diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index ed7b79ee9b..31bf0555e2 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -74,9 +74,6 @@ launch:
   - arg:
       name: launch_speed_bump_module
       default: "false"
-  - arg:
-      name: launch_out_of_lane_module
-      default: "false"
   - arg:
       name: launch_no_drivable_lane_module
       default: "false"
@@ -100,7 +97,7 @@ launch:
 
   # motion velocity planner modules
   - arg:
-      name: launch_motion_out_of_lane_module
+      name: launch_out_of_lane_module
       default: "true"
 
   - arg:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
deleted file mode 100644
index b13df72409..0000000000
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml
+++ /dev/null
@@ -1,44 +0,0 @@
-/**:
-  ros__parameters:
-    out_of_lane:  # module to stop or slowdown before overlapping another lane with other objects
-      mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc"
-      skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane
-      ignore_overlaps_over_lane_changeable_lanelets: true  # if true, overlaps on lane changeable lanelets are ignored
-
-      threshold:
-        time_threshold: 5.0  # [s] consider objects that will reach an overlap within this time
-      intervals:  # consider objects if their estimated time interval spent on the overlap intersect the estimated time interval of ego
-        ego_time_buffer: 0.5 # [s] extend the ego time interval by this buffer
-        objects_time_buffer: 0.5 # [s] extend the time intervals of objects by this buffer
-      ttc:
-        threshold: 3.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap
-
-      objects:
-        minimum_velocity: 0.5  # [m/s] objects lower than this velocity will be ignored
-        use_predicted_paths: true  # if true, use the predicted paths to estimate future positions.
-                                   # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
-        predicted_path_min_confidence : 0.1  # when using predicted paths, ignore the ones whose confidence is lower than this value.
-        distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
-        cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights
-
-      overlap:
-        minimum_distance: 0.0  # [m] minimum distance inside a lanelet for an overlap to be considered
-        extra_length: 0.0  # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times)
-
-      action:  # action to insert in the path if an object causes a conflict at an overlap
-        skip_if_over_max_decel: true  # if true, do not take an action that would cause more deceleration than the maximum allowed
-        precision: 0.1  # [m] precision when inserting a stop pose in the path
-        distance_buffer: 1.5  # [m] buffer distance to try to keep between the ego footprint and lane
-        min_duration: 1.0  # [s] minimum duration needed before a decision can be canceled
-        slowdown:
-          distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap
-          velocity: 2.0  # [m/s] slowdown velocity
-        stop:
-          distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap
-
-      ego:
-        min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego
-        extra_front_offset: 0.0 # [m] extra front distance
-        extra_rear_offset: 0.0 # [m] extra rear distance
-        extra_right_offset: 0.0 # [m] extra right distance
-        extra_left_offset: 0.0 # [m] extra left distance
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 5a48ea8908..6e3fb719f2 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -57,7 +57,6 @@
     <arg name="behavior_velocity_planner_no_stopping_area_module_param_path" value="$(var behavior_velocity_config_path)/no_stopping_area.param.yaml"/>
     <arg name="behavior_velocity_planner_run_out_module_param_path" value="$(var behavior_velocity_config_path)/run_out.param.yaml"/>
     <arg name="behavior_velocity_planner_speed_bump_module_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
-    <arg name="behavior_velocity_planner_out_of_lane_module_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
     <arg name="behavior_velocity_planner_no_drivable_lane_module_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
     <arg name="behavior_velocity_planner_dynamic_obstacle_stop_module_param_path" value="$(var behavior_velocity_config_path)/dynamic_obstacle_stop.param.yaml"/>
     <arg name="compare_map_filter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml"/>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 5e7cba18cf..90e32e802c 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1605,18 +1605,6 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump
                           Value: true
-                        - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
-                          Name: VirtualWall (OutOfLane)
-                          Namespaces:
-                            {}
-                          Topic:
-                            Depth: 5
-                            Durability Policy: Volatile
-                            History Policy: Keep Last
-                            Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane
-                          Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
                           Name: VirtualWall (NoDrivableLane)
@@ -1873,18 +1861,6 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump
                           Value: false
-                        - Class: rviz_default_plugins/MarkerArray
-                          Enabled: false
-                          Name: OutOfLane
-                          Namespaces:
-                            {}
-                          Topic:
-                            Depth: 5
-                            Durability Policy: Volatile
-                            History Policy: Keep Last
-                            Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane
-                          Value: false
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
                           Name: DynamicObstacleAvoidance
@@ -2589,7 +2565,6 @@ Visualization Manager:
                           NoDrivableLane: true
                           NoStoppingArea: true
                           OcclusionSpot: true
-                          OutOfLane: true
                           RightLaneChange: true
                           RunOut: true
                           SideShift: true
@@ -2643,7 +2618,6 @@ Visualization Manager:
                           VirtualWall (NoDrivableLane): true
                           VirtualWall (NoStoppingArea): true
                           VirtualWall (OcclusionSpot): true
-                          VirtualWall (OutOfLane): true
                           VirtualWall (RunOut): true
                           VirtualWall (SpeedBump): true
                           VirtualWall (StartPlanner): true