diff --git a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
index 6b00a0dbdd4dc..e87de2d15e75c 100644
--- a/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
+++ b/common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
@@ -15,36 +15,25 @@
 #ifndef AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 #define AUTOWARE_TEST_UTILS__AUTOWARE_TEST_UTILS_HPP_
 
-#include <autoware/component_interface_specs/planning.hpp>
-#include <autoware/universe_utils/geometry/geometry.hpp>
-#include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
-#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
-#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
-#include <autoware_lanelet2_extension/utility/utilities.hpp>
+#include <rclcpp/rclcpp.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_planning_msgs/msg/lanelet_primitive.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <autoware_planning_msgs/msg/lanelet_segment.hpp>
+#include <autoware_planning_msgs/msg/path.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <rosgraph_msgs/msg/clock.hpp>
-#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/path_point_with_lane_id.hpp>
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 #include <tier4_planning_msgs/msg/scenario.hpp>
-#include <unique_identifier_msgs/msg/uuid.hpp>
 
-#include <cxxabi.h>
 #include <lanelet2_io/Io.h>
-#include <tf2/utils.h>
-#include <tf2_ros/buffer.h>
-#include <yaml-cpp/yaml.h>
 
 #include <limits>
 #include <memory>
@@ -65,18 +54,13 @@ using autoware_planning_msgs::msg::Trajectory;
 using tier4_planning_msgs::msg::PathPointWithLaneId;
 using tier4_planning_msgs::msg::PathWithLaneId;
 using RouteSections = std::vector<autoware_planning_msgs::msg::LaneletSegment>;
-using autoware::universe_utils::createPoint;
-using autoware::universe_utils::createQuaternionFromRPY;
 using geometry_msgs::msg::Point;
 using geometry_msgs::msg::Pose;
 using geometry_msgs::msg::PoseStamped;
-using geometry_msgs::msg::TransformStamped;
 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::Scenario;
-using unique_identifier_msgs::msg::UUID;
 
 /**
  * @brief Creates a Pose message with the specified position and orientation.
diff --git a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp
index 754f809fa3f23..6e9902a3ec3b5 100644
--- a/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp
+++ b/common/autoware_test_utils/include/autoware_test_utils/mock_data_parser.hpp
@@ -15,6 +15,7 @@
 #ifndef AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_
 #define AUTOWARE_TEST_UTILS__MOCK_DATA_PARSER_HPP_
 
+#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_planning_msgs/msg/lanelet_primitive.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <autoware_planning_msgs/msg/lanelet_segment.hpp>
diff --git a/common/autoware_test_utils/src/autoware_test_utils.cpp b/common/autoware_test_utils/src/autoware_test_utils.cpp
index 2c06d00263562..f62c47b67fda6 100644
--- a/common/autoware_test_utils/src/autoware_test_utils.cpp
+++ b/common/autoware_test_utils/src/autoware_test_utils.cpp
@@ -13,20 +13,28 @@
 // limitations under the License.
 
 #include <ament_index_cpp/get_package_share_directory.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
+#include <autoware_lanelet2_extension/io/autoware_osm_parser.hpp>
+#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
+#include <autoware_lanelet2_extension/utility/message_conversion.hpp>
+#include <autoware_lanelet2_extension/utility/utilities.hpp>
 #include <autoware_test_utils/autoware_test_utils.hpp>
 #include <autoware_test_utils/mock_data_parser.hpp>
-#include <rclcpp/clock.hpp>
-#include <rclcpp/executors/single_threaded_executor.hpp>
-#include <rclcpp/logging.hpp>
 #include <rclcpp/node.hpp>
 
 #include <lanelet2_core/geometry/LineString.h>
+#include <tf2/utils.h>
+#include <yaml-cpp/yaml.h>
 
 #include <utility>
 
 namespace autoware::test_utils
 {
 
+using autoware::universe_utils::createPoint;
+using autoware::universe_utils::createQuaternionFromRPY;
+using geometry_msgs::msg::TransformStamped;
+
 geometry_msgs::msg::Pose createPose(
   double x, double y, double z, double roll, double pitch, double yaw)
 {
diff --git a/common/autoware_test_utils/src/mock_data_parser.cpp b/common/autoware_test_utils/src/mock_data_parser.cpp
index e9c7911af0e44..b4b2a77edbc07 100644
--- a/common/autoware_test_utils/src/mock_data_parser.cpp
+++ b/common/autoware_test_utils/src/mock_data_parser.cpp
@@ -16,13 +16,6 @@
 
 #include <rclcpp/logging.hpp>
 
-#include <autoware_planning_msgs/msg/lanelet_primitive.hpp>
-#include <autoware_planning_msgs/msg/lanelet_route.hpp>
-#include <autoware_planning_msgs/msg/lanelet_segment.hpp>
-#include <geometry_msgs/msg/pose.hpp>
-
-#include <yaml-cpp/yaml.h>
-
 #include <algorithm>
 #include <string>
 #include <vector>
diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp
index 9a93b647dac02..63ad2ecce09cc 100644
--- a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp
+++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp
@@ -15,6 +15,7 @@
 #ifndef AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_
 #define AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_
 #include <autoware/route_handler/route_handler.hpp>
+#include <autoware/universe_utils/geometry/geometry.hpp>
 #include <autoware_test_utils/autoware_test_utils.hpp>
 
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>