diff --git a/common/autoware_test_utils/package.xml b/common/autoware_test_utils/package.xml
index 740e7f840141d..f67b366480b00 100644
--- a/common/autoware_test_utils/package.xml
+++ b/common/autoware_test_utils/package.xml
@@ -33,9 +33,7 @@
   <depend>std_srvs</depend>
   <depend>tf2_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_api_msgs</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>tier4_v2x_msgs</depend>
   <depend>unique_identifier_msgs</depend>
   <depend>yaml_cpp_vendor</depend>
 
diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
index aa7836bc66b88..bb808484e10be 100644
--- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
+++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp
@@ -52,7 +52,6 @@
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/bool.hpp>
 #include <tf2_msgs/msg/tf_message.hpp>
-#include <tier4_planning_msgs/msg/lateral_offset.hpp>
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 #include <tier4_planning_msgs/msg/scenario.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
@@ -83,7 +82,6 @@ using nav_msgs::msg::OccupancyGrid;
 using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::PointCloud2;
 using tf2_msgs::msg::TFMessage;
-using tier4_planning_msgs::msg::LateralOffset;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using tier4_planning_msgs::msg::Scenario;
 using tier4_planning_msgs::msg::VelocityLimit;
@@ -119,7 +117,6 @@ class PlanningInterfaceTestManager
   void publishRoute(rclcpp::Node::SharedPtr target_node, std::string topic_name);
   void publishTF(rclcpp::Node::SharedPtr target_node, std::string topic_name);
   void publishInitialPoseTF(rclcpp::Node::SharedPtr target_node, std::string topic_name);
-  void publishLateralOffset(rclcpp::Node::SharedPtr target_node, std::string topic_name);
   void publishOperationModeState(rclcpp::Node::SharedPtr target_node, std::string topic_name);
   void publishTrafficSignals(rclcpp::Node::SharedPtr target_node, std::string topic_name);
 
@@ -189,7 +186,6 @@ class PlanningInterfaceTestManager
   rclcpp::Publisher<LaneletRoute>::SharedPtr route_pub_;
   rclcpp::Publisher<TFMessage>::SharedPtr TF_pub_;
   rclcpp::Publisher<TFMessage>::SharedPtr initial_pose_tf_pub_;
-  rclcpp::Publisher<LateralOffset>::SharedPtr lateral_offset_pub_;
   rclcpp::Publisher<OperationModeState>::SharedPtr operation_mode_state_pub_;
   rclcpp::Publisher<TrafficLightGroupArray>::SharedPtr traffic_signals_pub_;
 
diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml
index d3395a6c518f3..d5f8383913274 100644
--- a/planning/autoware_planning_test_manager/package.xml
+++ b/planning/autoware_planning_test_manager/package.xml
@@ -32,7 +32,6 @@
   <depend>tf2_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_planning_msgs</depend>
-  <depend>tier4_v2x_msgs</depend>
   <depend>unique_identifier_msgs</depend>
   <depend>yaml_cpp_vendor</depend>
 
diff --git a/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
index 9bc73f3455821..f07efd0cda116 100644
--- a/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
+++ b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp
@@ -153,13 +153,6 @@ void PlanningInterfaceTestManager::publishTF(
     autoware::test_utils::makeTFMsg(target_node, "base_link", "map"));
 }
 
-void PlanningInterfaceTestManager::publishLateralOffset(
-  rclcpp::Node::SharedPtr target_node, std::string topic_name)
-{
-  autoware::test_utils::publishToTargetNode(
-    test_node_, target_node, topic_name, lateral_offset_pub_, LateralOffset{});
-}
-
 void PlanningInterfaceTestManager::publishOperationModeState(
   rclcpp::Node::SharedPtr target_node, std::string topic_name)
 {
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/test_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/test_utils.cpp
index 2ce6f5bee9a50..4930ead6d355d 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/test_utils.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/src/test_utils.cpp
@@ -18,12 +18,30 @@
 #include <autoware_planning_test_manager/autoware_planning_test_manager.hpp>
 #include <autoware_test_utils/autoware_test_utils.hpp>
 
+#include <tier4_planning_msgs/msg/lateral_offset.hpp>
+
 #include <memory>
 #include <string>
 #include <vector>
 
 namespace autoware::behavior_path_planner
 {
+namespace
+{
+using tier4_planning_msgs::msg::LateralOffset;
+
+void publishLateralOffset(
+  std::shared_ptr<PlanningInterfaceTestManager> test_manager,
+  std::shared_ptr<BehaviorPathPlannerNode> test_target_node)
+{
+  auto test_node = test_manager->getTestNode();
+  const auto pub_lateral_offset = test_manager->getTestNode()->create_publisher<LateralOffset>(
+    "behavior_path_planner/input/lateral_offset", 1);
+  pub_lateral_offset->publish(LateralOffset{});
+  autoware::test_utils::spinSomeNodes(test_node, test_target_node, 3);
+}
+}  // namespace
+
 std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
 {
   auto test_manager = std::make_shared<PlanningInterfaceTestManager>();
@@ -95,7 +113,6 @@ void publishMandatoryTopics(
   test_manager->publishMap(test_target_node, "behavior_path_planner/input/vector_map");
   test_manager->publishCostMap(test_target_node, "behavior_path_planner/input/costmap");
   test_manager->publishOperationModeState(test_target_node, "system/operation_mode/state");
-  test_manager->publishLateralOffset(
-    test_target_node, "behavior_path_planner/input/lateral_offset");
+  publishLateralOffset(test_manager, test_target_node);
 }
 }  // namespace autoware::behavior_path_planner