diff --git a/vehicle/autoware_steer_offset_estimator/Readme.md b/vehicle/autoware_steer_offset_estimator/Readme.md
index 2cd6bd2aabe2a..a7e9b6722a648 100644
--- a/vehicle/autoware_steer_offset_estimator/Readme.md
+++ b/vehicle/autoware_steer_offset_estimator/Readme.md
@@ -24,10 +24,10 @@ Calculate yaw rate error and then calculate steering error recursively by least
 
 ### Output
 
-| Name                                  | Type                                    | Description                   |
-| ------------------------------------- | --------------------------------------- | ----------------------------- |
-| `~/output/steering_offset`            | `tier4_debug_msgs::msg::Float32Stamped` | steering offset               |
-| `~/output/steering_offset_covariance` | `tier4_debug_msgs::msg::Float32Stamped` | covariance of steering offset |
+| Name                                  | Type                                                | Description                   |
+| ------------------------------------- | --------------------------------------------------- | ----------------------------- |
+| `~/output/steering_offset`            | `autoware_internal_debug_msgs::msg::Float32Stamped` | steering offset               |
+| `~/output/steering_offset_covariance` | `autoware_internal_debug_msgs::msg::Float32Stamped` | covariance of steering offset |
 
 ## Launch Calibrator
 
diff --git a/vehicle/autoware_steer_offset_estimator/include/autoware_steer_offset_estimator/steer_offset_estimator_node.hpp b/vehicle/autoware_steer_offset_estimator/include/autoware_steer_offset_estimator/steer_offset_estimator_node.hpp
index 4e03cbe0162fe..0d7896d53a705 100644
--- a/vehicle/autoware_steer_offset_estimator/include/autoware_steer_offset_estimator/steer_offset_estimator_node.hpp
+++ b/vehicle/autoware_steer_offset_estimator/include/autoware_steer_offset_estimator/steer_offset_estimator_node.hpp
@@ -18,16 +18,16 @@
 #include "diagnostic_updater/diagnostic_updater.hpp"
 #include "rclcpp/rclcpp.hpp"
 
+#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp"
 #include "autoware_vehicle_msgs/msg/steering_report.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
-#include "tier4_debug_msgs/msg/float32_stamped.hpp"
 
 #include <memory>
 
 namespace autoware::steer_offset_estimator
 {
+using autoware_internal_debug_msgs::msg::Float32Stamped;
 using geometry_msgs::msg::TwistStamped;
-using tier4_debug_msgs::msg::Float32Stamped;
 using Steering = autoware_vehicle_msgs::msg::SteeringReport;
 using diagnostic_updater::DiagnosticStatusWrapper;
 using diagnostic_updater::Updater;
diff --git a/vehicle/autoware_steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml
index 715d80504dafe..e098fbdee6f28 100644
--- a/vehicle/autoware_steer_offset_estimator/package.xml
+++ b/vehicle/autoware_steer_offset_estimator/package.xml
@@ -9,6 +9,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>autoware_vehicle_msgs</depend>
@@ -17,7 +18,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>std_msgs</depend>
-  <depend>tier4_debug_msgs</depend>
   <exec_depend>autoware_global_parameter_loader</exec_depend>
   <exec_depend>autoware_pose2twist</exec_depend>