diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
index 2ab0de4d2e43b..49515a41a5935 100644
--- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
@@ -707,21 +707,6 @@ bool StartPlannerModule::hasFinishedPullOut() const
 
   const auto current_pose = planner_data_->self_odometry->pose.pose;
 
-  // keep running until returning to the path, considering that other modules (e.g avoidance)
-  // are also running at the same time.
-  const double lateral_offset_to_path =
-    motion_utils::calcLateralOffset(getCurrentPath().points, current_pose.position);
-  constexpr double lateral_offset_threshold = 0.2;
-  if (std::abs(lateral_offset_to_path) > lateral_offset_threshold) {
-    return false;
-  }
-  const double yaw_deviation =
-    motion_utils::calcYawDeviation(getCurrentPath().points, current_pose);
-  constexpr double yaw_deviation_threshold = 0.087;  // 5deg
-  if (std::abs(yaw_deviation) > yaw_deviation_threshold) {
-    return false;
-  }
-
   // check that ego has passed pull out end point
   const auto arclength_current =
     lanelet::utils::getArcCoordinates(status_.current_lanes, current_pose);