diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml
index 6cf8719b2ef83..ef6cb82d1412a 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/config/scene_module_manager.param.yaml
@@ -9,7 +9,6 @@
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 6
-      max_module_size: 1
 
     external_request_lane_change_right:
       enable_rtc: false
@@ -17,7 +16,6 @@
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 6
-      max_module_size: 1
 
     lane_change_left:
       enable_rtc: false
@@ -25,7 +23,6 @@
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 5
-      max_module_size: 1
 
     lane_change_right:
       enable_rtc: false
@@ -33,7 +30,6 @@
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 5
-      max_module_size: 1
 
     start_planner:
       enable_rtc: false
@@ -41,7 +37,6 @@
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 0
-      max_module_size: 1
 
     side_shift:
       enable_rtc: false
@@ -49,7 +44,6 @@
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 2
-      max_module_size: 1
 
     goal_planner:
       enable_rtc: false
@@ -57,7 +51,6 @@
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
       priority: 1
-      max_module_size: 1
 
     static_obstacle_avoidance:
       enable_rtc: false
@@ -65,7 +58,6 @@
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 4
-      max_module_size: 1
 
     avoidance_by_lane_change:
       enable_rtc: false
@@ -73,7 +65,6 @@
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: false
       priority: 3
-      max_module_size: 1
 
     dynamic_obstacle_avoidance:
       enable_rtc: false
@@ -81,7 +72,6 @@
       enable_simultaneous_execution_as_candidate_module: true
       keep_last: false
       priority: 7
-      max_module_size: 1
 
     sampling_planner:
       enable_module: true
@@ -90,4 +80,3 @@
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
       priority: 16
-      max_module_size: 1
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md b/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md
index 5ffdcafdb2497..09627d2d5d91e 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner/docs/behavior_path_planner_manager_design.md
@@ -88,7 +88,6 @@ struct ModuleConfigParameters
   bool enable_simultaneous_execution_as_approved_module{false};
   bool enable_simultaneous_execution_as_candidate_module{false};
   uint8_t priority{0};
-  uint8_t max_module_size{0};
 };
 ```
 
@@ -101,7 +100,6 @@ Code is [here](https://github.com/autowarefoundation/autoware.universe/blob/b173
 | `enable_simultaneous_execution_as_candidate_module` | bool    | if true, the manager allows its scene modules to run with other scene modules as **candidate module**.                                          |
 | `enable_simultaneous_execution_as_approved_module`  | bool    | if true, the manager allows its scene modules to run with other scene modules as **approved module**.                                           |
 | `priority`                                          | uint8_t | the manager decides execution priority based on this parameter. The smaller the number is, the higher the priority is.                          |
-| `max_module_size`                                   | uint8_t | the sub-manager can run some modules simultaneously. this parameter set the maximum number of the launched modules.                             |
 
 ### Scene modules
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
index 5b9c0389e29c5..fab9a6ba45113 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
@@ -205,7 +205,16 @@ class SceneModuleManagerInterface
     });
   }
 
-  bool canLaunchNewModule() const { return observers_.size() < config_.max_module_size; }
+  /**
+   * Determine if a new module can be launched. It ensures that only one instance of a particular
+   * scene module type is registered at a time.
+   *
+   * When this returns true:
+   * - A new instance of the scene module can be launched.
+   * - No other instance of the same name of scene module is currently active or registered.
+   *
+   */
+  bool canLaunchNewModule() const { return observers_.empty(); }
 
   /**
    * Determine if the module is always executable, regardless of the state of other modules.
@@ -290,7 +299,6 @@ class SceneModuleManagerInterface
         *node, ns + "enable_simultaneous_execution_as_candidate_module");
       config_.keep_last = getOrDeclareParameter<bool>(*node, ns + "keep_last");
       config_.priority = getOrDeclareParameter<int>(*node, ns + "priority");
-      config_.max_module_size = getOrDeclareParameter<int>(*node, ns + "max_module_size");
     }
 
     // init rtc configuration
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp
index bbc249f5a0daf..a45e8366f45d8 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/parameters.hpp
@@ -25,7 +25,6 @@ struct ModuleConfigParameters
   bool enable_simultaneous_execution_as_candidate_module{false};
   bool keep_last{false};
   uint8_t priority{0};
-  uint8_t max_module_size{0};
 };
 
 struct BehaviorPathPlannerParameters