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/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp
index 51875952d40fb..184ac23d387f4 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 3d7cf07308a79..fb3b2d4bbc54c 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/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
index ed2e42bf0c5ff..d959f95981c10 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/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 ff26c7a3654c3..4a2646e61013e 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>