diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp
index 8e3eaeb4bb455..53e4851b9e63e 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp
@@ -52,23 +52,6 @@
 #include <string>
 #include <vector>
 
-namespace tier4_autoware_utils
-{
-template <>
-inline geometry_msgs::msg::Point getPoint(
-  const autoware_auto_planning_msgs::msg::PathPointWithLaneId & p)
-{
-  return p.point.pose.position;
-}
-
-template <>
-inline geometry_msgs::msg::Pose getPose(
-  const autoware_auto_planning_msgs::msg::PathPointWithLaneId & p)
-{
-  return p.point.pose;
-}
-}  // namespace tier4_autoware_utils
-
 namespace tf2
 {
 inline void fromMsg(const geometry_msgs::msg::PoseStamped & msg, tf2::Stamped<tf2::Transform> & out)
diff --git a/planning/behavior_velocity_planner/include/scene_module/occlusion_spot/occlusion_spot_utils.hpp b/planning/behavior_velocity_planner/include/scene_module/occlusion_spot/occlusion_spot_utils.hpp
index e254e644ae5c9..152c3f2c01439 100644
--- a/planning/behavior_velocity_planner/include/scene_module/occlusion_spot/occlusion_spot_utils.hpp
+++ b/planning/behavior_velocity_planner/include/scene_module/occlusion_spot/occlusion_spot_utils.hpp
@@ -42,16 +42,6 @@
 #include <utility>
 #include <vector>
 
-namespace tier4_autoware_utils
-{
-template <>
-inline geometry_msgs::msg::Pose getPose(
-  const autoware_auto_planning_msgs::msg::PathPointWithLaneId & p)
-{
-  return p.point.pose;
-}
-}  // namespace tier4_autoware_utils
-
 namespace behavior_velocity_planner
 {
 using autoware_auto_perception_msgs::msg::ObjectClassification;
diff --git a/planning/behavior_velocity_planner/include/utilization/util.hpp b/planning/behavior_velocity_planner/include/utilization/util.hpp
index c69563b98f724..de14b4fd2e22a 100644
--- a/planning/behavior_velocity_planner/include/utilization/util.hpp
+++ b/planning/behavior_velocity_planner/include/utilization/util.hpp
@@ -16,8 +16,7 @@
 #define UTILIZATION__UTIL_HPP_
 
 #include <lanelet2_extension/utility/query.hpp>
-#include <tier4_autoware_utils/geometry/geometry.hpp>
-#include <tier4_autoware_utils/trajectory/trajectory.hpp>
+#include <tier4_autoware_utils/tier4_autoware_utils.hpp>
 #include <utilization/boost_geometry_helper.hpp>
 
 #include <autoware_auto_perception_msgs/msg/predicted_object.hpp>
@@ -49,16 +48,6 @@
 #include <string>
 #include <vector>
 
-namespace tier4_autoware_utils
-{
-template <>
-inline geometry_msgs::msg::Point getPoint(
-  const autoware_auto_planning_msgs::msg::PathPointWithLaneId & p)
-{
-  return p.point.pose.position;
-}
-}  // namespace tier4_autoware_utils
-
 namespace behavior_velocity_planner
 {
 struct SearchRangeIndex
diff --git a/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp
index 125ee9675a738..c84a591b4dd79 100644
--- a/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp
@@ -23,16 +23,6 @@
 #include <string>
 #include <vector>
 
-namespace tier4_autoware_utils
-{
-template <>
-inline geometry_msgs::msg::Pose getPose(
-  const autoware_auto_planning_msgs::msg::PathPointWithLaneId & p)
-{
-  return p.point.pose;
-}
-}  // namespace tier4_autoware_utils
-
 namespace behavior_velocity_planner
 {
 namespace