diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
index e8ad6c7e2f987..420a5a8aa6ee5 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
@@ -17,13 +17,7 @@
 
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/planner_manager.hpp"
-#include "behavior_path_planner/scene_module/avoidance/manager.hpp"
-#include "behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp"
-#include "behavior_path_planner/scene_module/goal_planner/manager.hpp"
-#include "behavior_path_planner/scene_module/lane_change/manager.hpp"
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
-#include "behavior_path_planner/scene_module/side_shift/manager.hpp"
-#include "behavior_path_planner/scene_module/start_planner/manager.hpp"
 #include "behavior_path_planner/steering_factor_interface.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
@@ -66,7 +60,6 @@ using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
 using autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand;
 using autoware_planning_msgs::msg::LaneletRoute;
 using autoware_planning_msgs::msg::PoseWithUuidStamped;
-using geometry_msgs::msg::TwistStamped;
 using nav_msgs::msg::OccupancyGrid;
 using nav_msgs::msg::Odometry;
 using rcl_interfaces::msg::SetParametersResult;
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp
index e3a3784c5e928..40df1f5157c71 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp
@@ -18,7 +18,6 @@
 #include <interpolation/linear_interpolation.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
-#include <string>
 #include <utility>
 #include <vector>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
index 4b9b0bff4be63..c0437aa69764a 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
@@ -18,20 +18,17 @@
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/scene_module/scene_module_manager_interface.hpp"
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
-#include "behavior_path_planner/utils/lane_following/module_data.hpp"
 #include "tier4_autoware_utils/ros/debug_publisher.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "tier4_debug_msgs/msg/float64_stamped.hpp"
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <tier4_planning_msgs/msg/stop_reason_array.hpp>
 
 #include <lanelet2_core/primitives/Lanelet.h>
 
 #include <algorithm>
-#include <limits>
 #include <memory>
 #include <string>
 #include <unordered_map>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp
index ab8e3cfd70dff..6c522c79a8774 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp
@@ -18,8 +18,10 @@
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_auto_perception_msgs/msg/predicted_object.hpp>
+#include <autoware_auto_perception_msgs/msg/predicted_path.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg.hpp>
@@ -35,6 +37,9 @@
 
 namespace behavior_path_planner
 {
+using autoware_auto_perception_msgs::msg::PredictedPath;
+using tier4_autoware_utils::Polygon2d;
+
 struct MinMaxValue
 {
   double min_value{0.0};
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 632872471ce29..251b72ea6eadb 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
@@ -32,6 +32,7 @@
 #include <freespace_planning_algorithms/rrtstar.hpp>
 #include <lane_departure_checker/lane_departure_checker.hpp>
 #include <motion_utils/distance/distance.hpp>
+#include <tier4_autoware_utils/geometry/boost_geometry.hpp>
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
@@ -65,6 +66,7 @@ using behavior_path_planner::utils::path_safety_checker::ObjectsFilteringParams;
 using behavior_path_planner::utils::path_safety_checker::PoseWithVelocityStamped;
 using behavior_path_planner::utils::path_safety_checker::SafetyCheckParams;
 using behavior_path_planner::utils::path_safety_checker::TargetObjectsOnLane;
+using tier4_autoware_utils::Polygon2d;
 
 enum class PathType {
   NONE = 0,
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
index 68faa3806f614..7f24683e5680c 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
@@ -16,6 +16,7 @@
 #define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__SCENE_MODULE_INTERFACE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
+#include "behavior_path_planner/marker_utils/utils.hpp"
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/steering_factor_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/steering_factor_interface.hpp
index 8afe0576ec1aa..3a334cf67edbf 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/steering_factor_interface.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/steering_factor_interface.hpp
@@ -15,15 +15,13 @@
 #ifndef BEHAVIOR_PATH_PLANNER__STEERING_FACTOR_INTERFACE_HPP_
 #define BEHAVIOR_PATH_PLANNER__STEERING_FACTOR_INTERFACE_HPP_
 
-#include "rclcpp/rclcpp.hpp"
+#include <rclcpp/rclcpp.hpp>
 
-#include "autoware_adapi_v1_msgs/msg/steering_factor_array.hpp"
-#include "geometry_msgs/msg/pose.hpp"
-#include "unique_identifier_msgs/msg/uuid.hpp"
+#include <autoware_adapi_v1_msgs/msg/steering_factor_array.hpp>
+#include <geometry_msgs/msg/pose.hpp>
 
 #include <mutex>
 #include <string>
-#include <vector>
 
 namespace steering_factor_interface
 {
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
index d04b35a3b185b..74464be0fa5ea 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp
@@ -15,7 +15,7 @@
 #ifndef BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
 #define BEHAVIOR_PATH_PLANNER__UTILS__AVOIDANCE__AVOIDANCE_MODULE_DATA_HPP_
 
-#include "behavior_path_planner/marker_utils/utils.hpp"
+#include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp
index 8cb09cd47b444..0237fb458ea0b 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/utils.hpp
@@ -18,11 +18,8 @@
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
-#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 
-#include <algorithm>
 #include <memory>
-#include <string>
 #include <utility>
 #include <vector>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/footprints.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/footprints.hpp
index 418a9a5a68572..9591ac0582e04 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/footprints.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/footprints.hpp
@@ -20,7 +20,6 @@
 
 #include <tier4_autoware_utils/ros/transform_listener.hpp>
 
-#include "autoware_auto_planning_msgs/msg/detail/path_point__struct.hpp"
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/vector3.hpp>
@@ -31,11 +30,6 @@
 #include <boost/geometry/index/predicates.hpp>
 #include <boost/geometry/index/rtree.hpp>
 
-#include <memory>
-#include <string>
-#include <utility>
-#include <vector>
-
 namespace drivable_area_expansion
 {
 /// @brief translate a polygon by some (x,y) vector
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/parameters.hpp
index e7275960b0888..2f9604223a248 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/parameters.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/parameters.hpp
@@ -15,8 +15,6 @@
 #ifndef BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__PARAMETERS_HPP_
 #define BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__PARAMETERS_HPP_
 
-#include "behavior_path_planner/utils/drivable_area_expansion/types.hpp"
-
 #include <rclcpp/node.hpp>
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp
index 93afaad825582..3f5327acbca68 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/path_projection.hpp
@@ -21,7 +21,6 @@
 
 #include <boost/geometry.hpp>
 
-#include <iostream>
 #include <limits>
 
 namespace drivable_area_expansion
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp
index c2d36fdd6e0d7..f4ab10db61b9c 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/geometric_parallel_parking/geometric_parallel_parking.hpp
@@ -30,9 +30,7 @@
 
 #include <lanelet2_core/Forward.h>
 
-#include <algorithm>
 #include <memory>
-#include <string>
 #include <utility>
 #include <vector>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp
index 40c339e507683..9cede67fff6e5 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/default_fixed_goal_planner.hpp
@@ -20,7 +20,6 @@
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 
 #include <memory>
-#include <vector>
 
 namespace behavior_path_planner
 {
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/fixed_goal_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/fixed_goal_planner_base.hpp
index 3bc0e960fe468..f587051442dcd 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/fixed_goal_planner_base.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/fixed_goal_planner_base.hpp
@@ -16,13 +16,11 @@
 #define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__FIXED_GOAL_PLANNER_BASE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/parameters.hpp"
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
 #include <memory>
-#include <vector>
 
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using geometry_msgs::msg::Pose;
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher.hpp
index 9d957ae9767c9..2ed58b9678e70 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher.hpp
@@ -18,14 +18,11 @@
 #include "behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp"
 #include "behavior_path_planner/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp"
 
-#include "autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp"
-
 #include <memory>
 #include <vector>
 
 namespace behavior_path_planner
 {
-using autoware_auto_planning_msgs::msg::PathPointWithLaneId;
 using tier4_autoware_utils::LinearRing2d;
 using BasicPolygons2d = std::vector<lanelet::BasicPolygon2d>;
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp
index 7364ea91339e4..ab319111f6da6 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp
@@ -16,12 +16,10 @@
 #define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__GOAL_SEARCHER_BASE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp"
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
-#include <limits>
 #include <memory>
 #include <vector>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp
index 20788e53309ec..54bba6aee2fc2 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp
@@ -16,7 +16,6 @@
 #define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__PULL_OVER_PLANNER_BASE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/utils/create_vehicle_footprint.hpp"
 #include "behavior_path_planner/utils/goal_planner/goal_planner_parameters.hpp"
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp
index 8b9ef52394cdd..c664ae3e15aef 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp
@@ -16,17 +16,9 @@
 
 #include "behavior_path_planner/utils/avoidance/avoidance_module_data.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
-#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
-#include "lanelet2_core/geometry/Lanelet.h"
-
-#include "autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp"
 
 #include <lanelet2_core/primitives/Lanelet.h>
 
-#include <memory>
-#include <string>
-#include <unordered_map>
-#include <utility>
 #include <vector>
 
 namespace behavior_path_planner
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp
index cd8f293b2e610..ac712fa2f0fa5 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/utils.hpp
@@ -15,12 +15,10 @@
 #ifndef BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__UTILS_HPP_
 #define BEHAVIOR_PATH_PLANNER__UTILS__LANE_CHANGE__UTILS_HPP_
 
-#include "behavior_path_planner/marker_utils/lane_change/debug.hpp"
 #include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
-#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
 
 #include <route_handler/route_handler.hpp>
@@ -32,10 +30,7 @@
 
 #include <lanelet2_core/Forward.h>
 
-#include <memory>
 #include <string>
-#include <unordered_map>
-#include <utility>
 #include <vector>
 
 namespace behavior_path_planner::utils::lane_change
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_following/module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_following/module_data.hpp
index 93e4542568745..98d52b79e2edf 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_following/module_data.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_following/module_data.hpp
@@ -15,9 +15,6 @@
 #ifndef BEHAVIOR_PATH_PLANNER__UTILS__LANE_FOLLOWING__MODULE_DATA_HPP_
 #define BEHAVIOR_PATH_PLANNER__UTILS__LANE_FOLLOWING__MODULE_DATA_HPP_
 
-#include <string>
-#include <vector>
-
 namespace behavior_path_planner
 {
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp
index 15b15bac40b51..67588ed0a67b6 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp
@@ -27,7 +27,6 @@
 #include <tf2/utils.h>
 
 #include <memory>
-#include <string>
 #include <utility>
 #include <vector>
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/safety_check.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/safety_check.hpp
index 64f5c9e5fc3e0..8409116236169 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/safety_check.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_safety_checker/safety_check.hpp
@@ -16,7 +16,6 @@
 #define BEHAVIOR_PATH_PLANNER__UTILS__PATH_SAFETY_CHECKER__SAFETY_CHECK_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/marker_utils/utils.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
@@ -35,7 +34,6 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #endif
 
-#include <utility>
 #include <vector>
 
 namespace behavior_path_planner::utils::path_safety_checker
@@ -52,8 +50,6 @@ using tier4_autoware_utils::Point2d;
 using tier4_autoware_utils::Polygon2d;
 using vehicle_info_util::VehicleInfo;
 
-namespace bg = boost::geometry;
-
 bool isTargetObjectOncoming(
   const geometry_msgs::msg::Pose & vehicle_pose, const geometry_msgs::msg::Pose & object_pose);
 
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp
index 4b1115a049ab0..91ed95b14b905 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_shifter/path_shifter.hpp
@@ -15,8 +15,6 @@
 #ifndef BEHAVIOR_PATH_PLANNER__UTILS__PATH_SHIFTER__PATH_SHIFTER_HPP_
 #define BEHAVIOR_PATH_PLANNER__UTILS__PATH_SHIFTER__PATH_SHIFTER_HPP_
 
-#include "behavior_path_planner/parameters.hpp"
-
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
@@ -24,7 +22,6 @@
 
 #include <boost/optional.hpp>
 
-#include <algorithm>
 #include <string>
 #include <utility>
 #include <vector>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/side_shift/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/side_shift/util.hpp
index 65d79a2a4977b..6cdfd84d79075 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/side_shift/util.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/side_shift/util.hpp
@@ -20,9 +20,6 @@
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 
-#include <memory>
-#include <string>
-
 namespace behavior_path_planner
 {
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_goal_planner_common/common_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_goal_planner_common/common_module_data.hpp
index 55b8bdf777692..7a973a3bd699f 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_goal_planner_common/common_module_data.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_goal_planner_common/common_module_data.hpp
@@ -15,7 +15,6 @@
 #ifndef BEHAVIOR_PATH_PLANNER__UTILS__START_GOAL_PLANNER_COMMON__COMMON_MODULE_DATA_HPP_
 #define BEHAVIOR_PATH_PLANNER__UTILS__START_GOAL_PLANNER_COMMON__COMMON_MODULE_DATA_HPP_
 
-#include "behavior_path_planner/marker_utils/utils.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 
 #include <rclcpp/rclcpp.hpp>
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/freespace_pull_out.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/freespace_pull_out.hpp
index 2b2de183b2dac..d78df16f89a80 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/freespace_pull_out.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/freespace_pull_out.hpp
@@ -24,7 +24,6 @@
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
 
 #include <memory>
-#include <vector>
 
 namespace behavior_path_planner
 {
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/pull_out_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/pull_out_planner_base.hpp
index cb662efd767bf..4c9271d57127d 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/pull_out_planner_base.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/pull_out_planner_base.hpp
@@ -16,7 +16,6 @@
 #define BEHAVIOR_PATH_PLANNER__UTILS__START_PLANNER__PULL_OUT_PLANNER_BASE_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/utils/create_vehicle_footprint.hpp"
 #include "behavior_path_planner/utils/start_planner/pull_out_path.hpp"
 #include "behavior_path_planner/utils/start_planner/start_planner_parameters.hpp"
@@ -27,14 +26,13 @@
 #include <boost/optional.hpp>
 
 #include <memory>
-#include <vector>
 
+namespace behavior_path_planner
+{
 using autoware_auto_planning_msgs::msg::PathWithLaneId;
 using geometry_msgs::msg::Pose;
 using tier4_autoware_utils::LinearRing2d;
 
-namespace behavior_path_planner
-{
 enum class PlannerType {
   NONE = 0,
   SHIFT = 1,
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp
index f2dba684de991..e7f51b2e86d5b 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp
@@ -18,7 +18,6 @@
 #include "behavior_path_planner/data_manager.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
-#include "behavior_path_planner/utils/start_planner/pull_out_path.hpp"
 
 #include <route_handler/route_handler.hpp>
 
@@ -32,7 +31,6 @@
 
 #include <memory>
 #include <utility>
-#include <vector>
 
 namespace behavior_path_planner::start_planner_utils
 {
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
index 3e03a09d3adf8..f418c9c7300f7 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp
@@ -16,14 +16,8 @@
 #define BEHAVIOR_PATH_PLANNER__UTILS__UTILS_HPP_
 
 #include "behavior_path_planner/data_manager.hpp"
-#include "behavior_path_planner/marker_utils/utils.hpp"
-#include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
-#include "behavior_path_planner/utils/lane_following/module_data.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
-#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
-#include "behavior_path_planner/utils/start_planner/pull_out_path.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "object_recognition_utils/predicted_path_utils.hpp"
 
 #include <route_handler/route_handler.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
@@ -51,8 +45,6 @@
 #include <limits>
 #include <memory>
 #include <string>
-#include <unordered_map>
-#include <utility>
 #include <vector>
 
 namespace behavior_path_planner::utils
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
index 3fb9060835698..52adfc72ce761 100644
--- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -15,8 +15,13 @@
 #include "behavior_path_planner/behavior_path_planner_node.hpp"
 
 #include "behavior_path_planner/marker_utils/utils.hpp"
+#include "behavior_path_planner/scene_module/avoidance/manager.hpp"
+#include "behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp"
+#include "behavior_path_planner/scene_module/goal_planner/manager.hpp"
 #include "behavior_path_planner/scene_module/lane_change/interface.hpp"
-#include "behavior_path_planner/utils/drivable_area_expansion/map_utils.hpp"
+#include "behavior_path_planner/scene_module/lane_change/manager.hpp"
+#include "behavior_path_planner/scene_module/side_shift/manager.hpp"
+#include "behavior_path_planner/scene_module/start_planner/manager.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
 
 #include <tier4_autoware_utils/ros/update_param.hpp>
@@ -26,7 +31,6 @@
 
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 namespace
diff --git a/planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp b/planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp
index 14a7d5be6a58a..ce9cedc816a19 100644
--- a/planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp
+++ b/planning/behavior_path_planner/src/marker_utils/avoidance/debug.cpp
@@ -14,9 +14,7 @@
 
 #include "behavior_path_planner/marker_utils/avoidance/debug.hpp"
 
-#include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
-#include "motion_utils/trajectory/path_with_lane_id.hpp"
 
 #include <magic_enum.hpp>
 
@@ -29,7 +27,6 @@
 namespace marker_utils::avoidance_marker
 {
 
-using behavior_path_planner::AvoidLine;
 using tier4_autoware_utils::appendMarkerArray;
 using tier4_autoware_utils::calcDistance2d;
 using tier4_autoware_utils::calcOffsetPose;
diff --git a/planning/behavior_path_planner/src/marker_utils/lane_change/debug.cpp b/planning/behavior_path_planner/src/marker_utils/lane_change/debug.cpp
index a1b77b1802999..a7604124ebe43 100644
--- a/planning/behavior_path_planner/src/marker_utils/lane_change/debug.cpp
+++ b/planning/behavior_path_planner/src/marker_utils/lane_change/debug.cpp
@@ -25,8 +25,6 @@
 
 #include <cstdint>
 #include <cstdlib>
-#include <iomanip>
-#include <sstream>
 #include <string>
 #include <vector>
 
diff --git a/planning/behavior_path_planner/src/marker_utils/utils.cpp b/planning/behavior_path_planner/src/marker_utils/utils.cpp
index 03ac135ec4bc1..031926f2d9d1d 100644
--- a/planning/behavior_path_planner/src/marker_utils/utils.cpp
+++ b/planning/behavior_path_planner/src/marker_utils/utils.cpp
@@ -17,7 +17,6 @@
 #include "behavior_path_planner/marker_utils/colors.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
-#include "behavior_path_planner/utils/utils.hpp"
 
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 #include <tier4_autoware_utils/ros/uuid_helper.hpp>
diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp
index d0e55ffa574fd..4c3d7cff0c24c 100644
--- a/planning/behavior_path_planner/src/planner_manager.cpp
+++ b/planning/behavior_path_planner/src/planner_manager.cpp
@@ -14,7 +14,6 @@
 
 #include "behavior_path_planner/planner_manager.hpp"
 
-#include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
 #include "tier4_autoware_utils/ros/debug_publisher.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
index b4b0a871eec62..84064a1c38bcb 100644
--- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -52,17 +52,12 @@
 namespace behavior_path_planner
 {
 
-using behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug;
 using motion_utils::calcLongitudinalOffsetPose;
 using motion_utils::calcSignedArcLength;
 using motion_utils::findNearestIndex;
-using motion_utils::findNearestSegmentIndex;
 using tier4_autoware_utils::appendMarkerArray;
 using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::calcInterpolatedPose;
 using tier4_autoware_utils::calcLateralDeviation;
-using tier4_autoware_utils::calcLongitudinalDeviation;
-using tier4_autoware_utils::calcYawDeviation;
 using tier4_autoware_utils::getPoint;
 using tier4_autoware_utils::getPose;
 using tier4_autoware_utils::toHexString;
diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
index 24c074bcb629b..d8434593d2214 100644
--- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp
@@ -14,8 +14,8 @@
 
 #include "behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp"
 
-#include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
+#include "object_recognition_utils/predicted_path_utils.hpp"
 #include "signal_processing/lowpass_filter_1d.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
@@ -30,7 +30,6 @@
 #include <algorithm>
 #include <limits>
 #include <memory>
-#include <set>
 #include <string>
 #include <vector>
 namespace behavior_path_planner
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 dc1ac1466397d..6253097b1692d 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
@@ -17,11 +17,11 @@
 #include "behavior_path_planner/utils/create_vehicle_footprint.hpp"
 #include "behavior_path_planner/utils/goal_planner/util.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp"
+#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 #include "tier4_autoware_utils/math/unit_conversion.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
@@ -38,7 +38,6 @@
 #include <vector>
 
 using behavior_path_planner::utils::start_goal_planner_common::calcFeasibleDecelDistance;
-using motion_utils::calcDecelDistWithJerkAndAccConstraints;
 using motion_utils::calcLongitudinalOffsetPose;
 using motion_utils::calcSignedArcLength;
 using motion_utils::findFirstNearestSegmentIndexWithSoftConstraints;
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp
index 1f305e3988828..daba02e1cee89 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp
@@ -17,7 +17,6 @@
 #include "behavior_path_planner/utils/avoidance/utils.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <tier4_autoware_utils/geometry/boost_geometry.hpp>
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/external_request.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/external_request.cpp
index a74a51b7e2cdb..3a304a9b5bb53 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/external_request.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/external_request.cpp
@@ -14,18 +14,9 @@
 
 #include "behavior_path_planner/scene_module/lane_change/external_request.hpp"
 
-#include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
-#include "behavior_path_planner/utils/lane_change/utils.hpp"
-#include "behavior_path_planner/utils/path_utils.hpp"
-
 #include <lanelet2_extension/utility/utilities.hpp>
 
-#include <algorithm>
-#include <limits>
 #include <memory>
-#include <string>
-#include <utility>
-#include <vector>
 
 namespace behavior_path_planner
 {
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp
index 0a0cc3436bce7..22c8ac022ad1a 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp
@@ -19,12 +19,10 @@
 #include "behavior_path_planner/scene_module/scene_module_interface.hpp"
 #include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
 #include "behavior_path_planner/utils/lane_change/utils.hpp"
-#include "behavior_path_planner/utils/path_utils.hpp"
 
 #include <tier4_autoware_utils/ros/marker_helper.hpp>
 
 #include <algorithm>
-#include <limits>
 #include <memory>
 #include <string>
 #include <utility>
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
index c6995ada1bfa6..78e05c940a814 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp
@@ -21,7 +21,6 @@
 
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 namespace behavior_path_planner
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
index de4afc9260da0..de120592e7505 100644
--- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
+++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
@@ -15,9 +15,9 @@
 #include "behavior_path_planner/scene_module/lane_change/normal.hpp"
 
 #include "behavior_path_planner/marker_utils/utils.hpp"
-#include "behavior_path_planner/scene_module/scene_module_visitor.hpp"
 #include "behavior_path_planner/utils/lane_change/utils.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp"
+#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
 
diff --git a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp
index 4e9680cee4d59..2232c6d750d55 100644
--- a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp
@@ -32,7 +32,6 @@ using motion_utils::calcSignedArcLength;
 using motion_utils::findNearestIndex;
 using motion_utils::findNearestSegmentIndex;
 using tier4_autoware_utils::calcDistance2d;
-using tier4_autoware_utils::calcOffsetPose;
 using tier4_autoware_utils::getPoint;
 
 SideShiftModule::SideShiftModule(
diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
index c828a747856d8..ed14292747e68 100644
--- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
@@ -20,7 +20,6 @@
 #include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp"
 #include "behavior_path_planner/utils/start_planner/util.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
@@ -39,7 +38,6 @@
 
 using motion_utils::calcLongitudinalOffsetPose;
 using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::inverseTransformPoint;
 
 namespace behavior_path_planner
 {
diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
index 8fb30a28f1272..a9f40dad86ae4 100644
--- a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
@@ -18,7 +18,6 @@
 #include "behavior_path_planner/utils/avoidance/utils.hpp"
 #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
-#include "motion_utils/trajectory/path_with_lane_id.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
 #include <autoware_auto_tf2/tf2_autoware_auto_msgs.hpp>
diff --git a/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp b/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
index 3d315e7213f96..d5bf67f754ab7 100644
--- a/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
+++ b/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
@@ -17,7 +17,6 @@
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/start_planner/util.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
-#include "motion_utils/trajectory/path_with_lane_id.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 #include "tier4_autoware_utils/math/unit_conversion.hpp"
 
@@ -37,8 +36,6 @@
 
 #include <boost/geometry/algorithms/within.hpp>
 
-#include <limits>
-#include <string>
 #include <utility>
 #include <vector>
 
diff --git a/planning/behavior_path_planner/src/utils/goal_planner/default_fixed_goal_planner.cpp b/planning/behavior_path_planner/src/utils/goal_planner/default_fixed_goal_planner.cpp
index 7efdbdf1552d5..4c9832c374c63 100644
--- a/planning/behavior_path_planner/src/utils/goal_planner/default_fixed_goal_planner.cpp
+++ b/planning/behavior_path_planner/src/utils/goal_planner/default_fixed_goal_planner.cpp
@@ -21,7 +21,6 @@
 #include <lanelet2_extension/utility/utilities.hpp>
 
 #include <memory>
-#include <vector>
 
 namespace behavior_path_planner
 {
diff --git a/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp
index a80f7892b0bef..017ecb218bea3 100644
--- a/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp
+++ b/planning/behavior_path_planner/src/utils/goal_planner/geometric_pull_over.cpp
@@ -15,8 +15,6 @@
 #include "behavior_path_planner/utils/goal_planner/geometric_pull_over.hpp"
 
 #include "behavior_path_planner/utils/goal_planner/util.hpp"
-#include "behavior_path_planner/utils/path_utils.hpp"
-#include "motion_utils/trajectory/path_with_lane_id.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp b/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp
index 12044980ebd81..1e6dc1776359b 100644
--- a/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp
+++ b/planning/behavior_path_planner/src/utils/goal_planner/goal_searcher.cpp
@@ -20,7 +20,6 @@
 #include "lanelet2_extension/regulatory_elements/no_parking_area.hpp"
 #include "lanelet2_extension/regulatory_elements/no_stopping_area.hpp"
 #include "lanelet2_extension/utility/utilities.hpp"
-#include "motion_utils/trajectory/path_with_lane_id.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
 #include <boost/geometry/algorithms/union.hpp>
@@ -37,7 +36,6 @@ using lane_departure_checker::LaneDepartureChecker;
 using lanelet::autoware::NoParkingArea;
 using lanelet::autoware::NoStoppingArea;
 using tier4_autoware_utils::calcOffsetPose;
-using tier4_autoware_utils::inverseTransformPose;
 
 // Sort with smaller longitudinal distances taking precedence over smaller lateral distances.
 struct SortByLongitudinalDistance
diff --git a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp
index e1bdaf977dad8..60cc2d19c5f35 100644
--- a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp
+++ b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp
@@ -16,8 +16,6 @@
 
 #include "behavior_path_planner/utils/goal_planner/util.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
-#include "behavior_path_planner/utils/start_goal_planner_common/utils.hpp"
-#include "motion_utils/trajectory/path_with_lane_id.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
diff --git a/planning/behavior_path_planner/src/utils/goal_planner/util.cpp b/planning/behavior_path_planner/src/utils/goal_planner/util.cpp
index e7fa5e42dc092..1cd985d566f73 100644
--- a/planning/behavior_path_planner/src/utils/goal_planner/util.cpp
+++ b/planning/behavior_path_planner/src/utils/goal_planner/util.cpp
@@ -14,9 +14,6 @@
 
 #include "behavior_path_planner/utils/goal_planner/util.hpp"
 
-#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
-#include "behavior_path_planner/utils/path_utils.hpp"
-
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/rclcpp.hpp>
@@ -29,7 +26,6 @@
 #include <tf2_ros/transform_listener.h>
 
 #include <algorithm>
-#include <limits>
 #include <memory>
 #include <string>
 #include <vector>
diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
index 6d25cb8751a8e..d5867c40824d2 100644
--- a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
@@ -14,13 +14,14 @@
 
 #include "behavior_path_planner/utils/lane_change/utils.hpp"
 
+#include "behavior_path_planner/marker_utils/utils.hpp"
 #include "behavior_path_planner/parameters.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_module_data.hpp"
 #include "behavior_path_planner/utils/lane_change/lane_change_path.hpp"
-#include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 #include "behavior_path_planner/utils/path_utils.hpp"
 #include "behavior_path_planner/utils/utils.hpp"
+#include "object_recognition_utils/predicted_path_utils.hpp"
 
 #include <lanelet2_extension/utility/query.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
@@ -39,7 +40,6 @@
 
 #include <algorithm>
 #include <limits>
-#include <memory>
 #include <string>
 #include <vector>
 
diff --git a/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp
index dfc9f76b25e33..a7c604985de3a 100644
--- a/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp
+++ b/planning/behavior_path_planner/src/utils/path_safety_checker/objects_filtering.cpp
@@ -15,6 +15,7 @@
 #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp"
 
 #include "behavior_path_planner/utils/utils.hpp"
+#include "object_recognition_utils/predicted_path_utils.hpp"
 
 #include <motion_utils/trajectory/interpolation.hpp>
 #include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
diff --git a/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp
index 08ebd01ba5d05..8ebc144a34584 100644
--- a/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp
+++ b/planning/behavior_path_planner/src/utils/path_safety_checker/safety_check.cpp
@@ -14,11 +14,8 @@
 
 #include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp"
 
-#include "behavior_path_planner/marker_utils/utils.hpp"
 #include "interpolation/linear_interpolation.hpp"
-#include "motion_utils/trajectory/path_with_lane_id.hpp"
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "object_recognition_utils/predicted_path_utils.hpp"
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 
 #include <boost/geometry/algorithms/distance.hpp>
@@ -27,6 +24,9 @@
 
 namespace behavior_path_planner::utils::path_safety_checker
 {
+
+namespace bg = boost::geometry;
+
 void appendPointToPolygon(Polygon2d & polygon, const geometry_msgs::msg::Point & geom_point)
 {
   Point2d point;
diff --git a/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp
index 21d4ff666e28a..df2d82b1072d4 100644
--- a/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp
+++ b/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp
@@ -15,13 +15,11 @@
 #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 
 #include "behavior_path_planner/utils/path_utils.hpp"
-#include "behavior_path_planner/utils/utils.hpp"
 
 #include <interpolation/spline_interpolation.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <motion_utils/trajectory/path_with_lane_id.hpp>
 
-#include <limits>
 #include <string>
 #include <utility>
 #include <vector>
diff --git a/planning/behavior_path_planner/src/utils/path_utils.cpp b/planning/behavior_path_planner/src/utils/path_utils.cpp
index 1ac63f4a4be87..3ac3c09ba0d97 100644
--- a/planning/behavior_path_planner/src/utils/path_utils.cpp
+++ b/planning/behavior_path_planner/src/utils/path_utils.cpp
@@ -15,7 +15,6 @@
 #include "behavior_path_planner/utils/path_utils.hpp"
 
 #include "behavior_path_planner/utils/utils.hpp"
-#include "motion_utils/trajectory/path_with_lane_id.hpp"
 
 #include <interpolation/spline_interpolation.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
@@ -23,7 +22,6 @@
 #include <motion_utils/trajectory/interpolation.hpp>
 #include <tier4_autoware_utils/geometry/geometry.hpp>
 
-// #include <lanelet2_core/geometry/Lanelet.h>
 #include <tf2/utils.h>
 
 #include <algorithm>
diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp
index cb0486b6cd01b..6927327e24ef4 100644
--- a/planning/behavior_path_planner/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/utils.cpp
@@ -15,7 +15,9 @@
 #include "behavior_path_planner/utils/utils.hpp"
 
 #include "behavior_path_planner/utils/drivable_area_expansion/drivable_area_expansion.hpp"
+#include "behavior_path_planner/utils/path_shifter/path_shifter.hpp"
 #include "motion_utils/trajectory/path_with_lane_id.hpp"
+#include "object_recognition_utils/predicted_path_utils.hpp"
 
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/query.hpp>
@@ -24,9 +26,6 @@
 #include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>
 #include <tier4_autoware_utils/math/unit_conversion.hpp>
 
-#include "autoware_auto_perception_msgs/msg/predicted_object.hpp"
-#include "autoware_auto_perception_msgs/msg/predicted_path.hpp"
-
 #include <boost/geometry/algorithms/is_valid.hpp>
 
 #include <lanelet2_core/geometry/Point.h>
diff --git a/planning/behavior_path_planner/test/input.hpp b/planning/behavior_path_planner/test/input.hpp
index de167bc8b4bcb..ededb32f78be0 100644
--- a/planning/behavior_path_planner/test/input.hpp
+++ b/planning/behavior_path_planner/test/input.hpp
@@ -16,9 +16,11 @@
 #define INPUT_HPP_
 
 #endif  // INPUT_HPP_
-#include "behavior_path_planner/utils/utils.hpp"
 
 #include "autoware_auto_planning_msgs/msg/path_point.hpp"
+#include "autoware_auto_planning_msgs/msg/path_point_with_lane_id.hpp"
+#include "autoware_auto_planning_msgs/msg/path_with_lane_id.hpp"
+#include "geometry_msgs/msg/pose.hpp"
 #include "geometry_msgs/msg/twist.hpp"
 
 #include <vector>
@@ -26,6 +28,9 @@
 namespace behavior_path_planner
 {
 using autoware_auto_planning_msgs::msg::PathPoint;
+using autoware_auto_planning_msgs::msg::PathPointWithLaneId;
+using autoware_auto_planning_msgs::msg::PathWithLaneId;
+using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::Twist;
 PathWithLaneId generateStraightSamplePathWithLaneId(
   float initial_pose_value, float pose_increment, size_t point_sample);