diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 27029daafea..2d410033230 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -2342,36 +2342,6 @@ bool ControllerManager::controller_sorting(
       std::find(following_ctrls.begin(), following_ctrls.end(), ctrl_b.info.name) !=
       following_ctrls.end())
       return true;
-    else
-    {
-      auto ctrl_a_preceding_ctrls = get_preceding_controller_names(ctrl_a.info.name, controllers);
-      // This is to check that the ctrl_b is in the preceding controllers list of ctrl_a - This
-      // check is useful when there is a chained controller branching, but they belong to same
-      // branch
-      if (
-        std::find(ctrl_a_preceding_ctrls.begin(), ctrl_a_preceding_ctrls.end(), ctrl_b.info.name) !=
-        ctrl_a_preceding_ctrls.end())
-      {
-        return false;
-      }
-
-      // This is to handle the cases where, the parsed ctrl_a and ctrl_b are not directly related
-      // but might have a common parent - happens in branched chained controller
-      auto ctrl_b_preceding_ctrls = get_preceding_controller_names(ctrl_b.info.name, controllers);
-      std::sort(ctrl_a_preceding_ctrls.begin(), ctrl_a_preceding_ctrls.end());
-      std::sort(ctrl_b_preceding_ctrls.begin(), ctrl_b_preceding_ctrls.end());
-      std::list<std::string> intersection;
-      std::set_intersection(
-        ctrl_a_preceding_ctrls.begin(), ctrl_a_preceding_ctrls.end(),
-        ctrl_b_preceding_ctrls.begin(), ctrl_b_preceding_ctrls.end(),
-        std::back_inserter(intersection));
-      if (!intersection.empty())
-      {
-        // If there is an intersection, then there is a common parent controller for both ctrl_a and
-        // ctrl_b
-        return true;
-      }
-    }
 
     // If the ctrl_a's state interface is the one exported by the ctrl_b then ctrl_b should be
     // infront of ctrl_a