diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml
deleted file mode 100644
index e6c7f6cc24..0000000000
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml
+++ /dev/null
@@ -1,94 +0,0 @@
-<?xml version="1.0"?>
-<root main_tree_to_execute="BehaviorTree">
-    <!-- ////////// -->
-    <BehaviorTree ID="BehaviorTree">
-        <Fallback>
-            <ReactiveSequence>
-                <Condition ID="GoalPlanner_Request"/>
-                <Action ID="GoalPlanner_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="StartPlanner_Request"/>
-                <Action ID="StartPlanner_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="SideShift_Request"/>
-                <Action ID="SideShift_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="LaneChange_Request"/>
-                <Action ID="LaneChange_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="Avoidance_Request"/>
-                <Action ID="Avoidance_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <Action ID="LaneFollowing_Plan" output="{output}"/>
-        </Fallback>
-    </BehaviorTree>
-    <!-- ////////// -->
-    <BehaviorTree ID="a">
-        <ReactiveFallback>
-            <Condition ID="LaneChange_CheckApproval"/>
-            <KeepRunningUntilFailure>
-                <Action ID="LaneChange_PlanCandidate" output="{output}"/>
-            </KeepRunningUntilFailure>
-        </ReactiveFallback>
-    </BehaviorTree>
-    <!-- ////////// -->
-    <BehaviorTree ID="b">
-        <ReactiveFallback>
-            <Condition ID="Avoidance_CheckApproval"/>
-            <KeepRunningUntilFailure>
-                <Action ID="Avoidance_PlanCandidate" output="{output}"/>
-            </KeepRunningUntilFailure>
-        </ReactiveFallback>
-    </BehaviorTree>
-    <!-- ////////// -->
-    <TreeNodesModel>
-        <Condition ID="Avoidance_CheckApproval"/>
-        <Action ID="Avoidance_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Action ID="Avoidance_PlanCandidate">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="Avoidance_Request"/>
-        <Condition ID="ExternalApproval"/>
-        <Condition ID="LaneChange_CheckApproval"/>
-        <Action ID="LaneChange_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Action ID="LaneChange_PlanCandidate">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="LaneChange_Request"/>
-        <Action ID="LaneFollowing_Plan">
-            <output_port name="output" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
-        </Action>
-        <Action ID="LaneFollowing_PlanCandidate">
-            <output_port name="output_candidate" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
-        </Action>
-        <Condition ID="LaneFollowing_Request"/>
-        <Action ID="StartPlanner_Plan">
-            <output_port name="output"/>
-        </Action>
-        <Condition ID="StartPlanner_Request"/>
-        <Action ID="GoalPlanner_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="GoalPlanner_Request"/>
-        <Condition ID="SideShift_CheckApproval"/>
-        <Action ID="SideShift_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Action ID="SideShift_PlanCandidate">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="SideShift_Request"/>
-        <SubTree ID="SubTree"/>
-        <SubTree ID="a"/>
-        <SubTree ID="b"/>
-    </TreeNodesModel>
-    <!-- ////////// -->
-</root>
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml
deleted file mode 100644
index 8988dd41b5..0000000000
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_lane_change_only.xml
+++ /dev/null
@@ -1,86 +0,0 @@
-<?xml version="1.0"?>
-<root main_tree_to_execute="BehaviorTree">
-    <!-- ////////// -->
-    <BehaviorTree ID="BehaviorTree">
-        <Fallback>
-            <ReactiveSequence>
-                <Condition ID="GoalPlanner_Request"/>
-                <Action ID="GoalPlanner_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="StartPlanner_Request"/>
-                <Action ID="StartPlanner_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="LaneChange_Request"/>
-                <Action ID="LaneChange_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <Action ID="LaneFollowing_Plan" output="{output}"/>
-        </Fallback>
-    </BehaviorTree>
-    <!-- ////////// -->
-    <BehaviorTree ID="a">
-        <ReactiveFallback>
-            <Condition ID="LaneChange_CheckApproval"/>
-            <KeepRunningUntilFailure>
-                <Action ID="LaneChange_PlanCandidate" output="{output}"/>
-            </KeepRunningUntilFailure>
-        </ReactiveFallback>
-    </BehaviorTree>
-    <!-- ////////// -->
-    <BehaviorTree ID="b">
-        <ReactiveFallback>
-            <Condition ID="Avoidance_CheckApproval"/>
-            <KeepRunningUntilFailure>
-                <Action ID="Avoidance_PlanCandidate" output="{output}"/>
-            </KeepRunningUntilFailure>
-        </ReactiveFallback>
-    </BehaviorTree>
-    <!-- ////////// -->
-    <TreeNodesModel>
-        <Condition ID="Avoidance_CheckApproval"/>
-        <Action ID="Avoidance_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Action ID="Avoidance_PlanCandidate">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="Avoidance_Request"/>
-        <Condition ID="ExternalApproval"/>
-        <Condition ID="LaneChange_CheckApproval"/>
-        <Action ID="LaneChange_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Action ID="LaneChange_PlanCandidate">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="LaneChange_Request"/>
-        <Action ID="LaneFollowing_Plan">
-            <output_port name="output" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
-        </Action>
-        <Action ID="LaneFollowing_PlanCandidate">
-            <output_port name="output_candidate" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
-        </Action>
-        <Condition ID="LaneFollowing_Request"/>
-        <Action ID="StartPlanner_Plan">
-            <output_port name="output"/>
-        </Action>
-        <Condition ID="StartPlanner_Request"/>
-        <Action ID="GoalPlanner_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="GoalPlanner_Request"/>
-        <Condition ID="SideShift_CheckApproval"/>
-        <Action ID="SideShift_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Action ID="SideShift_PlanCandidate">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="SideShift_Request"/>
-        <SubTree ID="SubTree"/>
-        <SubTree ID="a"/>
-        <SubTree ID="b"/>
-    </TreeNodesModel>
-    <!-- ////////// -->
-</root>
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml
deleted file mode 100644
index 32f30af69a..0000000000
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_pull_out.xml
+++ /dev/null
@@ -1,100 +0,0 @@
-<?xml version="1.0"?>
-<root main_tree_to_execute="BehaviorTree">
-    <!-- ////////// -->
-    <BehaviorTree ID="BehaviorTree">
-        <Fallback>
-            <ReactiveSequence>
-                <Condition ID="GoalPlanner_Request"/>
-                <Condition ID="GoalPlanner_Ready"/>
-                <Action ID="GoalPlanner_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="StartPlanner_Request"/>
-                <Condition ID="StartPlanner_Ready"/>
-                <Action ID="StartPlanner_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="LaneChange_Request"/>
-                <Fallback>
-                    <Condition ID="LaneChange_Ready"/>
-                    <Condition ID="ForceLaneChange_ForceApproval"/>
-                </Fallback>
-                <Action ID="LaneChange_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <Action ID="LaneFollowing_Plan" output="{output}"/>
-        </Fallback>
-    </BehaviorTree>
-    <!-- ////////// -->
-    <BehaviorTree ID="a">
-        <ReactiveFallback>
-            <Condition ID="LaneChange_CheckApproval"/>
-            <KeepRunningUntilFailure>
-                <Action ID="LaneChange_PlanCandidate" output="{output}"/>
-            </KeepRunningUntilFailure>
-        </ReactiveFallback>
-    </BehaviorTree>
-    <!-- ////////// -->
-    <BehaviorTree ID="b">
-        <ReactiveFallback>
-            <Condition ID="Avoidance_CheckApproval"/>
-            <KeepRunningUntilFailure>
-                <Action ID="Avoidance_PlanCandidate" output="{output}"/>
-            </KeepRunningUntilFailure>
-        </ReactiveFallback>
-    </BehaviorTree>
-    <!-- ////////// -->
-    <TreeNodesModel>
-        <Condition ID="Avoidance_CheckApproval"/>
-        <Action ID="Avoidance_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Action ID="Avoidance_PlanCandidate">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="Avoidance_Ready"/>
-        <Condition ID="Avoidance_Request"/>
-        <Condition ID="ExternalApproval"/>
-        <Condition ID="ForceApproval"/>
-        <Condition ID="ForceLaneChange_ForceApproval"/>
-        <Condition ID="LaneChange_CheckApproval"/>
-        <Action ID="LaneChange_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Action ID="LaneChange_PlanCandidate">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="LaneChange_Ready"/>
-        <Condition ID="LaneChange_Request"/>
-        <Action ID="LaneFollowing_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Action ID="LaneFollowing_PlanCandidate">
-            <output_port name="output_candidate" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
-        </Action>
-        <Condition ID="LaneFollowing_Ready"/>
-        <Condition ID="LaneFollowing_Request"/>
-        <Action ID="StartPlanner_Plan">
-            <output_port name="output"/>
-        </Action>
-        <Condition ID="StartPlanner_Ready"/>
-        <Condition ID="StartPlanner_Request"/>
-        <Action ID="GoalPlanner_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="GoalPlanner_Ready"/>
-        <Condition ID="GoalPlanner_Request"/>
-        <Condition ID="SideShift_CheckApproval"/>
-        <Action ID="SideShift_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Action ID="SideShift_PlanCandidate">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="SideShift_Ready"/>
-        <Condition ID="SideShift_Request"/>
-        <SubTree ID="SubTree"/>
-        <SubTree ID="a"/>
-        <SubTree ID="b"/>
-    </TreeNodesModel>
-    <!-- ////////// -->
-</root>
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml
deleted file mode 100644
index 0410f775f7..0000000000
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml
+++ /dev/null
@@ -1,74 +0,0 @@
-<?xml version="1.0"?>
-<root main_tree_to_execute="BehaviorTree">
-    <!-- ////////// -->
-    <BehaviorTree ID="BehaviorTree">
-        <Fallback>
-            <ReactiveSequence>
-                <Condition ID="GoalPlanner_Request"/>
-                <Action ID="GoalPlanner_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="StartPlanner_Request"/>
-                <Action ID="StartPlanner_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="SideShift_Request"/>
-                <Action ID="SideShift_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="ExternalRequestLaneChangeRight_Request"/>
-                <Action ID="ExternalRequestLaneChangeRight_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="ExternalRequestLaneChangeLeft_Request"/>
-                <Action ID="ExternalRequestLaneChangeLeft_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="LaneChange_Request"/>
-                <Action ID="LaneChange_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <ReactiveSequence>
-                <Condition ID="Avoidance_Request"/>
-                <Action ID="Avoidance_Plan" output="{output}"/>
-            </ReactiveSequence>
-            <Action ID="LaneFollowing_Plan" output="{output}"/>
-        </Fallback>
-    </BehaviorTree>
-    <!-- ////////// -->
-    <TreeNodesModel>
-        <Action ID="Avoidance_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="Avoidance_Request"/>
-        <Condition ID="ExternalApproval"/>
-        <Action ID="ExternalRequestLaneChangeRight_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="ExternalRequestLaneChangeRight_Request"/>
-        <Action ID="ExternalRequestLaneChangeLeft_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="ExternalRequestLaneChangeLeft_Request"/>
-        <Action ID="LaneChange_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="LaneChange_Request"/>
-        <Action ID="LaneFollowing_Plan">
-            <output_port name="output" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
-        </Action>
-        <Condition ID="LaneFollowing_Request"/>
-        <Action ID="StartPlanner_Plan">
-            <output_port name="output"/>
-        </Action>
-        <Condition ID="StartPlanner_Request"/>
-        <Action ID="GoalPlanner_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="GoalPlanner_Request"/>
-        <Action ID="SideShift_Plan">
-            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
-        </Action>
-        <Condition ID="SideShift_Request"/>
-    </TreeNodesModel>
-    <!-- ////////// -->
-</root>
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index a24bad2841..c197512e24 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -41,7 +41,6 @@
     <arg name="start_planner_param_path" value="$(var behavior_path_config_path)/start_planner/start_planner.param.yaml"/>
     <arg name="drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
     <arg name="scene_module_manager_param_path" value="$(var behavior_path_config_path)/scene_module_manager.param.yaml"/>
-    <arg name="behavior_path_planner_tree_param_path" value="$(var behavior_path_config_path)/behavior_path_planner_tree.xml"/>
     <arg name="behavior_path_planner_param_path" value="$(var behavior_path_config_path)/behavior_path_planner.param.yaml"/>
 
     <!-- behavior velocity planner -->