diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp
index 889d48c481b6f..e82741433bdf7 100644
--- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp
+++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp
@@ -78,7 +78,7 @@ class AvoidanceModule : public SceneModuleInterface
 
   bool canTransitFailureState() override { return false; }
 
-  bool canTransitIdleToRunningState() override { return true; }
+  bool canTransitIdleToWaitingApprovalState() override { return true; }
 
   /**
    * @brief update RTC status for candidate shift line.
diff --git a/planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp b/planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp
index d2f9cd95066d9..b2769a7fd6bdd 100644
--- a/planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp
+++ b/planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp
@@ -345,7 +345,7 @@ class DynamicAvoidanceModule : public SceneModuleInterface
 
   bool canTransitFailureState() override { return false; }
 
-  bool canTransitIdleToRunningState() override { return false; }
+  bool canTransitIdleToWaitingApprovalState() override { return false; }
 
   bool isLabelTargetObstacle(const uint8_t label) const;
   void updateTargetObjects();
diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp
index e90162c958be5..cf35b0e244ebd 100644
--- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp
+++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp
@@ -330,7 +330,7 @@ class GoalPlannerModule : public SceneModuleInterface
   // If terminating it, it may switch to lane following and could generate an inappropriate path.
   bool canTransitSuccessState() override { return false; }
   bool canTransitFailureState() override { return false; }
-  bool canTransitIdleToRunningState() override { return true; }
+  bool canTransitIdleToWaitingApprovalState() override { return true; }
 
   mutable StartGoalPlannerData goal_planner_data_;
 
diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
index 7bd97b3775bad..325c3ae4fca19 100644
--- a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
+++ b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -1765,6 +1765,9 @@ void GoalPlannerModule::updateSafetyCheckTargetObjectsData(
 
 std::pair<bool, bool> GoalPlannerModule::isSafePath() const
 {
+  if (!thread_safe_data_.get_pull_over_path()) {
+    return {false, false};
+  }
   const auto pull_over_path = thread_safe_data_.get_pull_over_path()->getCurrentPath();
   const auto & current_pose = planner_data_->self_odometry->pose.pose;
   const double current_velocity = std::hypot(
diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/interface.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/interface.hpp
index 4e741a2b3db2c..f4edca7a2e6d3 100644
--- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/interface.hpp
+++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/interface.hpp
@@ -96,25 +96,6 @@ class LaneChangeInterface : public SceneModuleInterface
   TurnSignalInfo getCurrentTurnSignalInfo(
     const PathWithLaneId & path, const TurnSignalInfo & original_turn_signal_info);
 
-  // TODO(someone): remove this, and use base class function
-  [[deprecated]] BehaviorModuleOutput run() override
-  {
-    updateData();
-
-    if (!isWaitingApproval()) {
-      return plan();
-    }
-
-    // module is waiting approval. Check it.
-    if (isActivated()) {
-      RCLCPP_DEBUG(getLogger(), "Was waiting approval, and now approved. Do plan().");
-      return plan();
-    } else {
-      RCLCPP_DEBUG(getLogger(), "keep waiting approval... Do planCandidate().");
-      return planWaitingApproval();
-    }
-  }
-
 protected:
   std::shared_ptr<LaneChangeParameters> parameters_;
 
@@ -126,7 +107,7 @@ class LaneChangeInterface : public SceneModuleInterface
 
   bool canTransitFailureState() override;
 
-  bool canTransitIdleToRunningState() override;
+  bool canTransitIdleToWaitingApprovalState() override;
 
   void setObjectDebugVisualization() const;
 
diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp
index 451899fbf27e6..7b7fa9350b2e0 100644
--- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp
+++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp
@@ -237,7 +237,7 @@ class LaneChangeBase
   LaneChangeStatus status_{};
   PathShifter path_shifter_{};
 
-  LaneChangeStates current_lane_change_state_{};
+  LaneChangeStates current_lane_change_state_{LaneChangeStates::Normal};
 
   std::shared_ptr<LaneChangeParameters> lane_change_parameters_{};
   std::shared_ptr<LaneChangePath> abort_path_{};
diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp
index 448f83ecaf15e..7aa84a351bc64 100644
--- a/planning/behavior_path_lane_change_module/src/interface.cpp
+++ b/planning/behavior_path_lane_change_module/src/interface.cpp
@@ -49,10 +49,12 @@ LaneChangeInterface::LaneChangeInterface(
 
 void LaneChangeInterface::processOnEntry()
 {
-  waitApproval();
   module_type_->setPreviousModulePaths(
     getPreviousModuleOutput().reference_path, getPreviousModuleOutput().path);
+  module_type_->setPreviousDrivableAreaInfo(getPreviousModuleOutput().drivable_area_info);
+  module_type_->setPreviousTurnSignalInfo(getPreviousModuleOutput().turn_signal_info);
   module_type_->updateLaneChangeStatus();
+  setObjectDebugVisualization();
 }
 
 void LaneChangeInterface::processOnExit()
@@ -80,6 +82,8 @@ void LaneChangeInterface::updateData()
 {
   module_type_->setPreviousModulePaths(
     getPreviousModuleOutput().reference_path, getPreviousModuleOutput().path);
+  module_type_->setPreviousDrivableAreaInfo(getPreviousModuleOutput().drivable_area_info);
+  module_type_->setPreviousTurnSignalInfo(getPreviousModuleOutput().turn_signal_info);
   module_type_->updateSpecialData();
   module_type_->resetStopPose();
 }
@@ -87,6 +91,7 @@ void LaneChangeInterface::updateData()
 void LaneChangeInterface::postProcess()
 {
   post_process_safety_status_ = module_type_->isApprovedPathSafe();
+  setObjectDebugVisualization();
 }
 
 BehaviorModuleOutput LaneChangeInterface::plan()
@@ -98,8 +103,6 @@ BehaviorModuleOutput LaneChangeInterface::plan()
     return {};
   }
 
-  module_type_->setPreviousDrivableAreaInfo(getPreviousModuleOutput().drivable_area_info);
-  module_type_->setPreviousTurnSignalInfo(getPreviousModuleOutput().turn_signal_info);
   auto output = module_type_->generateOutput();
   path_reference_ = std::make_shared<PathWithLaneId>(output.reference_path);
   *prev_approved_path_ = getPreviousModuleOutput().path;
@@ -112,7 +115,6 @@ BehaviorModuleOutput LaneChangeInterface::plan()
   }
 
   updateSteeringFactorPtr(output);
-  clearWaitingApproval();
 
   return output;
 }
@@ -129,8 +131,6 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval()
   out.turn_signal_info = getPreviousModuleOutput().turn_signal_info;
   out.drivable_area_info = getPreviousModuleOutput().drivable_area_info;
 
-  module_type_->setPreviousModulePaths(
-    getPreviousModuleOutput().reference_path, getPreviousModuleOutput().path);
   module_type_->updateLaneChangeStatus();
   setObjectDebugVisualization();
 
@@ -226,7 +226,6 @@ bool LaneChangeInterface::canTransitFailureState()
   };
 
   log_debug_throttled(__func__);
-
   if (module_type_->isAbortState() && !module_type_->hasFinishedAbort()) {
     log_debug_throttled("Abort process has on going.");
     return false;
@@ -293,26 +292,8 @@ bool LaneChangeInterface::canTransitFailureState()
   return false;
 }
 
-bool LaneChangeInterface::canTransitIdleToRunningState()
+bool LaneChangeInterface::canTransitIdleToWaitingApprovalState()
 {
-  setObjectDebugVisualization();
-
-  auto log_debug_throttled = [&](std::string_view message) -> void {
-    RCLCPP_DEBUG(getLogger(), "%s", message.data());
-  };
-
-  log_debug_throttled(__func__);
-
-  if (!isActivated() || isWaitingApproval()) {
-    if (module_type_->specialRequiredCheck()) {
-      return true;
-    }
-    log_debug_throttled("Module is idling.");
-    return false;
-  }
-
-  log_debug_throttled("Can lane change safely. Executing lane change.");
-  module_type_->toNormalState();
   return true;
 }
 
diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp
index c7ddd8fe63636..274406017e212 100644
--- a/planning/behavior_path_lane_change_module/src/scene.cpp
+++ b/planning/behavior_path_lane_change_module/src/scene.cpp
@@ -420,6 +420,7 @@ void NormalLaneChange::resetParameters()
   is_abort_approval_requested_ = false;
   current_lane_change_state_ = LaneChangeStates::Normal;
   abort_path_ = nullptr;
+  status_ = {};
 
   object_debug_.clear();
 }
diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp
index 1a8c8241abe1a..101e57e37842b 100644
--- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp
+++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp
@@ -373,9 +373,9 @@ class SceneModuleInterface
       RCLCPP_DEBUG(getLogger(), "%s", message.data());
     };
     if (current_state_ == ModuleStatus::IDLE) {
-      if (canTransitIdleToRunningState()) {
+      if (canTransitIdleToWaitingApprovalState()) {
         log_debug_throttled("transiting from IDLE to RUNNING");
-        return ModuleStatus::RUNNING;
+        return ModuleStatus::WAITING_APPROVAL;
       }
 
       log_debug_throttled("transiting from IDLE to IDLE");
@@ -462,7 +462,7 @@ class SceneModuleInterface
   /**
    * @brief State transition condition IDLE -> RUNNING
    */
-  virtual bool canTransitIdleToRunningState() = 0;
+  virtual bool canTransitIdleToWaitingApprovalState() = 0;
 
   /**
    * @brief Get candidate path. This information is used for external judgement.
diff --git a/planning/behavior_path_side_shift_module/include/behavior_path_side_shift_module/scene.hpp b/planning/behavior_path_side_shift_module/include/behavior_path_side_shift_module/scene.hpp
index 7d72afebfb359..762ff985bbf94 100644
--- a/planning/behavior_path_side_shift_module/include/behavior_path_side_shift_module/scene.hpp
+++ b/planning/behavior_path_side_shift_module/include/behavior_path_side_shift_module/scene.hpp
@@ -75,7 +75,7 @@ class SideShiftModule : public SceneModuleInterface
 
   bool canTransitFailureState() override { return false; }
 
-  bool canTransitIdleToRunningState() override { return true; }
+  bool canTransitIdleToWaitingApprovalState() override { return true; }
 
   void initVariables();
 
diff --git a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
index eb1827ec0045d..f3363c82e990c 100644
--- a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
+++ b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp
@@ -139,7 +139,7 @@ class StartPlannerModule : public SceneModuleInterface
 
   bool canTransitFailureState() override { return false; }
 
-  bool canTransitIdleToRunningState() override;
+  bool canTransitIdleToWaitingApprovalState() override;
 
   /**
    * @brief init member variables.
diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
index 6702e37f19077..339c7d40184eb 100644
--- a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
+++ b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -337,9 +337,9 @@ bool StartPlannerModule::canTransitSuccessState()
   return hasFinishedPullOut();
 }
 
-bool StartPlannerModule::canTransitIdleToRunningState()
+bool StartPlannerModule::canTransitIdleToWaitingApprovalState()
 {
-  return isActivated() && !isWaitingApproval();
+  return isActivated();
 }
 
 BehaviorModuleOutput StartPlannerModule::plan()