diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
index 8d9c8e147f532..964e0ff87594a 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
@@ -177,7 +177,6 @@ class GoalPlannerModule : public SceneModuleInterface
 
   // for parking policy
   bool left_side_parking_{true};
-  mutable bool allow_goal_modification_{false};  // need to be set in isExecutionRequested
 
   // pre-generate lane parking paths in a separate thread
   rclcpp::TimerBase::SharedPtr lane_parking_timer_;
diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
index f37149f706436..faa629fc5cda1 100644
--- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -273,10 +273,6 @@ bool GoalPlannerModule::isExecutionRequested() const
   const Pose & current_pose = planner_data_->self_odometry->pose.pose;
   const Pose & goal_pose = route_handler->getGoalPose();
 
-  // if goal is shoulder lane, allow goal modification
-  allow_goal_modification_ =
-    route_handler->isAllowedGoalModification() || checkOriginalGoalIsInShoulder();
-
   // check if goal_pose is in current_lanes.
   lanelet::ConstLanelet current_lane{};
   const lanelet::ConstLanelets current_lanes = utils::getCurrentLanes(planner_data_);
diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp
index eb2859ff700af..f6d6edc6920a7 100644
--- a/planning/behavior_path_planner/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/utils.cpp
@@ -1869,6 +1869,7 @@ void makeBoundLongitudinallyMonotonic(
         if (intersect_point) {
           Pose pose;
           pose.position = *intersect_point;
+          pose.position.z = bound_with_pose.at(i).position.z;
           const auto yaw = calcAzimuthAngle(*intersect_point, bound_with_pose.at(i + 1).position);
           pose.orientation = createQuaternionFromRPY(0.0, 0.0, yaw);
           monotonic_bound.push_back(pose);
@@ -1902,18 +1903,18 @@ void makeBoundLongitudinallyMonotonic(
 
     std::vector<Point> ret;
 
-    ret.push_back(bound.front());
+    for (size_t i = 0; i < bound.size(); i++) {
+      const auto & p_new = bound.at(i);
+      const auto duplicated_points_itr = std::find_if(
+        ret.begin(), ret.end(),
+        [&p_new](const auto & p) { return calcDistance2d(p, p_new) < 0.1; });
 
-    for (size_t i = 0; i < bound.size() - 2; i++) {
-      try {
-        motion_utils::validateNonSharpAngle(bound.at(i), bound.at(i + 1), bound.at(i + 2));
-        ret.push_back(bound.at(i + 1));
-      } catch (const std::exception & e) {
-        continue;
+      if (duplicated_points_itr != ret.end() && std::next(duplicated_points_itr, 2) == ret.end()) {
+        ret.erase(duplicated_points_itr, ret.end());
       }
-    }
 
-    ret.push_back(bound.back());
+      ret.push_back(p_new);
+    }
 
     return ret;
   };
diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
index db8e12708b9c5..7a972891fd053 100644
--- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
+++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -37,6 +37,7 @@ using motion_utils::calcLateralOffset;
 using motion_utils::calcLongitudinalOffsetPoint;
 using motion_utils::calcLongitudinalOffsetPose;
 using motion_utils::calcSignedArcLength;
+using motion_utils::calcSignedArcLengthPartialSum;
 using motion_utils::findNearestSegmentIndex;
 using motion_utils::insertTargetPoint;
 using motion_utils::resamplePath;
@@ -231,9 +232,12 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto
 
   // Calculate stop point with margin
   const auto p_stop_line = getStopPointWithMargin(*path, path_intersects);
-  // TODO(murooka) add a guard of p_stop_line
-  const auto default_stop_pose = toStdOptional(
-    calcLongitudinalOffsetPose(path->points, p_stop_line->first, p_stop_line->second));
+
+  std::optional<geometry_msgs::msg::Pose> default_stop_pose = std::nullopt;
+  if (p_stop_line.has_value()) {
+    default_stop_pose = toStdOptional(
+      calcLongitudinalOffsetPose(path->points, p_stop_line->first, p_stop_line->second));
+  }
 
   // Resample path sparsely for less computation cost
   constexpr double resample_interval = 4.0;
@@ -748,15 +752,15 @@ Polygon2d CrosswalkModule::getAttentionArea(
 {
   const auto & ego_pos = planner_data_->current_odometry->pose.position;
   const auto ego_polygon = createVehiclePolygon(planner_data_->vehicle_info_);
+  const auto backward_path_length =
+    calcSignedArcLength(sparse_resample_path.points, size_t(0), ego_pos);
+  const auto length_sum = calcSignedArcLengthPartialSum(
+    sparse_resample_path.points, size_t(0), sparse_resample_path.points.size());
 
   Polygon2d attention_area;
   for (size_t j = 0; j < sparse_resample_path.points.size() - 1; ++j) {
-    const auto & p_ego_front = sparse_resample_path.points.at(j).point.pose;
-    const auto & p_ego_back = sparse_resample_path.points.at(j + 1).point.pose;
-    const auto front_length =
-      calcSignedArcLength(sparse_resample_path.points, ego_pos, p_ego_front.position);
-    const auto back_length =
-      calcSignedArcLength(sparse_resample_path.points, ego_pos, p_ego_back.position);
+    const auto front_length = length_sum.at(j) - backward_path_length;
+    const auto back_length = length_sum.at(j + 1) - backward_path_length;
 
     if (back_length < crosswalk_attention_range.first) {
       continue;
@@ -1065,6 +1069,8 @@ void CrosswalkModule::setDistanceToStop(
     const auto & ego_pos = planner_data_->current_odometry->pose.position;
     const double dist_ego2stop = calcSignedArcLength(ego_path.points, ego_pos, *stop_pos);
     setDistance(dist_ego2stop);
+  } else {
+    setDistance(std::numeric_limits<double>::lowest());
   }
 }
 
diff --git a/planning/behavior_velocity_walkway_module/src/manager.cpp b/planning/behavior_velocity_walkway_module/src/manager.cpp
index d10ff52850752..f9c222f662e82 100644
--- a/planning/behavior_velocity_walkway_module/src/manager.cpp
+++ b/planning/behavior_velocity_walkway_module/src/manager.cpp
@@ -44,11 +44,8 @@ WalkwayModuleManager::WalkwayModuleManager(rclcpp::Node & node)
 void WalkwayModuleManager::launchNewModules(const PathWithLaneId & path)
 {
   const auto rh = planner_data_->route_handler_;
-  if (!opt_use_regulatory_element_) {
-    opt_use_regulatory_element_ = checkRegulatoryElementExistence(rh->getLaneletMapPtr());
-  }
 
-  const auto launch = [this, &path](const auto & lanelet) {
+  const auto launch = [this, &path](const auto & lanelet, const auto use_regulatory_element) {
     const auto attribute =
       lanelet.attributeOr(lanelet::AttributeNamesString::Subtype, std::string(""));
     if (attribute != lanelet::AttributeValueString::Walkway) {
@@ -64,24 +61,21 @@ void WalkwayModuleManager::launchNewModules(const PathWithLaneId & path)
     const auto lanelet_map_ptr = planner_data_->route_handler_->getLaneletMapPtr();
 
     registerModule(std::make_shared<WalkwayModule>(
-      lanelet.id(), lanelet_map_ptr, p, *opt_use_regulatory_element_, logger, clock_));
+      lanelet.id(), lanelet_map_ptr, p, use_regulatory_element, logger, clock_));
   };
 
-  if (*opt_use_regulatory_element_) {
-    const auto crosswalk_leg_elem_map = planning_utils::getRegElemMapOnPath<Crosswalk>(
-      path, rh->getLaneletMapPtr(), planner_data_->current_odometry->pose);
+  const auto crosswalk_leg_elem_map = planning_utils::getRegElemMapOnPath<Crosswalk>(
+    path, rh->getLaneletMapPtr(), planner_data_->current_odometry->pose);
 
-    for (const auto & crosswalk : crosswalk_leg_elem_map) {
-      launch(crosswalk.first->crosswalkLanelet());
-    }
-  } else {
-    const auto crosswalk_lanelets = getCrosswalksOnPath(
-      planner_data_->current_odometry->pose, path, rh->getLaneletMapPtr(),
-      rh->getOverallGraphPtr());
+  for (const auto & crosswalk : crosswalk_leg_elem_map) {
+    launch(crosswalk.first->crosswalkLanelet(), true);
+  }
 
-    for (const auto & crosswalk : crosswalk_lanelets) {
-      launch(crosswalk);
-    }
+  const auto crosswalk_lanelets = getCrosswalksOnPath(
+    planner_data_->current_odometry->pose, path, rh->getLaneletMapPtr(), rh->getOverallGraphPtr());
+
+  for (const auto & crosswalk : crosswalk_lanelets) {
+    launch(crosswalk, false);
   }
 }
 
@@ -92,17 +86,14 @@ WalkwayModuleManager::getModuleExpiredFunction(const PathWithLaneId & path)
 
   std::set<int64_t> walkway_id_set;
 
-  if (*opt_use_regulatory_element_) {
-    const auto crosswalk_leg_elem_map = planning_utils::getRegElemMapOnPath<Crosswalk>(
-      path, rh->getLaneletMapPtr(), planner_data_->current_odometry->pose);
+  walkway_id_set = getCrosswalkIdSetOnPath(
+    planner_data_->current_odometry->pose, path, rh->getLaneletMapPtr(), rh->getOverallGraphPtr());
 
-    for (const auto & crosswalk : crosswalk_leg_elem_map) {
-      walkway_id_set.insert(crosswalk.first->id());
-    }
-  } else {
-    walkway_id_set = getCrosswalkIdSetOnPath(
-      planner_data_->current_odometry->pose, path, rh->getLaneletMapPtr(),
-      rh->getOverallGraphPtr());
+  const auto crosswalk_leg_elem_map = planning_utils::getRegElemMapOnPath<Crosswalk>(
+    path, rh->getLaneletMapPtr(), planner_data_->current_odometry->pose);
+
+  for (const auto & crosswalk : crosswalk_leg_elem_map) {
+    walkway_id_set.insert(crosswalk.first->id());
   }
 
   return [walkway_id_set](const std::shared_ptr<SceneModuleInterface> & scene_module) {