diff --git a/planning/behavior_path_avoidance_module/src/scene.cpp b/planning/behavior_path_avoidance_module/src/scene.cpp
index 7d941bfa40b3a..d884c22e71c44 100644
--- a/planning/behavior_path_avoidance_module/src/scene.cpp
+++ b/planning/behavior_path_avoidance_module/src/scene.cpp
@@ -870,7 +870,7 @@ BehaviorModuleOutput AvoidanceModule::plan()
   updatePathShifter(data.safe_shift_line);
 
   if (data.success) {
-    removeRegisteredShiftLines();
+    return getPreviousModuleOutput();
   }
 
   if (data.yield_required) {