diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
index ff4b486ef9..1fc83edd08 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -5,7 +5,7 @@
   ros__parameters:
     external_request_lane_change_left:
       enable_module: false
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
@@ -14,7 +14,7 @@
 
     external_request_lane_change_right:
       enable_module: false
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
@@ -23,7 +23,7 @@
 
     lane_change_left:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
@@ -32,7 +32,7 @@
 
     lane_change_right:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
@@ -41,7 +41,7 @@
 
     start_planner:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
@@ -50,7 +50,7 @@
 
     side_shift:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
@@ -59,7 +59,7 @@
 
     goal_planner:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
@@ -68,7 +68,7 @@
 
     avoidance:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
@@ -77,7 +77,7 @@
 
     avoidance_by_lc:
       enable_module: true
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
@@ -86,7 +86,7 @@
 
     dynamic_avoidance:
       enable_module: false
-      enable_rtc: true
+      enable_rtc: false
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
index 8a57bfeabd..0950ece4ae 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
@@ -8,4 +8,4 @@
       max_future_movement_time: 10.0 # [second]
       threshold_yaw_diff: 0.523 # [rad]
       adjacent_extend_width: 1.5 # [m]
-      enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+      enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index 4b81a1e687..d99c70c5f6 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -5,7 +5,7 @@
         show_processing_time: false # [-] whether to show processing time
         # param for input data
         traffic_light_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
-        enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+        enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
 
       # param for stop position
       stop_position:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
index 55b627cce7..ddd8b934d2 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml
@@ -8,4 +8,4 @@
       state_clear_time: 2.0
       hold_stop_margin_distance: 0.0
       distance_to_judge_over_stop_line: 0.5
-      enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
+      enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index a303b78af9..4b8f15ab27 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -66,8 +66,8 @@
         attention_lane_curvature_calculation_ds: 0.5
 
       enable_rtc:
-        intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
-        intersection_to_occlusion: true
+        intersection: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
+        intersection_to_occlusion: false
 
     merge_from_private:
       stop_line_margin: 3.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml
index f550188d4f..c84848f8cc 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml
@@ -8,4 +8,4 @@
       stop_line_margin: 1.0           # [m] margin to auto-gen stop line at no stopping area
       detection_area_length: 200.0    # [m] used to create detection area polygon
       stuck_vehicle_front_margin: 6.0 # [m] obstacle stop max distance(5.0m)
-      enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
+      enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
index e8e0357daa..a837ae1b46 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
@@ -5,4 +5,4 @@
       tl_state_timeout: 1.0
       yellow_lamp_period: 2.75
       enable_pass_judge: true
-      enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
+      enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_replayer/rtc_replayer.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_replayer/rtc_replayer.param.yaml
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index ad55c76d82..a1cb2b79f5 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -25,9 +25,6 @@
     <arg name="common_param_path" value="$(var common_config_path)/common.param.yaml"/>
     <arg name="nearest_search_param_path" value="$(var common_config_path)/nearest_search.param.yaml"/>
 
-    <!-- rtc -->
-    <arg name="rtc_auto_mode_manager_param_path" value="$(var behavior_config_path)/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml"/>
-
     <!-- mission planner -->
     <arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>