diff --git a/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp b/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp
deleted file mode 100644
index bb1fd9d3b0bc6..0000000000000
--- a/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp
+++ /dev/null
@@ -1,192 +0,0 @@
-// Copyright 2021 The Autoware Foundation
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "fake_test_node/fake_test_node.hpp"
-#include "gtest/gtest.h"
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp/time.hpp"
-#include "trajectory_follower_test_utils.hpp"
-
-#include <trajectory_follower_nodes/latlon_muxer_node.hpp>
-
-#include "autoware_auto_control_msgs/msg/ackermann_control_command.hpp"
-#include "autoware_auto_control_msgs/msg/ackermann_lateral_command.hpp"
-#include "autoware_auto_control_msgs/msg/longitudinal_command.hpp"
-
-#include <memory>
-#include <string>
-#include <vector>
-
-using LatLonMuxer = autoware::motion::control::trajectory_follower_nodes::LatLonMuxer;
-using LateralCommand = autoware_auto_control_msgs::msg::AckermannLateralCommand;
-using LongitudinalCommand = autoware_auto_control_msgs::msg::LongitudinalCommand;
-using ControlCommand = autoware_auto_control_msgs::msg::AckermannControlCommand;
-
-using FakeNodeFixture = autoware::tools::testing::FakeTestNode;
-
-const rclcpp::Duration one_second(1, 0);
-
-TEST_F(FakeNodeFixture, TestCorrectOutput)
-{
-  // Data to test
-  ControlCommand::SharedPtr cmd_msg;
-  bool received_combined_command = false;
-  // Node
-  rclcpp::NodeOptions node_options;
-  node_options.append_parameter_override("timeout_thr_sec", 0.5);
-  std::shared_ptr<LatLonMuxer> node = std::make_shared<LatLonMuxer>(node_options);
-  // Publisher/Subscribers
-  rclcpp::Publisher<LateralCommand>::SharedPtr lat_pub =
-    this->create_publisher<LateralCommand>("latlon_muxer/input/lateral/control_cmd");
-  rclcpp::Publisher<LongitudinalCommand>::SharedPtr lon_pub =
-    this->create_publisher<LongitudinalCommand>("latlon_muxer/input/longitudinal/control_cmd");
-  rclcpp::Subscription<ControlCommand>::SharedPtr cmd_sub =
-    this->create_subscription<ControlCommand>(
-      "latlon_muxer/output/control_cmd", *node,
-      [&cmd_msg, &received_combined_command](const ControlCommand::SharedPtr msg) {
-        cmd_msg = msg;
-        received_combined_command = true;
-      });
-  // Publish messages
-  LateralCommand lat_msg;
-  lat_msg.steering_tire_angle = 1.5;
-  lat_msg.steering_tire_rotation_rate = 0.2f;
-  LongitudinalCommand lon_msg;
-  lon_msg.speed = 5.0;
-  lon_msg.acceleration = -1.0;
-  lon_msg.jerk = 0.25;
-  lat_msg.stamp = node->now();
-  lon_msg.stamp = node->now();
-  lat_pub->publish(lat_msg);
-  lon_pub->publish(lon_msg);
-
-  test_utils::waitForMessage(node, this, received_combined_command);
-  // Ensure the combined control command was published and contains correct data
-  ASSERT_TRUE(received_combined_command);
-  EXPECT_EQ(cmd_msg->lateral.steering_tire_angle, lat_msg.steering_tire_angle);
-  EXPECT_EQ(cmd_msg->lateral.steering_tire_rotation_rate, lat_msg.steering_tire_rotation_rate);
-  EXPECT_EQ(cmd_msg->longitudinal.speed, lon_msg.speed);
-  EXPECT_EQ(cmd_msg->longitudinal.acceleration, lon_msg.acceleration);
-  EXPECT_EQ(cmd_msg->longitudinal.jerk, lon_msg.jerk);
-  EXPECT_GT(rclcpp::Time(cmd_msg->stamp), rclcpp::Time(lat_msg.stamp));
-  EXPECT_GT(rclcpp::Time(cmd_msg->stamp), rclcpp::Time(lon_msg.stamp));
-}
-
-TEST_F(FakeNodeFixture, TestLateralTimeout)
-{
-  // Data to test
-  ControlCommand::SharedPtr cmd_msg;
-  bool received_combined_command = false;
-  // Node
-  rclcpp::NodeOptions node_options;
-  node_options.append_parameter_override("timeout_thr_sec", 0.5);
-  std::shared_ptr<LatLonMuxer> node = std::make_shared<LatLonMuxer>(node_options);
-  // Publisher/Subscribers
-  rclcpp::Publisher<LateralCommand>::SharedPtr lat_pub =
-    this->create_publisher<LateralCommand>("latlon_muxer/input/lateral/control_cmd");
-  rclcpp::Publisher<LongitudinalCommand>::SharedPtr lon_pub =
-    this->create_publisher<LongitudinalCommand>("latlon_muxer/input/longitudinal/control_cmd");
-  rclcpp::Subscription<ControlCommand>::SharedPtr cmd_sub =
-    this->create_subscription<ControlCommand>(
-      "latlon_muxer/output/control_cmd", *node,
-      [&cmd_msg, &received_combined_command](const ControlCommand::SharedPtr msg) {
-        cmd_msg = msg;
-        received_combined_command = true;
-      });
-  // Publish messages
-  LateralCommand lat_msg;
-  LongitudinalCommand lon_msg;
-  // Generate a timeout of the lateral message
-  lat_msg.stamp = node->now() - one_second;
-  lon_msg.stamp = node->now();
-  lat_pub->publish(lat_msg);
-  lon_pub->publish(lon_msg);
-
-  test_utils::waitForMessage(
-    node, this, received_combined_command, std::chrono::seconds{1LL}, false);
-  // Ensure combined command was not published
-  ASSERT_FALSE(received_combined_command);
-}
-
-TEST_F(FakeNodeFixture, TestLongitudinalTimeout)
-{
-  // Data to test
-  ControlCommand::SharedPtr cmd_msg;
-  bool received_combined_command = false;
-  // Node
-  rclcpp::NodeOptions node_options;
-  node_options.append_parameter_override("timeout_thr_sec", 0.5);
-  std::shared_ptr<LatLonMuxer> node = std::make_shared<LatLonMuxer>(node_options);
-  // Publisher/Subscribers
-  rclcpp::Publisher<LateralCommand>::SharedPtr lat_pub =
-    this->create_publisher<LateralCommand>("latlon_muxer/input/lateral/control_cmd");
-  rclcpp::Publisher<LongitudinalCommand>::SharedPtr lon_pub =
-    this->create_publisher<LongitudinalCommand>("latlon_muxer/input/longitudinal/control_cmd");
-  rclcpp::Subscription<ControlCommand>::SharedPtr cmd_sub =
-    this->create_subscription<ControlCommand>(
-      "latlon_muxer/output/control_cmd", *node,
-      [&cmd_msg, &received_combined_command](const ControlCommand::SharedPtr msg) {
-        cmd_msg = msg;
-        received_combined_command = true;
-      });
-  // Publish messages
-  LateralCommand lat_msg;
-  LongitudinalCommand lon_msg;
-  // Generate a timeout of the longitudinal message
-  lat_msg.stamp = node->now();
-  lon_msg.stamp = node->now() - one_second;
-  lat_pub->publish(lat_msg);
-  lon_pub->publish(lon_msg);
-
-  test_utils::waitForMessage(
-    node, this, received_combined_command, std::chrono::seconds{1LL}, false);
-  // Ensure combined command was not published
-  ASSERT_FALSE(received_combined_command);
-}
-
-TEST_F(FakeNodeFixture, TestLatlonTimeout)
-{
-  // Data to test
-  ControlCommand::SharedPtr cmd_msg;
-  bool received_combined_command = false;
-  // Node
-  rclcpp::NodeOptions node_options;
-  node_options.append_parameter_override("timeout_thr_sec", 0.5);
-  std::shared_ptr<LatLonMuxer> node = std::make_shared<LatLonMuxer>(node_options);
-  // Publisher/Subscribers
-  rclcpp::Publisher<LateralCommand>::SharedPtr lat_pub =
-    this->create_publisher<LateralCommand>("latlon_muxer/input/lateral/control_cmd");
-  rclcpp::Publisher<LongitudinalCommand>::SharedPtr lon_pub =
-    this->create_publisher<LongitudinalCommand>("latlon_muxer/input/longitudinal/control_cmd");
-  rclcpp::Subscription<ControlCommand>::SharedPtr cmd_sub =
-    this->create_subscription<ControlCommand>(
-      "latlon_muxer/output/control_cmd", *node,
-      [&cmd_msg, &received_combined_command](const ControlCommand::SharedPtr msg) {
-        cmd_msg = msg;
-        received_combined_command = true;
-      });
-  // Publish messages
-  LateralCommand lat_msg;
-  LongitudinalCommand lon_msg;
-  // Generate a timeout of the longitudinal message
-  lat_msg.stamp = node->now() - one_second;
-  lon_msg.stamp = node->now() - one_second;
-  lat_pub->publish(lat_msg);
-  lon_pub->publish(lon_msg);
-
-  test_utils::waitForMessage(
-    node, this, received_combined_command, std::chrono::seconds{1LL}, false);
-  // Ensure combined command was not published
-  ASSERT_FALSE(received_combined_command);
-}
diff --git a/launch/tier4_control_launch/config/trajectory_follower/latlon_muxer.param.yaml b/launch/tier4_control_launch/config/trajectory_follower/latlon_muxer.param.yaml
deleted file mode 100644
index 371bb99787559..0000000000000
--- a/launch/tier4_control_launch/config/trajectory_follower/latlon_muxer.param.yaml
+++ /dev/null
@@ -1,3 +0,0 @@
-/**:
-  ros__parameters:
-    timeout_thr_sec: 0.5 # [s] Time limit after which input messages are discarded.