diff --git a/planning/behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/planning/behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
index 9bd98539b50ff..73a726d8cdf7c 100644
--- a/planning/behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
+++ b/planning/behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
@@ -172,10 +172,7 @@ SamplingPlannerModule::SamplingPlannerModule(
 
 bool SamplingPlannerModule::isExecutionRequested() const
 {
-  const auto & p = planner_data_->parameters;
   const auto ego_pose = planner_data_->self_odometry->pose.pose;
-  const auto goal_pose = planner_data_->route_handler->getGoalPose();
-
   lanelet::ConstLanelet current_lane;
 
   if (!planner_data_->route_handler->getClosestLaneletWithinRoute(ego_pose, &current_lane)) {
@@ -184,31 +181,6 @@ bool SamplingPlannerModule::isExecutionRequested() const
       "failed to find closest lanelet within route!!!");
     return false;
   }
-  const auto current_lane_sequence = planner_data_->route_handler->getLaneletSequence(
-    current_lane, ego_pose, p.backward_path_length, p.forward_path_length);
-  // expand drivable lanes
-  std::vector<DrivableLanes> drivable_lanes{};
-
-  std::for_each(
-    current_lane_sequence.begin(), current_lane_sequence.end(), [&](const auto & lanelet) {
-      drivable_lanes.push_back(generateExpandDrivableLanes(lanelet, planner_data_));
-    });
-
-  lanelet::ConstLanelets current_lanes;
-
-  for (auto & d : drivable_lanes) {
-    current_lanes.push_back(d.right_lane);
-    current_lanes.push_back(d.left_lane);
-    current_lanes.insert(current_lanes.end(), d.middle_lanes.begin(), d.middle_lanes.end());
-  }
-  lanelet::ConstLanelet closest_lanelet_to_ego;
-  lanelet::utils::query::getClosestLanelet(current_lanes, ego_pose, &closest_lanelet_to_ego);
-  lanelet::ConstLanelet closest_lanelet_to_goal;
-  lanelet::utils::query::getClosestLanelet(current_lanes, goal_pose, &closest_lanelet_to_goal);
-  const bool ego_and_goal_on_same_lanelet =
-    closest_lanelet_to_goal.id() == closest_lanelet_to_ego.id();
-
-  if (!ego_and_goal_on_same_lanelet) return false;
 
   if (getPreviousModuleOutput().reference_path.points.empty()) {
     return false;