 @@
 #ifndef IMU_CORRECTOR_CORE_HPP_
 #define IMU_CORRECTOR_CORE_HPP_
 
-#include "tier4_autoware_utils/ros/msg_covariance.hpp"
-#include "tier4_autoware_utils/ros/transform_listener.hpp"
+#include "autoware/universe_utils/ros/msg_covariance.hpp"
+#include "autoware/universe_utils/ros/transform_listener.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -31,7 +31,7 @@ namespace imu_corrector
 {
 class ImuCorrector : public rclcpp::Node
 {
-  using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX;
+  using COV_IDX = autoware_universe_utils::xyz_covariance_index::XYZ_COV_IDX;
 
 public:
   explicit ImuCorrector(const rclcpp::NodeOptions & options);
@@ -53,7 +53,7 @@ class ImuCorrector : public rclcpp::Node
 
   double accel_stddev_imu_link_;
 
-  std::shared_ptr<tier4_autoware_utils::TransformListener> transform_listener_;
+  std::shared_ptr<autoware_universe_utils::TransformListener> transform_listener_;
 
   std::string output_frame_;
 };
diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt
index ecb84c8a7f3b3..df62f538e9964 100644
--- a/sensing/pointcloud_preprocessor/CMakeLists.txt
+++ b/sensing/pointcloud_preprocessor/CMakeLists.txt
@@ -37,7 +37,7 @@ ament_target_dependencies(pointcloud_preprocessor_filter_base
   rclcpp
   sensor_msgs
   tf2_ros
-  tier4_autoware_utils
+  autoware_universe_utils
   pcl_ros
 )
 
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp
index 84b056bec37b7..22fbbd09bd8fc 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp
@@ -63,10 +63,10 @@
 // ROS includes
 #include "autoware_point_types/types.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
@@ -185,8 +185,8 @@ class PointCloudConcatenateDataSynchronizerComponent : public rclcpp::Node
     const std::string & original_topic_name, const std::string & postfix);
 
   /** \brief processing time publisher. **/
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_;
 };
 
 }  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp
index 4e183a9816c2e..bd67759d3d7a6 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp
@@ -63,10 +63,10 @@
 // ROS includes
 #include "autoware_point_types/types.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <autoware_vehicle_msgs/msg/velocity_report.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
@@ -172,8 +172,8 @@ class PointCloudConcatenationComponent : public rclcpp::Node
   void checkConcatStatus(diagnostic_updater::DiagnosticStatusWrapper & stat);
 
   /** \brief processing time publisher. **/
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_;
 };
 
 }  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp
index 618957a2ac783..4b018f22aa60a 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp
@@ -36,8 +36,8 @@
 #include <tf2_ros/transform_listener.h>
 
 // Include tier4 autoware utils
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 
 #include <deque>
 #include <memory>
@@ -69,8 +69,8 @@ class DistortionCorrectorComponent : public rclcpp::Node
   rclcpp::Subscription<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr twist_sub_;
   rclcpp::Publisher<PointCloud2>::SharedPtr undistorted_points_pub_;
 
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_;
 
   tf2_ros::Buffer tf2_buffer_{get_clock()};
   tf2_ros::TransformListener tf2_listener_{tf2_buffer_};
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp
index 1f23c975a88af..23deceaf29c21 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/filter.hpp
@@ -80,9 +80,9 @@
 #include <tf2_ros/transform_listener.h>
 
 // Include tier4 autoware utils
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/ros/published_time_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 
 namespace pointcloud_preprocessor
 {
@@ -177,9 +177,9 @@ class Filter : public rclcpp::Node
   std::mutex mutex_;
 
   /** \brief processing time publisher. **/
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
-  std::unique_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<autoware_universe_utils::PublishedTimePublisher> published_time_publisher_;
 
   /** \brief Virtual abstract filter method. To be implemented by every child.
    * \param input the input point cloud dataset.
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp
index 9330b1e998b5b..c89c97269fd2e 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp
@@ -63,10 +63,10 @@
 // ROS includes
 #include "autoware_point_types/types.hpp"
 
+#include <autoware/universe_utils/ros/debug_publisher.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <point_cloud_msg_wrapper/point_cloud_msg_wrapper.hpp>
-#include <tier4_autoware_utils/ros/debug_publisher.hpp>
-#include <tier4_autoware_utils/system/stop_watch.hpp>
 
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
@@ -182,8 +182,8 @@ class PointCloudDataSynchronizerComponent : public rclcpp::Node
     const std::string & original_topic_name, const std::string & postfix);
 
   /** \brief processing time publisher. **/
-  std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
-  std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
+  std::unique_ptr<autoware_universe_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
+  std::unique_ptr<autoware_universe_utils::DebugPublisher> debug_publisher_;
 };
 
 }  // namespace pointcloud_preprocessor
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp
index 42078922d39b9..b3ab34da2726f 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp
@@ -15,10 +15,10 @@
 #ifndef POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_
 #define POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
 #include <rclcpp/rclcpp.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
@@ -40,9 +40,9 @@
 #include <string>
 #include <vector>
 
-using tier4_autoware_utils::LinearRing2d;
-using tier4_autoware_utils::MultiPoint2d;
-using tier4_autoware_utils::Point2d;
+using autoware_universe_utils::LinearRing2d;
+using autoware_universe_utils::MultiPoint2d;
+using autoware_universe_utils::Point2d;
 
 namespace pointcloud_preprocessor
 {
diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp
index 760ffbe1eb1dd..cd34c63b50de7 100644
--- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp
+++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp
@@ -18,15 +18,15 @@
 #include "pointcloud_preprocessor/filter.hpp"
 #include "pointcloud_preprocessor/utility/utilities.hpp"
 
+#include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
-#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <lanelet2_core/geometry/Polygon.h>
 
 #include <string>
 
-using tier4_autoware_utils::MultiPoint2d;
+using autoware_universe_utils::MultiPoint2d;
 
 namespace pointcloud_preprocessor
 {
diff --git a/sensing/pointcloud_preprocessor/package.xml b/sensing/pointcloud_preprocessor/package.xml
index 619bf3180591d..a669e94ee8aae 100644
--- a/sensing/pointcloud_preprocessor/package.xml
+++ b/sensing/pointcloud_preprocessor/package.xml
@@ -25,6 +25,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_point_types</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>cgal</depend>
   <depend>cv_bridge</depend>
   <depend>diagnostic_updater</depend>
@@ -46,7 +47,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_pcl_extensions</depend>
 
diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
index 402ceb65f6594..bd96ef9d215bd 100644
--- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp
@@ -75,8 +75,8 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro
 {
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ = std::make_unique<DebugPublisher>(this, "concatenate_data_synchronizer");
     stop_watch_ptr_->tic("cyclic_time");
diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp
index 46c9e681c3de2..d442a91a91c5a 100644
--- a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp
+++ b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp
@@ -37,8 +37,8 @@ PointCloudConcatenationComponent::PointCloudConcatenationComponent(
 {
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ = std::make_unique<DebugPublisher>(this, "concatenate_pointclouds_debug");
     stop_watch_ptr_->tic("cyclic_time");
diff --git a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp
index cfbeffee9982c..79632b7a4111c 100644
--- a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp
@@ -62,8 +62,8 @@ CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & optio
 {
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ = std::make_unique<DebugPublisher>(this, this->get_name());
     stop_watch_ptr_->tic("cyclic_time");
diff --git a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp
index b90a64dc47c91..7b9ed5f30a3d8 100644
--- a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp
+++ b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp
@@ -14,7 +14,7 @@
 
 #include "pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp"
 
-#include "tier4_autoware_utils/math/trigonometry.hpp"
+#include "autoware/universe_utils/math/trigonometry.hpp"
 
 #include <deque>
 #include <string>
@@ -28,8 +28,8 @@ DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOpt
 {
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ = std::make_unique<DebugPublisher>(this, "distortion_corrector");
     stop_watch_ptr_->tic("cyclic_time");
@@ -290,11 +290,11 @@ bool DistortionCorrectorComponent::undistortPointCloud(
 
     theta += w * time_offset;
     baselink_quat.setValue(
-      0, 0, tier4_autoware_utils::sin(theta * 0.5f),
-      tier4_autoware_utils::cos(theta * 0.5f));  // baselink_quat.setRPY(0.0, 0.0, theta);
+      0, 0, autoware_universe_utils::sin(theta * 0.5f),
+      autoware_universe_utils::cos(theta * 0.5f));  // baselink_quat.setRPY(0.0, 0.0, theta);
     const float dis = v * time_offset;
-    x += dis * tier4_autoware_utils::cos(theta);
-    y += dis * tier4_autoware_utils::sin(theta);
+    x += dis * autoware_universe_utils::cos(theta);
+    y += dis * autoware_universe_utils::sin(theta);
 
     baselink_tf_odom.setOrigin(tf2::Vector3(x, y, 0.0));
     baselink_tf_odom.setRotation(baselink_quat);
diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp
index 6393a935562ac..2114810b8934c 100644
--- a/sensing/pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp
+++ b/sensing/pointcloud_preprocessor/src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp
@@ -57,8 +57,8 @@ PickupBasedVoxelGridDownsampleFilterComponent::PickupBasedVoxelGridDownsampleFil
 {
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ = std::make_unique<DebugPublisher>(this, this->get_name());
     stop_watch_ptr_->tic("cyclic_time");
diff --git a/sensing/pointcloud_preprocessor/src/filter.cpp b/sensing/pointcloud_preprocessor/src/filter.cpp
index 5584fd65c9acb..d289aa9c95ea1 100644
--- a/sensing/pointcloud_preprocessor/src/filter.cpp
+++ b/sensing/pointcloud_preprocessor/src/filter.cpp
@@ -102,7 +102,8 @@ pointcloud_preprocessor::Filter::Filter(
   set_param_res_filter_ = this->add_on_set_parameters_callback(
     std::bind(&Filter::filterParamCallback, this, std::placeholders::_1));
 
-  published_time_publisher_ = std::make_unique<tier4_autoware_utils::PublishedTimePublisher>(this);
+  published_time_publisher_ =
+    std::make_unique<autoware_universe_utils::PublishedTimePublisher>(this);
   RCLCPP_DEBUG(this->get_logger(), "[Filter Constructor] successfully created.");
 }
 
diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp
index ada7d2616ed38..975c04c9089d6 100644
--- a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp
@@ -29,8 +29,8 @@ RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions
 {
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ = std::make_unique<DebugPublisher>(this, "ring_outlier_filter");
     outlier_pointcloud_publisher_ =
diff --git a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp
index 12b034043894e..42a1ef68d0f68 100644
--- a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp
+++ b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp
@@ -46,8 +46,8 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent(
 {
   // initialize debug tool
   {
-    using tier4_autoware_utils::DebugPublisher;
-    using tier4_autoware_utils::StopWatch;
+    using autoware_universe_utils::DebugPublisher;
+    using autoware_universe_utils::StopWatch;
     stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
     debug_publisher_ = std::make_unique<DebugPublisher>(this, "time_synchronizer");
     stop_watch_ptr_->tic("cyclic_time");
diff --git a/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp b/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp
index 6b4e90a697cd6..d35aca8decc28 100644
--- a/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp
+++ b/sensing/pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp
@@ -16,7 +16,7 @@
 
 namespace
 {
-tier4_autoware_utils::Box2d calcBoundingBox(
+autoware_universe_utils::Box2d calcBoundingBox(
   const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & input_cloud)
 {
   MultiPoint2d candidate_points;
@@ -24,11 +24,11 @@ tier4_autoware_utils::Box2d calcBoundingBox(
     candidate_points.emplace_back(p.x, p.y);
   }
 
-  return boost::geometry::return_envelope<tier4_autoware_utils::Box2d>(candidate_points);
+  return boost::geometry::return_envelope<autoware_universe_utils::Box2d>(candidate_points);
 }
 
 lanelet::ConstPolygons3d calcIntersectedPolygons(
-  const tier4_autoware_utils::Box2d & bounding_box, const lanelet::ConstPolygons3d & polygons)
+  const autoware_universe_utils::Box2d & bounding_box, const lanelet::ConstPolygons3d & polygons)
 {
   lanelet::ConstPolygons3d intersected_polygons;
   for (const auto & polygon : polygons) {
diff --git a/sensing/radar_static_pointcloud_filter/include/radar_static_pointcloud_filter/radar_static_pointcloud_filter_node.hpp b/sensing/radar_static_pointcloud_filter/include/radar_static_pointcloud_filter/radar_static_pointcloud_filter_node.hpp
index f1ab9344d58f3..ee9acbddf93b1 100644
--- a/sensing/radar_static_pointcloud_filter/include/radar_static_pointcloud_filter/radar_static_pointcloud_filter_node.hpp
+++ b/sensing/radar_static_pointcloud_filter/include/radar_static_pointcloud_filter/radar_static_pointcloud_filter_node.hpp
@@ -15,7 +15,7 @@
 #ifndef RADAR_STATIC_POINTCLOUD_FILTER__RADAR_STATIC_POINTCLOUD_FILTER_NODE_HPP_
 #define RADAR_STATIC_POINTCLOUD_FILTER__RADAR_STATIC_POINTCLOUD_FILTER_NODE_HPP_
 
-#include "tier4_autoware_utils/ros/transform_listener.hpp"
+#include "autoware/universe_utils/ros/transform_listener.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -51,7 +51,7 @@ class RadarStaticPointcloudFilterNode : public rclcpp::Node
   // Subscriber
   message_filters::Subscriber<RadarScan> sub_radar_{};
   message_filters::Subscriber<Odometry> sub_odometry_{};
-  std::shared_ptr<tier4_autoware_utils::TransformListener> transform_listener_;
+  std::shared_ptr<autoware_universe_utils::TransformListener> transform_listener_;
 
   using SyncPolicy = message_filters::sync_policies::ApproximateTime<RadarScan, Odometry>;
   using Sync = message_filters::Synchronizer<SyncPolicy>;
diff --git a/sensing/radar_static_pointcloud_filter/package.xml b/sensing/radar_static_pointcloud_filter/package.xml
index 05453ee9cb9e0..b1063562b1708 100644
--- a/sensing/radar_static_pointcloud_filter/package.xml
+++ b/sensing/radar_static_pointcloud_filter/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>message_filters</depend>
   <depend>nav_msgs</depend>
   <depend>radar_msgs</depend>
@@ -22,7 +23,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_clang_format</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node/radar_static_pointcloud_filter_node.cpp b/sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node/radar_static_pointcloud_filter_node.cpp
index 0eda1eae627e7..e148ed275af30 100644
--- a/sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node/radar_static_pointcloud_filter_node.cpp
+++ b/sensing/radar_static_pointcloud_filter/src/radar_static_pointcloud_filter_node/radar_static_pointcloud_filter_node.cpp
@@ -96,7 +96,7 @@ RadarStaticPointcloudFilterNode::RadarStaticPointcloudFilterNode(
   node_param_.doppler_velocity_sd = declare_parameter<double>("doppler_velocity_sd");
 
   // Subscriber
-  transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
+  transform_listener_ = std::make_shared<autoware_universe_utils::TransformListener>(this);
 
   sub_radar_.subscribe(this, "~/input/radar", rclcpp::QoS{1}.get_rmw_qos_profile());
   sub_odometry_.subscribe(this, "~/input/odometry", rclcpp::QoS{1}.get_rmw_qos_profile());
diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml
index 4704024214d9e..caeb01c6823e5 100644
--- a/simulator/dummy_perception_publisher/package.xml
+++ b/simulator/dummy_perception_publisher/package.xml
@@ -19,6 +19,7 @@
   <test_depend>autoware_lint_common</test_depend>
 
   <depend>autoware_perception_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>
@@ -28,7 +29,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_perception_msgs</depend>
   <depend>unique_identifier_msgs</depend>
 
diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp
index 9c58961978161..184bef8c96820 100644
--- a/simulator/dummy_perception_publisher/src/node.cpp
+++ b/simulator/dummy_perception_publisher/src/node.cpp
@@ -14,7 +14,7 @@
 
 #include "dummy_perception_publisher/node.hpp"
 
-#include "tier4_autoware_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/geometry/geometry.hpp"
 
 #include <pcl/filters/voxel_grid_occlusion_estimation.h>
 #include <tf2/LinearMath/Quaternion.h>
@@ -93,7 +93,7 @@ ObjectInfo::ObjectInfo(
   }
 
   const auto current_pose =
-    tier4_autoware_utils::calcOffsetPose(initial_pose, move_distance, 0.0, 0.0);
+    autoware_universe_utils::calcOffsetPose(initial_pose, move_distance, 0.0, 0.0);
 
   // calculate tf from map to moved_object
   geometry_msgs::msg::Transform ros_map2moved_object;
diff --git a/simulator/fault_injection/package.xml b/simulator/fault_injection/package.xml
index e169a338b4e52..57d1fa3401f41 100644
--- a/simulator/fault_injection/package.xml
+++ b/simulator/fault_injection/package.xml
@@ -10,13 +10,13 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_aggregator</depend>
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_simulation_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
diff --git a/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp b/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp
index 7b8f87400beab..467054dcda8fe 100644
--- a/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp
+++ b/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp
@@ -14,7 +14,7 @@
 
 #include "fault_injection/fault_injection_node.hpp"
 
-#include <tier4_autoware_utils/ros/update_param.hpp>
+#include <autoware/universe_utils/ros/update_param.hpp>
 
 #include <memory>
 #include <string>
diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml
index b820c5c6c3df0..95ac530eaf423 100644
--- a/simulator/simple_planning_simulator/package.xml
+++ b/simulator/simple_planning_simulator/package.xml
@@ -18,6 +18,7 @@
   <depend>autoware_control_msgs</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_planning_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
@@ -33,7 +34,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_api_utils</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_external_api_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>
   <build_depend>autoware_cmake</build_depend>
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
index c66a0c6f1f922..bcad2d03cac4b 100644
--- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
+++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
@@ -14,13 +14,13 @@
 
 #include "simple_planning_simulator/simple_planning_simulator_core.hpp"
 
+#include "autoware/universe_utils/geometry/geometry.hpp"
+#include "autoware/universe_utils/ros/msg_covariance.hpp"
+#include "autoware/universe_utils/ros/update_param.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 #include "simple_planning_simulator/vehicle_model/sim_model.hpp"
-#include "tier4_autoware_utils/geometry/geometry.hpp"
-#include "tier4_autoware_utils/ros/msg_covariance.hpp"
-#include "tier4_autoware_utils/ros/update_param.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
@@ -59,7 +59,7 @@ nav_msgs::msg::Odometry to_odometry(
   nav_msgs::msg::Odometry odometry;
   odometry.pose.pose.position.x = vehicle_model_ptr->getX();
   odometry.pose.pose.position.y = vehicle_model_ptr->getY();
-  odometry.pose.pose.orientation = tier4_autoware_utils::createQuaternionFromRPY(
+  odometry.pose.pose.orientation = autoware_universe_utils::createQuaternionFromRPY(
     0.0, ego_pitch_angle, vehicle_model_ptr->getYaw());
   odometry.twist.twist.linear.x = vehicle_model_ptr->getVx();
   odometry.twist.twist.angular.z = vehicle_model_ptr->getWz();
@@ -304,8 +304,8 @@ rcl_interfaces::msg::SetParametersResult SimplePlanningSimulator::on_parameter(
   result.reason = "success";
 
   try {
-    tier4_autoware_utils::updateParam(parameters, "x_stddev", x_stddev_);
-    tier4_autoware_utils::updateParam(parameters, "y_stddev", y_stddev_);
+    autoware_universe_utils::updateParam(parameters, "x_stddev", x_stddev_);
+    autoware_universe_utils::updateParam(parameters, "y_stddev", y_stddev_);
   } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) {
     result.successful = false;
     result.reason = e.what();
@@ -323,7 +323,7 @@ double SimplePlanningSimulator::calculate_ego_pitch() const
   geometry_msgs::msg::Pose ego_pose;
   ego_pose.position.x = ego_x;
   ego_pose.position.y = ego_y;
-  ego_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(ego_yaw);
+  ego_pose.orientation = autoware_universe_utils::createQuaternionFromYaw(ego_yaw);
 
   // calculate prev/next point of lanelet centerline nearest to ego pose.
   lanelet::Lanelet ego_lanelet;
@@ -398,7 +398,7 @@ void SimplePlanningSimulator::on_timer()
 
   // add estimate covariance
   {
-    using COV_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+    using COV_IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
     current_odometry_.pose.covariance[COV_IDX::X_X] = x_stddev_;
     current_odometry_.pose.covariance[COV_IDX::Y_Y] = y_stddev_;
   }
@@ -553,7 +553,7 @@ void SimplePlanningSimulator::add_measurement_noise(
   odom.twist.twist.linear.x += velocity_noise;
   double yaw = tf2::getYaw(odom.pose.pose.orientation);
   yaw += static_cast<float>((*n.rpy_dist_)(*n.rand_engine_));
-  odom.pose.pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw);
+  odom.pose.pose.orientation = autoware_universe_utils::createQuaternionFromYaw(yaw);
 
   vel.longitudinal_velocity += static_cast<double>(velocity_noise);
 
@@ -686,7 +686,7 @@ void SimplePlanningSimulator::publish_acceleration()
   msg.accel.accel.linear.x = vehicle_model_ptr_->getAx();
   msg.accel.accel.linear.y = vehicle_model_ptr_->getWz() * vehicle_model_ptr_->getVx();
 
-  using COV_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
+  using COV_IDX = autoware_universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX;
   constexpr auto COV = 0.001;
   msg.accel.covariance.at(COV_IDX::X_X) = COV;          // linear x
   msg.accel.covariance.at(COV_IDX::Y_Y) = COV;          // linear y
@@ -699,7 +699,7 @@ void SimplePlanningSimulator::publish_acceleration()
 
 void SimplePlanningSimulator::publish_imu()
 {
-  using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX;
+  using COV_IDX = autoware_universe_utils::xyz_covariance_index::XYZ_COV_IDX;
 
   sensor_msgs::msg::Imu imu;
   imu.header.frame_id = "base_link";
diff --git a/system/dummy_diag_publisher/package.xml b/system/dummy_diag_publisher/package.xml
index 64441ad338f2f..befe02ecb330e 100644
--- a/system/dummy_diag_publisher/package.xml
+++ b/system/dummy_diag_publisher/package.xml
@@ -11,11 +11,11 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_updater</depend>
   <depend>fmt</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <exec_depend>rqt_reconfigure</exec_depend>
   <exec_depend>rqt_robot_monitor</exec_depend>
diff --git a/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp b/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp
index 9abf325e62833..c20bcda5a6b70 100644
--- a/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp
+++ b/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp
@@ -17,10 +17,10 @@
 #include <rcl_interfaces/msg/detail/set_parameters_result__struct.hpp>
 
 #define FMT_HEADER_ONLY
+#include <autoware/universe_utils/ros/update_param.hpp>
 #include <diagnostic_updater/diagnostic_updater.hpp>
 #include <rcl_interfaces/msg/set_parameters_result.hpp>
 #include <rclcpp/create_timer.hpp>
-#include <tier4_autoware_utils/ros/update_param.hpp>
 
 #include <fmt/format.h>
 
@@ -66,8 +66,8 @@ rcl_interfaces::msg::SetParametersResult DummyDiagPublisher::paramCallback(
       auto prev_status_str = status_str;
       auto is_active = true;
       try {
-        tier4_autoware_utils::updateParam(parameters, status_prefix_str, status_str);
-        tier4_autoware_utils::updateParam(parameters, is_active_prefix_str, is_active);
+        autoware_universe_utils::updateParam(parameters, status_prefix_str, status_str);
+        autoware_universe_utils::updateParam(parameters, is_active_prefix_str, is_active);
       } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) {
         result.successful = false;
         result.reason = e.what();
diff --git a/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp b/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp
index cd66cde64c9a5..798da2374b62a 100644
--- a/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp
+++ b/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp
@@ -20,7 +20,7 @@
 #include <string>
 
 // Autoware
-#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <autoware_control_msgs/msg/control.hpp>
@@ -63,13 +63,14 @@ class EmergencyHandler : public rclcpp::Node
     sub_hazard_status_stamped_;
   rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_prev_control_command_;
   // Subscribers without callback
-  tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odom_{
+  autoware_universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odom_{
     this, "~/input/odometry"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<autoware_vehicle_msgs::msg::ControlModeReport>
+  autoware_universe_utils::InterProcessPollingSubscriber<
+    autoware_vehicle_msgs::msg::ControlModeReport>
     sub_control_mode_{this, "~/input/control_mode"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<tier4_system_msgs::msg::MrmBehaviorStatus>
+  autoware_universe_utils::InterProcessPollingSubscriber<tier4_system_msgs::msg::MrmBehaviorStatus>
     sub_mrm_comfortable_stop_status_{this, "~/input/mrm/comfortable_stop/status"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<tier4_system_msgs::msg::MrmBehaviorStatus>
+  autoware_universe_utils::InterProcessPollingSubscriber<tier4_system_msgs::msg::MrmBehaviorStatus>
     sub_mrm_emergency_stop_status_{this, "~/input/mrm/emergency_stop/status"};
 
   autoware_system_msgs::msg::HazardStatusStamped::ConstSharedPtr hazard_status_stamped_;
diff --git a/system/emergency_handler/package.xml b/system/emergency_handler/package.xml
index f26080fd8ef56..099e8a77d191e 100644
--- a/system/emergency_handler/package.xml
+++ b/system/emergency_handler/package.xml
@@ -15,13 +15,13 @@
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_system_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_system_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/system/mrm_emergency_stop_operator/package.xml b/system/mrm_emergency_stop_operator/package.xml
index 74ee8c7183741..44c80485d5b1b 100644
--- a/system/mrm_emergency_stop_operator/package.xml
+++ b/system/mrm_emergency_stop_operator/package.xml
@@ -13,11 +13,11 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_system_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp b/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp
index 589a2fd14d990..e6bac26677be5 100644
--- a/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp
+++ b/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp
@@ -14,7 +14,7 @@
 
 #include "mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp"
 
-#include <tier4_autoware_utils/ros/update_param.hpp>
+#include <autoware/universe_utils/ros/update_param.hpp>
 
 namespace mrm_emergency_stop_operator
 {
@@ -59,7 +59,7 @@ MrmEmergencyStopOperator::MrmEmergencyStopOperator(const rclcpp::NodeOptions & n
 rcl_interfaces::msg::SetParametersResult MrmEmergencyStopOperator::onParameter(
   const std::vector<rclcpp::Parameter> & parameters)
 {
-  using tier4_autoware_utils::updateParam;
+  using autoware_universe_utils::updateParam;
   updateParam<double>(parameters, "target_acceleration", params_.target_acceleration);
   updateParam<double>(parameters, "target_jerk", params_.target_jerk);
 
diff --git a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp
index 33d8af5004c47..feb01bfa22d3f 100644
--- a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp
+++ b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp
@@ -22,7 +22,7 @@
 #include <variant>
 
 // Autoware
-#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
+#include <autoware/universe_utils/ros/polling_subscriber.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
@@ -72,17 +72,18 @@ class MrmHandler : public rclcpp::Node
   rclcpp::Subscription<tier4_system_msgs::msg::OperationModeAvailability>::SharedPtr
     sub_operation_mode_availability_;
   // Subscribers without callback
-  tier4_autoware_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odom_{
+  autoware_universe_utils::InterProcessPollingSubscriber<nav_msgs::msg::Odometry> sub_odom_{
     this, "~/input/odometry"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<autoware_vehicle_msgs::msg::ControlModeReport>
+  autoware_universe_utils::InterProcessPollingSubscriber<
+    autoware_vehicle_msgs::msg::ControlModeReport>
     sub_control_mode_{this, "~/input/control_mode"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<tier4_system_msgs::msg::MrmBehaviorStatus>
+  autoware_universe_utils::InterProcessPollingSubscriber<tier4_system_msgs::msg::MrmBehaviorStatus>
     sub_mrm_pull_over_status_{this, "~/input/mrm/pull_over/status"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<tier4_system_msgs::msg::MrmBehaviorStatus>
+  autoware_universe_utils::InterProcessPollingSubscriber<tier4_system_msgs::msg::MrmBehaviorStatus>
     sub_mrm_comfortable_stop_status_{this, "~/input/mrm/comfortable_stop/status"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<tier4_system_msgs::msg::MrmBehaviorStatus>
+  autoware_universe_utils::InterProcessPollingSubscriber<tier4_system_msgs::msg::MrmBehaviorStatus>
     sub_mrm_emergency_stop_status_{this, "~/input/mrm/emergency_stop/status"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<
+  autoware_universe_utils::InterProcessPollingSubscriber<
     autoware_adapi_v1_msgs::msg::OperationModeState>
     sub_operation_mode_state_{this, "~/input/api/operation_mode/state"};
 
diff --git a/system/mrm_handler/package.xml b/system/mrm_handler/package.xml
index 5774cce3215a9..a2c3397296db3 100644
--- a/system/mrm_handler/package.xml
+++ b/system/mrm_handler/package.xml
@@ -15,13 +15,13 @@
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_system_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_system_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp b/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp
index 22f1f4e9012c7..8795d12718325 100644
--- a/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp
+++ b/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp
@@ -15,7 +15,7 @@
 #ifndef SYSTEM_ERROR_MONITOR__SYSTEM_ERROR_MONITOR_CORE_HPP_
 #define SYSTEM_ERROR_MONITOR__SYSTEM_ERROR_MONITOR_CORE_HPP_
 
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
 
 #include <rclcpp/create_timer.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -147,7 +147,7 @@ class AutowareErrorMonitor : public rclcpp::Node
 
   void loggingErrors(const autoware_system_msgs::msg::HazardStatus & diag_array);
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 };
 
 #endif  // SYSTEM_ERROR_MONITOR__SYSTEM_ERROR_MONITOR_CORE_HPP_
diff --git a/system/system_error_monitor/package.xml b/system/system_error_monitor/package.xml
index 0c8e2fc0241aa..2dda4e462b98b 100644
--- a/system/system_error_monitor/package.xml
+++ b/system/system_error_monitor/package.xml
@@ -11,13 +11,13 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_system_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_msgs</depend>
   <depend>fmt</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_srvs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_control_msgs</depend>
 
   <exec_depend>diagnostic_aggregator</exec_depend>
diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp
index ad67521298643..d00426137221f 100644
--- a/system/system_error_monitor/src/system_error_monitor_core.cpp
+++ b/system/system_error_monitor/src/system_error_monitor_core.cpp
@@ -265,7 +265,7 @@ AutowareErrorMonitor::AutowareErrorMonitor(const rclcpp::NodeOptions & options)
   timer_ = rclcpp::create_timer(
     this, get_clock(), period_ns, std::bind(&AutowareErrorMonitor::onTimer, this));
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
 }
 
 void AutowareErrorMonitor::loadRequiredModules(const std::string & key)
diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml
index bbb01b5437fbe..880c885721fbc 100644
--- a/system/system_monitor/package.xml
+++ b/system/system_monitor/package.xml
@@ -11,6 +11,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>diagnostic_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>fmt</depend>
@@ -22,7 +23,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_external_api_msgs</depend>
 
   <exec_depend>chrony</exec_depend>
diff --git a/system/system_monitor/src/ntp_monitor/ntp_monitor.cpp b/system/system_monitor/src/ntp_monitor/ntp_monitor.cpp
index 0b91b28b2b5f9..4cacfb5f9770f 100644
--- a/system/system_monitor/src/ntp_monitor/ntp_monitor.cpp
+++ b/system/system_monitor/src/ntp_monitor/ntp_monitor.cpp
@@ -19,7 +19,7 @@
 
 #include "system_monitor/ntp_monitor/ntp_monitor.hpp"
 
-#include <tier4_autoware_utils/system/stop_watch.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 
 #include <boost/filesystem.hpp>
 #include <boost/process.hpp>
@@ -126,7 +126,7 @@ void NTPMonitor::checkOffset(diagnostic_updater::DiagnosticStatusWrapper & stat)
 void NTPMonitor::onTimer()
 {
   // Start to measure elapsed time
-  tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch;
+  autoware_universe_utils::StopWatch<std::chrono::milliseconds> stop_watch;
   stop_watch.tic("execution_time");
 
   std::string error_str;
diff --git a/system/system_monitor/src/process_monitor/process_monitor.cpp b/system/system_monitor/src/process_monitor/process_monitor.cpp
index 1173431b0f7c2..55636c7893d5d 100644
--- a/system/system_monitor/src/process_monitor/process_monitor.cpp
+++ b/system/system_monitor/src/process_monitor/process_monitor.cpp
@@ -21,7 +21,7 @@
 
 #include "system_monitor/system_monitor_utility.hpp"
 
-#include <tier4_autoware_utils/system/stop_watch.hpp>
+#include <autoware/universe_utils/system/stop_watch.hpp>
 
 #include <fmt/format.h>
 
@@ -517,7 +517,7 @@ void ProcessMonitor::onTimer()
   bool is_top_error = false;
 
   // Start to measure elapsed time
-  tier4_autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch;
+  autoware_universe_utils::StopWatch<std::chrono::milliseconds> stop_watch;
   stop_watch.tic("execution_time");
 
   int out_fd[2];
diff --git a/tools/reaction_analyzer/include/utils.hpp b/tools/reaction_analyzer/include/utils.hpp
index 4a31da363deff..17e3786eff7fe 100644
--- a/tools/reaction_analyzer/include/utils.hpp
+++ b/tools/reaction_analyzer/include/utils.hpp
@@ -15,12 +15,12 @@
 #ifndef UTILS_HPP_
 #define UTILS_HPP_
 
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware/universe_utils/math/unit_conversion.hpp>
 #include <pcl/impl/point_types.hpp>
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rosbag2_storage/bag_metadata.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/math/unit_conversion.hpp>
 
 #include <autoware_control_msgs/msg/control.hpp>
 #include <autoware_internal_msgs/msg/published_time.hpp>
diff --git a/tools/reaction_analyzer/package.xml b/tools/reaction_analyzer/package.xml
index a5199aa78c9f8..7d5c8b61374d7 100644
--- a/tools/reaction_analyzer/package.xml
+++ b/tools/reaction_analyzer/package.xml
@@ -20,6 +20,7 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_system_msgs</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>eigen</depend>
   <depend>libpcl-all-dev</depend>
@@ -35,7 +36,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_index_python</test_depend>
diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp
index 53313f28eb4d9..79e64ba514bfe 100644
--- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp
+++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp
@@ -205,7 +205,7 @@ void ReactionAnalyzerNode::spawn_obstacle(const geometry_msgs::msg::Point & ego_
     }
   } else {
     if (
-      tier4_autoware_utils::calcDistance3d(ego_pose, entity_pose_.position) <
+      autoware_universe_utils::calcDistance3d(ego_pose, entity_pose_.position) <
       node_params_.spawn_distance_threshold) {
       if (!spawn_object_cmd_) {
         spawn_object_cmd_ = true;
@@ -394,8 +394,8 @@ bool ReactionAnalyzerNode::check_ego_init_correctly(
   }
 
   constexpr double deviation_threshold = 0.1;
-  const auto deviation =
-    tier4_autoware_utils::calcPoseDeviation(ground_truth_pose_ptr->pose, odometry_ptr->pose.pose);
+  const auto deviation = autoware_universe_utils::calcPoseDeviation(
+    ground_truth_pose_ptr->pose, odometry_ptr->pose.pose);
   const bool is_position_initialized_correctly = deviation.longitudinal < deviation_threshold &&
                                                  deviation.lateral < deviation_threshold &&
                                                  deviation.yaw < deviation_threshold;
diff --git a/tools/reaction_analyzer/src/utils.cpp b/tools/reaction_analyzer/src/utils.cpp
index 9f9198af7dc48..a07743417fa80 100644
--- a/tools/reaction_analyzer/src/utils.cpp
+++ b/tools/reaction_analyzer/src/utils.cpp
@@ -136,8 +136,8 @@ visualization_msgs::msg::Marker create_polyhedron_marker(const EntityParams & pa
 
   tf2::Quaternion quaternion;
   quaternion.setRPY(
-    tier4_autoware_utils::deg2rad(params.roll), tier4_autoware_utils::deg2rad(params.pitch),
-    tier4_autoware_utils::deg2rad(params.yaw));
+    autoware_universe_utils::deg2rad(params.roll), autoware_universe_utils::deg2rad(params.pitch),
+    autoware_universe_utils::deg2rad(params.yaw));
   marker.pose.orientation = tf2::toMsg(quaternion);
 
   marker.scale.x = 0.1;  // Line width
@@ -224,7 +224,7 @@ size_t get_index_after_distance(
   size_t target_id = curr_id;
   double current_distance = 0.0;
   for (size_t traj_id = curr_id + 1; traj_id < traj.points.size(); ++traj_id) {
-    current_distance = tier4_autoware_utils::calcDistance3d(traj.points.at(traj_id), curr_p);
+    current_distance = autoware_universe_utils::calcDistance3d(traj.points.at(traj_id), curr_p);
     if (current_distance >= distance) {
       break;
     }
@@ -286,9 +286,9 @@ geometry_msgs::msg::Pose create_entity_pose(const EntityParams & entity_params)
 
   tf2::Quaternion entity_q_orientation;
   entity_q_orientation.setRPY(
-    tier4_autoware_utils::deg2rad(entity_params.roll),
-    tier4_autoware_utils::deg2rad(entity_params.pitch),
-    tier4_autoware_utils::deg2rad(entity_params.yaw));
+    autoware_universe_utils::deg2rad(entity_params.roll),
+    autoware_universe_utils::deg2rad(entity_params.pitch),
+    autoware_universe_utils::deg2rad(entity_params.yaw));
   entity_pose.orientation = tf2::toMsg(entity_q_orientation);
   return entity_pose;
 }
@@ -302,9 +302,9 @@ geometry_msgs::msg::Pose pose_params_to_pose(const PoseParams & pose_params)
 
   tf2::Quaternion pose_q_orientation;
   pose_q_orientation.setRPY(
-    tier4_autoware_utils::deg2rad(pose_params.roll),
-    tier4_autoware_utils::deg2rad(pose_params.pitch),
-    tier4_autoware_utils::deg2rad(pose_params.yaw));
+    autoware_universe_utils::deg2rad(pose_params.roll),
+    autoware_universe_utils::deg2rad(pose_params.pitch),
+    autoware_universe_utils::deg2rad(pose_params.yaw));
   pose.orientation = tf2::toMsg(pose_q_orientation);
   return pose;
 }
@@ -316,9 +316,9 @@ PointCloud2::SharedPtr create_entity_pointcloud_ptr(
   tf2::Quaternion entity_q_orientation;
 
   entity_q_orientation.setRPY(
-    tier4_autoware_utils::deg2rad(entity_params.roll),
-    tier4_autoware_utils::deg2rad(entity_params.pitch),
-    tier4_autoware_utils::deg2rad(entity_params.yaw));
+    autoware_universe_utils::deg2rad(entity_params.roll),
+    autoware_universe_utils::deg2rad(entity_params.pitch),
+    autoware_universe_utils::deg2rad(entity_params.yaw));
   tf2::Transform tf(entity_q_orientation);
   const auto origin = tf2::Vector3(entity_params.x, entity_params.y, entity_params.z);
   tf.setOrigin(origin);
@@ -395,7 +395,7 @@ bool search_pointcloud_near_pose(
   return std::any_of(
     pcl_pointcloud.points.begin(), pcl_pointcloud.points.end(),
     [pose, search_radius](const auto & point) {
-      return tier4_autoware_utils::calcDistance3d(pose.position, point) <= search_radius;
+      return autoware_universe_utils::calcDistance3d(pose.position, point) <= search_radius;
     });
 }
 
@@ -406,7 +406,7 @@ bool search_predicted_objects_near_pose(
   return std::any_of(
     predicted_objects.objects.begin(), predicted_objects.objects.end(),
     [pose, search_radius](const PredictedObject & object) {
-      return tier4_autoware_utils::calcDistance3d(
+      return autoware_universe_utils::calcDistance3d(
                pose.position, object.kinematics.initial_pose_with_covariance.pose.position) <=
              search_radius;
     });
@@ -420,7 +420,7 @@ bool search_detected_objects_near_pose(
   return std::any_of(
     detected_objects.objects.begin(), detected_objects.objects.end(),
     [pose, search_radius](const DetectedObject & object) {
-      return tier4_autoware_utils::calcDistance3d(
+      return autoware_universe_utils::calcDistance3d(
                pose.position, object.kinematics.pose_with_covariance.pose.position) <=
              search_radius;
     });
@@ -433,7 +433,7 @@ bool search_tracked_objects_near_pose(
   return std::any_of(
     tracked_objects.objects.begin(), tracked_objects.objects.end(),
     [pose, search_radius](const TrackedObject & object) {
-      return tier4_autoware_utils::calcDistance3d(
+      return autoware_universe_utils::calcDistance3d(
                pose.position, object.kinematics.pose_with_covariance.pose.position) <=
              search_radius;
     });
diff --git a/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp b/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
index 7d32fdc357510..6446511db4c29 100644
--- a/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
+++ b/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
@@ -17,14 +17,14 @@
 #ifndef AUTOWARE_ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_
 #define AUTOWARE_ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_
 
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
+#include "autoware/universe_utils/ros/transform_listener.hpp"
 #include "autoware_raw_vehicle_cmd_converter/accel_map.hpp"
 #include "autoware_raw_vehicle_cmd_converter/brake_map.hpp"
 #include "diagnostic_updater/diagnostic_updater.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
-#include "tier4_autoware_utils/ros/transform_listener.hpp"
 
 #include <Eigen/Dense>
 
@@ -88,7 +88,7 @@ using DataStampedPtr = std::shared_ptr<DataStamped>;
 class AccelBrakeMapCalibrator : public rclcpp::Node
 {
 private:
-  std::shared_ptr<tier4_autoware_utils::TransformListener> transform_listener_;
+  std::shared_ptr<autoware_universe_utils::TransformListener> transform_listener_;
   std::string csv_default_map_dir_;
   rclcpp::Publisher<OccupancyGrid>::SharedPtr original_map_occ_pub_;
   rclcpp::Publisher<OccupancyGrid>::SharedPtr update_map_occ_pub_;
@@ -107,13 +107,13 @@ class AccelBrakeMapCalibrator : public rclcpp::Node
   rclcpp::Publisher<Float32Stamped>::SharedPtr map_error_ratio_pub_;
   rclcpp::Publisher<CalibrationStatus>::SharedPtr calibration_status_pub_;
 
-  tier4_autoware_utils::InterProcessPollingSubscriber<SteeringReport> steer_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<SteeringReport> steer_sub_{
     this, "~/input/steer"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<ActuationStatusStamped> actuation_status_sub_{
-    this, "~/input/actuation_status"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<ActuationCommandStamped> actuation_cmd_sub_{
-    this, "~/input/actuation_cmd"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<VelocityReport> velocity_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<ActuationStatusStamped>
+    actuation_status_sub_{this, "~/input/actuation_status"};
+  autoware_universe_utils::InterProcessPollingSubscriber<ActuationCommandStamped>
+    actuation_cmd_sub_{this, "~/input/actuation_cmd"};
+  autoware_universe_utils::InterProcessPollingSubscriber<VelocityReport> velocity_sub_{
     this, "~/input/velocity"};
 
   // Service
@@ -374,7 +374,7 @@ class AccelBrakeMapCalibrator : public rclcpp::Node
     COMMAND = 1,
   };
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 
 public:
   explicit AccelBrakeMapCalibrator(const rclcpp::NodeOptions & node_options);
diff --git a/vehicle/autoware_accel_brake_map_calibrator/package.xml b/vehicle/autoware_accel_brake_map_calibrator/package.xml
index 335ec2bba2ac3..97e79f921a41e 100644
--- a/vehicle/autoware_accel_brake_map_calibrator/package.xml
+++ b/vehicle/autoware_accel_brake_map_calibrator/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_raw_vehicle_cmd_converter</depend>
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>
   <depend>geometry_msgs</depend>
@@ -24,7 +25,6 @@
   <depend>std_srvs</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>
diff --git a/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp b/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp
index ee0b7531d46cb..15d7473d9f00a 100644
--- a/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp
+++ b/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp
@@ -32,7 +32,7 @@ namespace autoware::accel_brake_map_calibrator
 AccelBrakeMapCalibrator::AccelBrakeMapCalibrator(const rclcpp::NodeOptions & node_options)
 : Node("accel_brake_map_calibrator", node_options)
 {
-  transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
+  transform_listener_ = std::make_shared<autoware_universe_utils::TransformListener>(this);
   // get parameter
   update_hz_ = declare_parameter<double>("update_hz", 10.0);
   covariance_ = declare_parameter<double>("initial_covariance", 0.05);
@@ -217,7 +217,7 @@ AccelBrakeMapCalibrator::AccelBrakeMapCalibrator(const rclcpp::NodeOptions & nod
   init_timer(1.0 / update_hz_);
   init_output_csv_timer(30.0);
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
 }
 
 void AccelBrakeMapCalibrator::init_output_csv_timer(double period_s)
diff --git a/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp b/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp
index 97ee325ecdcca..2f1c0ac74b9a5 100644
--- a/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp
+++ b/vehicle/autoware_external_cmd_converter/include/autoware_external_cmd_converter/node.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_
 #define AUTOWARE_EXTERNAL_CMD_CONVERTER__NODE_HPP_
 
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
 
 #include <autoware_raw_vehicle_cmd_converter/accel_map.hpp>
 #include <autoware_raw_vehicle_cmd_converter/brake_map.hpp>
@@ -60,10 +60,11 @@ class ExternalCmdConverterNode : public rclcpp::Node
     emergency_stop_heartbeat_sub_;
 
   // Polling Subscriber
-  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> velocity_sub_{this, "in/odometry"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<GearCommand> shift_cmd_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Odometry> velocity_sub_{
+    this, "in/odometry"};
+  autoware_universe_utils::InterProcessPollingSubscriber<GearCommand> shift_cmd_sub_{
     this, "in/shift_cmd"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<GateMode> gate_mode_sub_{
+  autoware_universe_utils::InterProcessPollingSubscriber<GateMode> gate_mode_sub_{
     this, "in/current_gate_mode"};
 
   void on_external_cmd(const ExternalControlCommand::ConstSharedPtr cmd_ptr);
diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp
index 26b3dde029ebc..b807e74fc27cf 100644
--- a/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp
@@ -15,12 +15,12 @@
 #ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_
 #define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__NODE_HPP_
 
+#include "autoware/universe_utils/ros/logger_level_configure.hpp"
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
 #include "autoware_raw_vehicle_cmd_converter/accel_map.hpp"
 #include "autoware_raw_vehicle_cmd_converter/brake_map.hpp"
 #include "autoware_raw_vehicle_cmd_converter/pid.hpp"
 #include "autoware_raw_vehicle_cmd_converter/steer_map.hpp"
-#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
-#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -78,9 +78,9 @@ class RawVehicleCommandConverterNode : public rclcpp::Node
   //!< @brief subscriber for vehicle command
   rclcpp::Subscription<Control>::SharedPtr sub_control_cmd_;
   // polling subscribers
-  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> sub_odometry_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Odometry> sub_odometry_{
     this, "~/input/odometry"};
-  tier4_autoware_utils::InterProcessPollingSubscriber<Steering> sub_steering_{
+  autoware_universe_utils::InterProcessPollingSubscriber<Steering> sub_steering_{
     this, "~/input/steering"};
 
   rclcpp::TimerBase::SharedPtr timer_;
@@ -117,7 +117,7 @@ class RawVehicleCommandConverterNode : public rclcpp::Node
   rclcpp::Publisher<Float32MultiArrayStamped>::SharedPtr debug_pub_steer_pid_;
   DebugValues debug_steer_;
 
-  std::unique_ptr<tier4_autoware_utils::LoggerLevelConfigure> logger_configure_;
+  std::unique_ptr<autoware_universe_utils::LoggerLevelConfigure> logger_configure_;
 };
 }  // namespace autoware::raw_vehicle_cmd_converter
 
diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp
index 0051dea0a5103..ce783cfcd32e4 100644
--- a/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp
+++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp
@@ -81,7 +81,7 @@ RawVehicleCommandConverterNode::RawVehicleCommandConverterNode(
   debug_pub_steer_pid_ = create_publisher<Float32MultiArrayStamped>(
     "/vehicle/raw_vehicle_cmd_converter/debug/steer_pid", 1);
 
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+  logger_configure_ = std::make_unique<autoware_universe_utils::LoggerLevelConfigure>(this);
 }
 
 void RawVehicleCommandConverterNode::publishActuationCmd()
diff --git a/vehicle/autoware_steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml
index 08db4f5903abe..5e4638f605713 100644
--- a/vehicle/autoware_steer_offset_estimator/package.xml
+++ b/vehicle/autoware_steer_offset_estimator/package.xml
@@ -9,6 +9,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>
@@ -16,7 +17,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
-  <depend>tier4_autoware_utils</depend>
   <depend>tier4_debug_msgs</depend>
   <exec_depend>global_parameter_loader</exec_depend>
   <exec_depend>pose2twist</exec_depend>
diff --git a/vehicle/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp b/vehicle/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp
index c94ea01224da2..0fcc5fcf28863 100644
--- a/vehicle/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp
+++ b/vehicle/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp
@@ -15,7 +15,7 @@
 #ifndef AUTOWARE_VEHICLE_INFO_UTILS__VEHICLE_INFO_HPP_
 #define AUTOWARE_VEHICLE_INFO_UTILS__VEHICLE_INFO_HPP_
 
-#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
+#include "autoware/universe_utils/geometry/boost_geometry.hpp"
 
 namespace autoware::vehicle_info_utils
 {
@@ -47,8 +47,8 @@ struct VehicleInfo
   double min_height_offset_m;
   double max_height_offset_m;
 
-  tier4_autoware_utils::LinearRing2d createFootprint(const double margin = 0.0) const;
-  tier4_autoware_utils::LinearRing2d createFootprint(
+  autoware_universe_utils::LinearRing2d createFootprint(const double margin = 0.0) const;
+  autoware_universe_utils::LinearRing2d createFootprint(
     const double lat_margin, const double lon_margin) const;
 };
 
diff --git a/vehicle/autoware_vehicle_info_utils/package.xml b/vehicle/autoware_vehicle_info_utils/package.xml
index bd8ec0cb601a0..c5d09bd039691 100644
--- a/vehicle/autoware_vehicle_info_utils/package.xml
+++ b/vehicle/autoware_vehicle_info_utils/package.xml
@@ -16,8 +16,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_universe_utils</depend>
   <depend>rclcpp</depend>
-  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/vehicle/autoware_vehicle_info_utils/src/vehicle_info.cpp b/vehicle/autoware_vehicle_info_utils/src/vehicle_info.cpp
index c7f587d20b2f4..665ee61fa67ff 100644
--- a/vehicle/autoware_vehicle_info_utils/src/vehicle_info.cpp
+++ b/vehicle/autoware_vehicle_info_utils/src/vehicle_info.cpp
@@ -16,16 +16,16 @@
 
 namespace autoware::vehicle_info_utils
 {
-tier4_autoware_utils::LinearRing2d VehicleInfo::createFootprint(const double margin) const
+autoware_universe_utils::LinearRing2d VehicleInfo::createFootprint(const double margin) const
 {
   return createFootprint(margin, margin);
 }
 
-tier4_autoware_utils::LinearRing2d VehicleInfo::createFootprint(
+autoware_universe_utils::LinearRing2d VehicleInfo::createFootprint(
   const double lat_margin, const double lon_margin) const
 {
-  using tier4_autoware_utils::LinearRing2d;
-  using tier4_autoware_utils::Point2d;
+  using autoware_universe_utils::LinearRing2d;
+  using autoware_universe_utils::Point2d;
 
   const double x_front = front_overhang_m + wheel_base_m + lon_margin;
   const double x_center = wheel_base_m / 2.0;