diff --git a/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
index d346ceac47e41..574c93fb70d18 100644
--- a/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "behavior_path_planner/behavior_path_planner_node.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -21,8 +23,6 @@
 #include <cmath>
 #include <vector>
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
-
 using behavior_path_planner::BehaviorPathPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
diff --git a/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
index e3456c2b62a1f..f8e9b2cf5fe2c 100644
--- a/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "behavior_path_planner/behavior_path_planner_node.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -21,8 +23,6 @@
 #include <cmath>
 #include <vector>
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
-
 using behavior_path_planner::BehaviorPathPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
diff --git a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
index 67874c7eba607..919e200195bdb 100644
--- a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "behavior_path_planner/behavior_path_planner_node.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -21,8 +23,6 @@
 #include <cmath>
 #include <vector>
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
-
 using behavior_path_planner::BehaviorPathPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
diff --git a/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
index 7935df05460f9..eeccdc96ff2f5 100644
--- a/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
+++ b/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "behavior_path_planner/behavior_path_planner_node.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -21,8 +23,6 @@
 #include <cmath>
 #include <vector>
 
-#include "behavior_path_planner/behavior_path_planner_node.hpp"
-
 using behavior_path_planner::BehaviorPathPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
diff --git a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
index fa6cd19efb261..790fd345db204 100644
--- a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
+++ b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "node.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -21,8 +23,6 @@
 #include <cmath>
 #include <vector>
 
-#include "node.hpp"
-
 using behavior_velocity_planner::BehaviorVelocityPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
diff --git a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
index bdaaac29d94c1..45d5e78b2a575 100644
--- a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
+++ b/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "freespace_planner/freespace_planner_node.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -20,8 +22,6 @@
 
 #include <vector>
 
-#include "freespace_planner/freespace_planner_node.hpp"
-
 using freespace_planner::FreespacePlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
diff --git a/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp b/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp
index 4f453170c59bc..1a86cd2f0e8ac 100644
--- a/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp
+++ b/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "motion_velocity_smoother/motion_velocity_smoother_node.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -20,8 +22,6 @@
 
 #include <vector>
 
-#include "motion_velocity_smoother/motion_velocity_smoother_node.hpp"
-
 using motion_velocity_smoother::MotionVelocitySmootherNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
diff --git a/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp b/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp
index c614e44f7db68..1866123b56028 100644
--- a/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp
+++ b/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "obstacle_avoidance_planner/node.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -20,8 +22,6 @@
 
 #include <vector>
 
-#include "obstacle_avoidance_planner/node.hpp"
-
 TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
 {
   rclcpp::init(0, nullptr);
diff --git a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp b/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
index 87a27da780198..c8b7e3b505d5e 100644
--- a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
+++ b/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "obstacle_cruise_planner/node.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -20,8 +22,6 @@
 
 #include <vector>
 
-#include "obstacle_cruise_planner/node.hpp"
-
 using motion_planning::ObstacleCruisePlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
diff --git a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
index 82debccd21b88..155ddeefc8f25 100644
--- a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
+++ b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "obstacle_stop_planner/node.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -20,8 +22,6 @@
 
 #include <vector>
 
-#include "obstacle_stop_planner/node.hpp"
-
 using motion_planning::ObstacleStopPlannerNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
diff --git a/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp b/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp
index 27125722618d0..e03e71e87b9ae 100644
--- a/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp
+++ b/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -20,8 +22,6 @@
 
 #include <vector>
 
-#include "obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp"
-
 using obstacle_velocity_limiter::ObstacleVelocityLimiterNode;
 using planning_test_utils::PlanningInterfaceTestManager;
 
diff --git a/planning/path_smoother/test/test_path_smoother_node_interface.cpp b/planning/path_smoother/test/test_path_smoother_node_interface.cpp
index dff9bc33e7368..4a43801d84c2a 100644
--- a/planning/path_smoother/test/test_path_smoother_node_interface.cpp
+++ b/planning/path_smoother/test/test_path_smoother_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "path_smoother/elastic_band_smoother.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -20,8 +22,6 @@
 
 #include <vector>
 
-#include "path_smoother/elastic_band_smoother.hpp"
-
 TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory)
 {
   rclcpp::init(0, nullptr);
diff --git a/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp b/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp
index 11abbf6471448..a3926033f4255 100644
--- a/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp
+++ b/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "planning_validator/planning_validator.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -20,8 +22,6 @@
 
 #include <vector>
 
-#include "planning_validator/planning_validator.hpp"
-
 using planning_test_utils::PlanningInterfaceTestManager;
 using planning_validator::PlanningValidator;
 
diff --git a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp b/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
index ba84469c5ed27..6ba3bf24d0e4c 100644
--- a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
+++ b/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "scenario_selector/scenario_selector_node.hpp"
+
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager.hpp>
 #include <planning_test_utils/planning_interface_test_manager/planning_interface_test_manager_utils.hpp>
@@ -21,8 +23,6 @@
 #include <cmath>
 #include <vector>
 
-#include "scenario_selector/scenario_selector_node.hpp"
-
 using planning_test_utils::PlanningInterfaceTestManager;
 
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()