diff --git a/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp
index b6749117a6177..350ad3fbdd3e4 100644
--- a/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp
+++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp
@@ -59,10 +59,10 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
+#include <autoware_internal_planning_msgs/msg/scenario.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#include <tier4_planning_msgs/msg/scenario.hpp>
 
 #include <grid_map_msgs/msg/grid_map.h>
 #include <message_filters/subscriber.h>
@@ -107,7 +107,8 @@ class CostmapGenerator : public rclcpp::Node
     sub_points_{this, "~/input/points_no_ground", autoware::universe_utils::SingleDepthSensorQoS()};
   autoware::universe_utils::InterProcessPollingSubscriber<PredictedObjects> sub_objects_{
     this, "~/input/objects"};
-  autoware::universe_utils::InterProcessPollingSubscriber<tier4_planning_msgs::msg::Scenario>
+  autoware::universe_utils::InterProcessPollingSubscriber<
+    autoware_internal_planning_msgs::msg::Scenario>
     sub_scenario_{this, "~/input/scenario"};
 
   rclcpp::TimerBase::SharedPtr timer_;
@@ -120,7 +121,7 @@ class CostmapGenerator : public rclcpp::Node
   PointsToCostmap points2costmap_{};
   ObjectsToCostmap objects2costmap_;
 
-  tier4_planning_msgs::msg::Scenario::ConstSharedPtr scenario_;
+  autoware_internal_planning_msgs::msg::Scenario::ConstSharedPtr scenario_;
 
   struct LayerName
   {
diff --git a/planning/autoware_costmap_generator/src/costmap_generator.cpp b/planning/autoware_costmap_generator/src/costmap_generator.cpp
index 70b8051bcdc12..200a68eb5ec42 100644
--- a/planning/autoware_costmap_generator/src/costmap_generator.cpp
+++ b/planning/autoware_costmap_generator/src/costmap_generator.cpp
@@ -335,7 +335,7 @@ bool CostmapGenerator::isActive()
     if (!scenario_) return false;
     const auto & s = scenario_->activating_scenarios;
     return std::any_of(s.begin(), s.end(), [](const auto scenario) {
-      return scenario == tier4_planning_msgs::msg::Scenario::PARKING;
+      return scenario == autoware_internal_planning_msgs::msg::Scenario::PARKING;
     });
   }
 
diff --git a/planning/autoware_costmap_generator/test/test_costmap_generator.cpp b/planning/autoware_costmap_generator/test/test_costmap_generator.cpp
index f0db05b6fdd6f..aba7c07094d3a 100644
--- a/planning/autoware_costmap_generator/test/test_costmap_generator.cpp
+++ b/planning/autoware_costmap_generator/test/test_costmap_generator.cpp
@@ -25,7 +25,7 @@
 #include <vector>
 
 using autoware::costmap_generator::CostmapGenerator;
-using tier4_planning_msgs::msg::Scenario;
+using autoware_internal_planning_msgs::msg::Scenario;
 
 class TestCostmapGenerator : public ::testing::Test
 {
diff --git a/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp b/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp
index bd431372b70dc..2d8cfe241ae6b 100644
--- a/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp
+++ b/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp
@@ -40,13 +40,13 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
+#include <autoware_internal_planning_msgs/msg/scenario.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <geometry_msgs/msg/twist.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <std_msgs/msg/bool.hpp>
-#include <tier4_planning_msgs/msg/scenario.hpp>
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
@@ -76,6 +76,7 @@ using autoware::freespace_planning_algorithms::PlannerCommonParam;
 using autoware::freespace_planning_algorithms::RRTStar;
 using autoware::freespace_planning_algorithms::RRTStarParam;
 using autoware::freespace_planning_algorithms::VehicleShape;
+using autoware_internal_planning_msgs::msg::Scenario;
 using autoware_planning_msgs::msg::LaneletRoute;
 using autoware_planning_msgs::msg::Trajectory;
 using geometry_msgs::msg::PoseArray;
@@ -84,7 +85,6 @@ using geometry_msgs::msg::TransformStamped;
 using geometry_msgs::msg::Twist;
 using nav_msgs::msg::OccupancyGrid;
 using nav_msgs::msg::Odometry;
-using tier4_planning_msgs::msg::Scenario;
 
 struct NodeParam
 {
diff --git a/planning/autoware_freespace_planner/include/autoware/freespace_planner/utils.hpp b/planning/autoware_freespace_planner/include/autoware/freespace_planner/utils.hpp
index 1f2347958cfd2..9835b41c2328c 100644
--- a/planning/autoware_freespace_planner/include/autoware/freespace_planner/utils.hpp
+++ b/planning/autoware_freespace_planner/include/autoware/freespace_planner/utils.hpp
@@ -19,13 +19,13 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_planning_msgs/msg/scenario.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <autoware_planning_msgs/msg/trajectory_point.hpp>
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <tier4_planning_msgs/msg/scenario.hpp>
 
 #include <deque>
 #include <vector>
@@ -34,6 +34,7 @@ namespace autoware::freespace_planner::utils
 {
 using autoware::freespace_planning_algorithms::PlannerWaypoint;
 using autoware::freespace_planning_algorithms::PlannerWaypoints;
+using autoware_internal_planning_msgs::msg::Scenario;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_planning_msgs::msg::TrajectoryPoint;
 using geometry_msgs::msg::Pose;
@@ -41,7 +42,6 @@ using geometry_msgs::msg::PoseArray;
 using geometry_msgs::msg::PoseStamped;
 using geometry_msgs::msg::TransformStamped;
 using nav_msgs::msg::Odometry;
-using tier4_planning_msgs::msg::Scenario;
 
 PoseArray trajectory_to_pose_array(const Trajectory & trajectory);
 
diff --git a/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp
index 020a184224a02..48df36d309d9a 100644
--- a/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp
+++ b/planning/autoware_freespace_planner/test/test_freespace_planner_node_interface.cpp
@@ -63,7 +63,7 @@ void publishMandatoryTopics(
     autoware::test_utils::makeCostMapMsg());
   test_manager->publishInput(
     test_target_node, "freespace_planner/input/scenario",
-    autoware::test_utils::makeScenarioMsg(tier4_planning_msgs::msg::Scenario::PARKING));
+    autoware::test_utils::makeScenarioMsg(autoware_internal_planning_msgs::msg::Scenario::PARKING));
 }
 
 // the following tests are disable because they randomly fail
diff --git a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp
index 74f3f2f43077d..778e7ab30538f 100644
--- a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp
+++ b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp
@@ -58,7 +58,7 @@ RemainingDistanceTimeCalculatorNode::RemainingDistanceTimeCalculatorNode(
   sub_planning_velocity_ = create_subscription<tier4_planning_msgs::msg::VelocityLimit>(
     "/planning/scenario_planning/current_max_velocity", qos_transient_local,
     std::bind(&RemainingDistanceTimeCalculatorNode::on_velocity_limit, this, _1));
-  sub_scenario_ = this->create_subscription<tier4_planning_msgs::msg::Scenario>(
+  sub_scenario_ = this->create_subscription<autoware_internal_planning_msgs::msg::Scenario>(
     "~/input/scenario", 1, std::bind(&RemainingDistanceTimeCalculatorNode::on_scenario, this, _1));
 
   pub_mission_remaining_distance_time_ = create_publisher<MissionRemainingDistanceTime>(
@@ -106,7 +106,7 @@ void RemainingDistanceTimeCalculatorNode::on_velocity_limit(
 }
 
 void RemainingDistanceTimeCalculatorNode::on_scenario(
-  const tier4_planning_msgs::msg::Scenario::ConstSharedPtr & msg)
+  const autoware_internal_planning_msgs::msg::Scenario::ConstSharedPtr & msg)
 {
   scenario_ = msg;
   has_received_scenario_ = true;
@@ -119,7 +119,7 @@ void RemainingDistanceTimeCalculatorNode::on_timer()
   }
 
   // check if the scenario is parking or not
-  if (scenario_->current_scenario == tier4_planning_msgs::msg::Scenario::PARKING) {
+  if (scenario_->current_scenario == autoware_internal_planning_msgs::msg::Scenario::PARKING) {
     remaining_distance_ = 0.0;
     remaining_time_ = 0.0;
     publish_mission_remaining_distance_time();
diff --git a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp
index 8a38941d383ee..6c5ff165436a6 100644
--- a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp
+++ b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp
@@ -20,12 +20,12 @@
 #include <remaining_distance_time_calculator_parameters.hpp>
 
 #include <autoware_internal_msgs/msg/mission_remaining_distance_time.hpp>
+#include <autoware_internal_planning_msgs/msg/scenario.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/vector3.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <tier4_planning_msgs/msg/scenario.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 
 #include <lanelet2_core/Forward.h>
@@ -56,7 +56,7 @@ class RemainingDistanceTimeCalculatorNode : public rclcpp::Node
   rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
   rclcpp::Subscription<Odometry>::SharedPtr sub_odometry_;
   rclcpp::Subscription<VelocityLimit>::SharedPtr sub_planning_velocity_;
-  rclcpp::Subscription<tier4_planning_msgs::msg::Scenario>::SharedPtr sub_scenario_;
+  rclcpp::Subscription<autoware_internal_planning_msgs::msg::Scenario>::SharedPtr sub_scenario_;
 
   rclcpp::Publisher<MissionRemainingDistanceTime>::SharedPtr pub_mission_remaining_distance_time_;
 
@@ -73,7 +73,7 @@ class RemainingDistanceTimeCalculatorNode : public rclcpp::Node
   geometry_msgs::msg::Pose current_vehicle_pose_;
   geometry_msgs::msg::Vector3 current_vehicle_velocity_;
   geometry_msgs::msg::Pose goal_pose_;
-  tier4_planning_msgs::msg::Scenario::ConstSharedPtr scenario_;
+  autoware_internal_planning_msgs::msg::Scenario::ConstSharedPtr scenario_;
   bool has_received_route_;
   bool has_received_scenario_;
   double velocity_limit_;
@@ -90,7 +90,7 @@ class RemainingDistanceTimeCalculatorNode : public rclcpp::Node
   void on_route(const LaneletRoute::ConstSharedPtr & msg);
   void on_map(const HADMapBin::ConstSharedPtr & msg);
   void on_velocity_limit(const VelocityLimit::ConstSharedPtr & msg);
-  void on_scenario(const tier4_planning_msgs::msg::Scenario::ConstSharedPtr & msg);
+  void on_scenario(const autoware_internal_planning_msgs::msg::Scenario::ConstSharedPtr & msg);
 
   /**
    * @brief calculate mission remaining distance
diff --git a/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp b/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp
index 7e215fcfef8dd..c74f39d50c93d 100644
--- a/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp
+++ b/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp
@@ -20,13 +20,13 @@
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
+#include <autoware_internal_planning_msgs/msg/scenario.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <std_msgs/msg/bool.hpp>
-#include <tier4_planning_msgs/msg/scenario.hpp>
 
 #include <lanelet2_core/LaneletMap.h>
 #include <lanelet2_routing/RoutingGraph.h>
@@ -79,12 +79,12 @@ class ScenarioSelectorNode : public rclcpp::Node
 
   inline bool isCurrentLaneDriving() const
   {
-    return current_scenario_ == tier4_planning_msgs::msg::Scenario::LANEDRIVING;
+    return current_scenario_ == autoware_internal_planning_msgs::msg::Scenario::LANEDRIVING;
   }
 
   inline bool isCurrentParking() const
   {
-    return current_scenario_ == tier4_planning_msgs::msg::Scenario::PARKING;
+    return current_scenario_ == autoware_internal_planning_msgs::msg::Scenario::PARKING;
   }
 
   rclcpp::TimerBase::SharedPtr timer_;
@@ -96,7 +96,7 @@ class ScenarioSelectorNode : public rclcpp::Node
     sub_lane_driving_trajectory_;
   rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr sub_parking_trajectory_;
   rclcpp::Publisher<autoware_planning_msgs::msg::Trajectory>::SharedPtr pub_trajectory_;
-  rclcpp::Publisher<tier4_planning_msgs::msg::Scenario>::SharedPtr pub_scenario_;
+  rclcpp::Publisher<autoware_internal_planning_msgs::msg::Scenario>::SharedPtr pub_scenario_;
   rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr
     pub_processing_time_;
 
diff --git a/planning/autoware_scenario_selector/src/node.cpp b/planning/autoware_scenario_selector/src/node.cpp
index 91e86bfea6dba..dcb87b7487fe0 100644
--- a/planning/autoware_scenario_selector/src/node.cpp
+++ b/planning/autoware_scenario_selector/src/node.cpp
@@ -132,10 +132,10 @@ bool isStopped(
 autoware_planning_msgs::msg::Trajectory::ConstSharedPtr ScenarioSelectorNode::getScenarioTrajectory(
   const std::string & scenario)
 {
-  if (scenario == tier4_planning_msgs::msg::Scenario::LANEDRIVING) {
+  if (scenario == autoware_internal_planning_msgs::msg::Scenario::LANEDRIVING) {
     return lane_driving_trajectory_;
   }
-  if (scenario == tier4_planning_msgs::msg::Scenario::PARKING) {
+  if (scenario == autoware_internal_planning_msgs::msg::Scenario::PARKING) {
     return parking_trajectory_;
   }
   RCLCPP_ERROR_STREAM(this->get_logger(), "invalid scenario argument: " << scenario);
@@ -151,25 +151,25 @@ std::string ScenarioSelectorNode::selectScenarioByPosition()
   const auto is_in_parking_lot =
     isInParkingLot(route_handler_->getLaneletMapPtr(), current_pose_->pose.pose);
 
-  if (current_scenario_ == tier4_planning_msgs::msg::Scenario::EMPTY) {
+  if (current_scenario_ == autoware_internal_planning_msgs::msg::Scenario::EMPTY) {
     if (is_in_lane && is_goal_in_lane) {
-      return tier4_planning_msgs::msg::Scenario::LANEDRIVING;
+      return autoware_internal_planning_msgs::msg::Scenario::LANEDRIVING;
     } else if (is_in_parking_lot) {
-      return tier4_planning_msgs::msg::Scenario::PARKING;
+      return autoware_internal_planning_msgs::msg::Scenario::PARKING;
     }
-    return tier4_planning_msgs::msg::Scenario::LANEDRIVING;
+    return autoware_internal_planning_msgs::msg::Scenario::LANEDRIVING;
   }
 
-  if (current_scenario_ == tier4_planning_msgs::msg::Scenario::LANEDRIVING) {
+  if (current_scenario_ == autoware_internal_planning_msgs::msg::Scenario::LANEDRIVING) {
     if (is_in_parking_lot && !is_goal_in_lane) {
-      return tier4_planning_msgs::msg::Scenario::PARKING;
+      return autoware_internal_planning_msgs::msg::Scenario::PARKING;
     }
   }
 
-  if (current_scenario_ == tier4_planning_msgs::msg::Scenario::PARKING) {
+  if (current_scenario_ == autoware_internal_planning_msgs::msg::Scenario::PARKING) {
     if (is_parking_completed_ && is_in_lane) {
       is_parking_completed_ = false;
-      return tier4_planning_msgs::msg::Scenario::LANEDRIVING;
+      return autoware_internal_planning_msgs::msg::Scenario::LANEDRIVING;
     }
   }
 
@@ -193,11 +193,12 @@ void ScenarioSelectorNode::updateCurrentScenario()
   if (enable_mode_switching_) {
     if (isCurrentLaneDriving()) {
       current_scenario_ = isSwitchToParking(is_stopped)
-                            ? tier4_planning_msgs::msg::Scenario::PARKING
+                            ? autoware_internal_planning_msgs::msg::Scenario::PARKING
                             : current_scenario_;
     } else if (isCurrentParking()) {
-      current_scenario_ = isSwitchToLaneDriving() ? tier4_planning_msgs::msg::Scenario::LANEDRIVING
-                                                  : current_scenario_;
+      current_scenario_ = isSwitchToLaneDriving()
+                            ? autoware_internal_planning_msgs::msg::Scenario::LANEDRIVING
+                            : current_scenario_;
     }
   }
 
@@ -274,7 +275,7 @@ void ScenarioSelectorNode::onRoute(
   // When the route id is the same (e.g. rerouting with modified goal) keep the current scenario.
   // Otherwise, reset the scenario.
   if (!route_handler_ || route_handler_->getRouteUuid() != msg->uuid) {
-    current_scenario_ = tier4_planning_msgs::msg::Scenario::EMPTY;
+    current_scenario_ = autoware_internal_planning_msgs::msg::Scenario::EMPTY;
   }
 
   route_ = msg;
@@ -375,15 +376,15 @@ void ScenarioSelectorNode::onTimer()
   }
 
   // Initialize Scenario
-  if (current_scenario_ == tier4_planning_msgs::msg::Scenario::EMPTY) {
+  if (current_scenario_ == autoware_internal_planning_msgs::msg::Scenario::EMPTY) {
     current_scenario_ = selectScenarioByPosition();
   }
 
   updateCurrentScenario();
-  tier4_planning_msgs::msg::Scenario scenario;
+  autoware_internal_planning_msgs::msg::Scenario scenario;
   scenario.current_scenario = current_scenario_;
 
-  if (current_scenario_ == tier4_planning_msgs::msg::Scenario::PARKING) {
+  if (current_scenario_ == autoware_internal_planning_msgs::msg::Scenario::PARKING) {
     scenario.activating_scenarios.push_back(current_scenario_);
   }
 
@@ -401,7 +402,7 @@ void ScenarioSelectorNode::onLaneDrivingTrajectory(
 {
   lane_driving_trajectory_ = msg;
 
-  if (current_scenario_ != tier4_planning_msgs::msg::Scenario::LANEDRIVING) {
+  if (current_scenario_ != autoware_internal_planning_msgs::msg::Scenario::LANEDRIVING) {
     return;
   }
 
@@ -413,7 +414,7 @@ void ScenarioSelectorNode::onParkingTrajectory(
 {
   parking_trajectory_ = msg;
 
-  if (current_scenario_ != tier4_planning_msgs::msg::Scenario::PARKING) {
+  if (current_scenario_ != autoware_internal_planning_msgs::msg::Scenario::PARKING) {
     return;
   }
 
@@ -438,7 +439,7 @@ void ScenarioSelectorNode::publishTrajectory(
 
 ScenarioSelectorNode::ScenarioSelectorNode(const rclcpp::NodeOptions & node_options)
 : Node("scenario_selector", node_options),
-  current_scenario_(tier4_planning_msgs::msg::Scenario::EMPTY),
+  current_scenario_(autoware_internal_planning_msgs::msg::Scenario::EMPTY),
   update_rate_(this->declare_parameter<double>("update_rate")),
   th_max_message_delay_sec_(this->declare_parameter<double>("th_max_message_delay_sec")),
   th_arrived_distance_m_(this->declare_parameter<double>("th_arrived_distance_m")),
@@ -478,8 +479,8 @@ ScenarioSelectorNode::ScenarioSelectorNode(const rclcpp::NodeOptions & node_opti
       this, "input/operation_mode_state", rclcpp::QoS{1});
 
   // Output
-  pub_scenario_ =
-    this->create_publisher<tier4_planning_msgs::msg::Scenario>("output/scenario", rclcpp::QoS{1});
+  pub_scenario_ = this->create_publisher<autoware_internal_planning_msgs::msg::Scenario>(
+    "output/scenario", rclcpp::QoS{1});
   pub_trajectory_ = this->create_publisher<autoware_planning_msgs::msg::Trajectory>(
     "output/trajectory", rclcpp::QoS{1});
 
diff --git a/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp
index 0256e7463b5a7..693bdf1c20009 100644
--- a/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp
+++ b/planning/autoware_scenario_selector/test/test_autoware_scenario_selector_node_interface.cpp
@@ -34,7 +34,7 @@ std::shared_ptr<PlanningInterfaceTestManager> generateTestManager()
   auto test_manager = std::make_shared<PlanningInterfaceTestManager>();
 
   // set subscriber with topic name: scenario_selector → test_node_
-  test_manager->subscribeOutput<tier4_planning_msgs::msg::Scenario>("output/scenario");
+  test_manager->subscribeOutput<autoware_internal_planning_msgs::msg::Scenario>("output/scenario");
 
   return test_manager;
 }
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/README.md b/planning/behavior_path_planner/autoware_behavior_path_planner/README.md
index dd51d7d33035e..7300353e47165 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/README.md
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/README.md
@@ -98,7 +98,7 @@ The Planner Manager's responsibilities include:
 | ~/input/traffic_signals       |     ○     | `autoware_perception_msgs::msg::TrafficLightGroupArray` | Traffic signal information from the perception module                                                                                                                                                                                      |
 | ~/input/vector_map            |     ○     | `autoware_map_msgs::msg::LaneletMapBin`                 | Vector map information                                                                                                                                                                                                                     |
 | ~/input/route                 |     ○     | `autoware_planning_msgs::msg::LaneletRoute`             | Current route from start to goal                                                                                                                                                                                                           |
-| ~/input/scenario              |     ○     | `tier4_planning_msgs::msg::Scenario`                    | Launches Behavior Path Planner if current scenario == `Scenario:LaneDriving`                                                                                                                                                               |
+| ~/input/scenario              |     ○     | `autoware_internal_planning_msgs::msg::Scenario`        | Launches Behavior Path Planner if current scenario == `Scenario:LaneDriving`                                                                                                                                                               |
 | ~/input/lateral_offset        |     △     | `tier4_planning_msgs::msg::LateralOffset`               | Lateral offset to trigger side shift                                                                                                                                                                                                       |
 | ~/system/operation_mode/state |     ○     | `autoware_adapi_v1_msgs::msg::OperationModeState`       | Allows the planning module to know if vehicle is in autonomous mode or if it can be controlled<sup>[ref](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/operation-mode.md)</sup> |
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp
index bf87102134da7..281d6e345d51a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/behavior_path_planner_node.hpp
@@ -27,6 +27,7 @@
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>
+#include <autoware_internal_planning_msgs/msg/scenario.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
@@ -40,7 +41,6 @@
 #include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
 #include <tier4_planning_msgs/msg/path_change_module.hpp>
 #include <tier4_planning_msgs/msg/reroute_availability.hpp>
-#include <tier4_planning_msgs/msg/scenario.hpp>
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 #include <visualization_msgs/msg/marker.hpp>
 
@@ -55,6 +55,7 @@ namespace autoware::behavior_path_planner
 using autoware::planning_factor_interface::PlanningFactorInterface;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_internal_planning_msgs::msg::PathWithLaneId;
+using autoware_internal_planning_msgs::msg::Scenario;
 using autoware_map_msgs::msg::LaneletMapBin;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
@@ -70,7 +71,6 @@ using rcl_interfaces::msg::SetParametersResult;
 using tier4_planning_msgs::msg::AvoidanceDebugMsgArray;
 using tier4_planning_msgs::msg::LateralOffset;
 using tier4_planning_msgs::msg::RerouteAvailability;
-using tier4_planning_msgs::msg::Scenario;
 using visualization_msgs::msg::Marker;
 using visualization_msgs::msg::MarkerArray;
 using DebugPublisher = autoware::universe_utils::DebugPublisher;
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 26dc1589e679b..e1e088c098e63 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
@@ -97,7 +97,8 @@ void publishMandatoryTopics(
     autoware::test_utils::makeCostMapMsg());
   test_manager->publishInput(
     test_target_node, "behavior_path_planner/input/scenario",
-    autoware::test_utils::makeScenarioMsg(tier4_planning_msgs::msg::Scenario::LANEDRIVING));
+    autoware::test_utils::makeScenarioMsg(
+      autoware_internal_planning_msgs::msg::Scenario::LANEDRIVING));
   test_manager->publishInput(
     test_target_node, "behavior_path_planner/input/vector_map",
     autoware::test_utils::makeMapBinMsg());