diff --git a/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp b/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp
index 3c645ea754d..7e08349f415 100644
--- a/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp
+++ b/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp
@@ -40,7 +40,7 @@ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode
   {
     const auto t = api_.getCurrentTime();
     // LCOV_EXCL_START
-    if (api_.isEntitySpawned("bob") && api_.checkCollision("ego", "bob")) {
+    if (api_.isEntityExist("bob") && api_.checkCollision("ego", "bob")) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     /**
diff --git a/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp b/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp
index 3ec1dc88d53..fb910e766c9 100644
--- a/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp
+++ b/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp
@@ -40,7 +40,7 @@ class WalkStraightScenario : public cpp_mock_scenarios::CppScenarioNode
   {
     const auto t = api_.getCurrentTime();
     // LCOV_EXCL_START
-    if (api_.isEntitySpawned("bob") && api_.checkCollision("ego", "bob")) {
+    if (api_.isEntityExist("bob") && api_.checkCollision("ego", "bob")) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     /**
diff --git a/mock/cpp_mock_scenarios/src/random_scenario/random001.cpp b/mock/cpp_mock_scenarios/src/random_scenario/random001.cpp
index 8023ebc75a6..620f1583bed 100644
--- a/mock/cpp_mock_scenarios/src/random_scenario/random001.cpp
+++ b/mock/cpp_mock_scenarios/src/random_scenario/random001.cpp
@@ -98,7 +98,7 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
   {
     for (int i = 0; i < params_.random_parameters.crossing_pedestrian.number_of_pedestrian; i++) {
       std::string entity_name = "pedestrian" + std::to_string(i);
-      if (api_.isEntitySpawned(entity_name)) {
+      if (api_.isEntityExist(entity_name)) {
         api_.despawn(entity_name);
       }
     }
@@ -120,7 +120,7 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
     };
 
     const auto spawn_and_change_lane = [&](const auto & entity_name, const auto spawn_s_value) {
-      if (!api_.isEntitySpawned(entity_name)) {
+      if (!api_.isEntityExist(entity_name)) {
         api_.spawn(
           entity_name,
           traffic_simulator::helper::constructCanonicalizedLaneletPose(
@@ -158,7 +158,7 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
       std::string entity_name = "pedestrian" + std::to_string(entity_index);
       constexpr lanelet::Id lanelet_id = 34392;
       if (
-        !api_.isEntitySpawned(entity_name) &&
+        !api_.isEntityExist(entity_name) &&
         !ego_entity->isInPosition(
           traffic_simulator::helper::constructCanonicalizedLaneletPose(
             34576, 25.0, 0.0, api_.getHdmapUtils()),
@@ -179,7 +179,7 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
         entity->setLinearVelocity(speed);
       }
       if (
-        api_.isEntitySpawned(entity_name) &&
+        api_.isEntityExist(entity_name) &&
         api_.getEntity(entity_name)->getStandStillDuration() >= 0.5) {
         api_.despawn(entity_name);
       }
@@ -191,7 +191,7 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
     const auto trigger_position = traffic_simulator::helper::constructCanonicalizedLaneletPose(
       34621, 10, 0.0, api_.getHdmapUtils());
     constexpr auto entity_name = "spawn_nearby_ego";
-    if (ego_entity->isInPosition(trigger_position, 20.0) && !api_.isEntitySpawned(entity_name)) {
+    if (ego_entity->isInPosition(trigger_position, 20.0) && !api_.isEntityExist(entity_name)) {
       api_.spawn(
         entity_name,
         traffic_simulator::pose::transformRelativePoseToGlobal(
@@ -203,7 +203,7 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
         traffic_simulator::entity::VehicleEntity::BuiltinBehavior::doNothing());
     }
 
-    if (!ego_entity->isInPosition(trigger_position, 20.0) && api_.isEntitySpawned(entity_name)) {
+    if (!ego_entity->isInPosition(trigger_position, 20.0) && api_.isEntityExist(entity_name)) {
       api_.despawn(entity_name);
     }
 
diff --git a/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp b/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp
index d53b4cd426e..6ca6d01363d 100644
--- a/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp
+++ b/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp
@@ -42,17 +42,17 @@ class TrafficSimulationDemoScenario : public cpp_mock_scenarios::CppScenarioNode
     if (api_.getCurrentTime() >= 60) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
-    if (api_.getCurrentTime() >= 4 && api_.isEntitySpawned("tom")) {
+    if (api_.getCurrentTime() >= 4 && api_.isEntityExist("tom")) {
       api_.despawn("tom");
     }
-    if (api_.getCurrentTime() >= 4 && api_.isEntitySpawned("obstacle")) {
+    if (api_.getCurrentTime() >= 4 && api_.isEntityExist("obstacle")) {
       api_.getEntity("obstacle")
         ->setStatus(
           traffic_simulator::helper::constructCanonicalizedLaneletPose(
             120545, 0.0, 0.0, api_.getHdmapUtils()),
           traffic_simulator::helper::constructActionStatus(10));
     }
-    if (api_.getCurrentTime() >= 6 && api_.isEntitySpawned("obstacle")) {
+    if (api_.getCurrentTime() >= 6 && api_.isEntityExist("obstacle")) {
       api_.despawn("obstacle");
     }
     const auto ego_entity = api_.getEntity("ego");
@@ -64,7 +64,7 @@ class TrafficSimulationDemoScenario : public cpp_mock_scenarios::CppScenarioNode
       ego_entity->requestAcquirePosition(
         traffic_simulator::helper::constructCanonicalizedLaneletPose(
           35026, 0.0, 0.0, api_.getHdmapUtils()));
-      if (api_.isEntitySpawned("npc2")) {
+      if (api_.isEntityExist("npc2")) {
         npc2_entity->requestSpeedChange(13, true);
       }
     }
@@ -75,7 +75,7 @@ class TrafficSimulationDemoScenario : public cpp_mock_scenarios::CppScenarioNode
       ego_entity->requestAcquirePosition(
         traffic_simulator::helper::constructCanonicalizedLaneletPose(
           34675, 0.0, 0.0, api_.getHdmapUtils()));
-      if (api_.isEntitySpawned("npc2")) {
+      if (api_.isEntityExist("npc2")) {
         npc2_entity->requestSpeedChange(3, true);
       }
     }
@@ -88,7 +88,7 @@ class TrafficSimulationDemoScenario : public cpp_mock_scenarios::CppScenarioNode
           34630, 0.0, 0.0, api_.getHdmapUtils()));
       npc2_entity->requestSpeedChange(13, true);
     }
-    if (api_.getCurrentTime() > 10.0 && api_.isEntitySpawned("bob")) {
+    if (api_.getCurrentTime() > 10.0 && api_.isEntityExist("bob")) {
       api_.despawn("bob");
     }
   }
diff --git a/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp b/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp
index c319cd48e12..32778ca8ee3 100644
--- a/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp
+++ b/simulation/traffic_simulator/include/traffic_simulator/api/api.hpp
@@ -143,7 +143,7 @@ class API
   {
     auto register_to_entity_manager = [&]() {
       if (behavior == VehicleBehavior::autoware()) {
-        return entity_manager_ptr_->isEntitySpawned(name) or
+        return entity_manager_ptr_->isEntityExist(name) or
                entity_manager_ptr_->spawnEntity<entity::EgoEntity>(
                  name, pose, parameters, getCurrentTime(), configuration, node_parameters_);
       } else {
@@ -321,7 +321,7 @@ class API
   static_assert(true, "")
   // clang-format on
 
-  FORWARD_TO_ENTITY_MANAGER(isEntitySpawned);
+  FORWARD_TO_ENTITY_MANAGER(isEntityExist);
   FORWARD_TO_ENTITY_MANAGER(getEgoEntity);
   FORWARD_TO_ENTITY_MANAGER(getEntityNames);
   FORWARD_TO_ENTITY_MANAGER(getEntityOrNullptr);
diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp
index d8251820fba..3041fcf8595 100644
--- a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp
+++ b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp
@@ -168,7 +168,7 @@ class EntityManager
 
   bool despawnEntity(const std::string & name);
 
-  auto isEntitySpawned(const std::string & name) const -> bool;
+  auto isEntityExist(const std::string & name) const -> bool;
 
   auto getEntityNames() const -> const std::vector<std::string>;
 
diff --git a/simulation/traffic_simulator/src/entity/entity_manager.cpp b/simulation/traffic_simulator/src/entity/entity_manager.cpp
index 86bfd7fd3a3..bfe923a1001 100644
--- a/simulation/traffic_simulator/src/entity/entity_manager.cpp
+++ b/simulation/traffic_simulator/src/entity/entity_manager.cpp
@@ -123,10 +123,10 @@ visualization_msgs::msg::MarkerArray EntityManager::makeDebugMarker() const
 
 bool EntityManager::despawnEntity(const std::string & name)
 {
-  return isEntitySpawned(name) && entities_.erase(name);
+  return isEntityExist(name) && entities_.erase(name);
 }
 
-auto EntityManager::isEntitySpawned(const std::string & name) const -> bool
+auto EntityManager::isEntityExist(const std::string & name) const -> bool
 {
   return entities_.find(name) != std::end(entities_);
 }
diff --git a/test_runner/random_test_runner/include/random_test_runner/test_executor.hpp b/test_runner/random_test_runner/include/random_test_runner/test_executor.hpp
index 7d157689eac..146dad86889 100644
--- a/test_runner/random_test_runner/include/random_test_runner/test_executor.hpp
+++ b/test_runner/random_test_runner/include/random_test_runner/test_executor.hpp
@@ -197,7 +197,7 @@ class TestExecutor
       }
 
       for (const auto & npc : test_description_.npcs_descriptions) {
-        if (api_->isEntitySpawned(npc.name) && api_->checkCollision(ego_name_, npc.name)) {
+        if (api_->isEntityExist(npc.name) && api_->checkCollision(ego_name_, npc.name)) {
           if (ego_collision_metric_.isThereEgosCollisionWith(npc.name, current_time)) {
             std::string message =
               fmt::format("New collision occurred between ego and {}", npc.name);
diff --git a/test_runner/random_test_runner/test/test_test_executor.cpp b/test_runner/random_test_runner/test/test_test_executor.cpp
index 9cd7889a4f2..6d51bb3080e 100644
--- a/test_runner/random_test_runner/test/test_test_executor.cpp
+++ b/test_runner/random_test_runner/test/test_test_executor.cpp
@@ -130,7 +130,7 @@ class MockTrafficSimulatorAPI
   MOCK_METHOD(void, getEntityMock, (const std::string &), (const));
   MOCK_METHOD(void, getEgoEntityMock, (const std::string &), (const));
   MOCK_METHOD(void, getHdmapUtilsMock, (), ());
-  MOCK_METHOD(bool, isEntitySpawned, (const std::string &), ());
+  MOCK_METHOD(bool, isEntityExist, (const std::string &), ());
   MOCK_METHOD(bool, checkCollision, (const std::string &, const std::string &), ());
 
   auto getEntity(const std::string & name) const