diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/route_handler/include/route_handler/route_handler.hpp
index 8b5c7524e7a25..927b423873d5f 100644
--- a/planning/route_handler/include/route_handler/route_handler.hpp
+++ b/planning/route_handler/include/route_handler/route_handler.hpp
@@ -425,25 +425,6 @@ class RouteHandler
   // for path
 
   PathWithLaneId updatePathTwist(const PathWithLaneId & path) const;
-  /**
-   * @brief Checks if a path has a no_drivable_lane or not
-   * @param path lanelet path
-   * @return true if the lanelet path includes at least one no_drivable_lane, false if it does not
-   * include any.
-   */
-  bool hasNoDrivableLaneInPath(const lanelet::routing::LaneletPath & path) const;
-  /**
-   * @brief Searches for a path between start and goal lanelets that does not include any
-   * no_drivable_lane. If there is more than one path fount, the function returns the shortest path
-   * that does not include any no_drivable_lane.
-   * @param start_lanelet start lanelet
-   * @param goal_lanelet goal lanelet
-   * @param drivable_lane_path output path that does not include no_drivable_lane.
-   * @return true if a path without any no_drivable_lane found, false if this path is not found.
-   */
-  bool findDrivableLanePath(
-    const lanelet::Lanelet & start_lanelet, const lanelet::Lanelet & goal_lanelet,
-    lanelet::routing::LaneletPath & drivable_lane_path) const;
 };
 }  // namespace route_handler
 #endif  // ROUTE_HANDLER__ROUTE_HANDLER_HPP_
diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp
index f3db1cadf02a1..534bd344f6443 100644
--- a/planning/route_handler/src/route_handler.cpp
+++ b/planning/route_handler/src/route_handler.cpp
@@ -1994,28 +1994,11 @@ bool RouteHandler::planPathLaneletsBetweenCheckpoints(
     return false;
   }
 
-  const lanelet::routing::LaneletPath shortest_path = optional_route->shortestPath();
-  bool shortest_path_has_no_drivable_lane = hasNoDrivableLaneInPath(shortest_path);
-  lanelet::routing::LaneletPath drivable_lane_path;
-  bool drivable_lane_path_found = false;
-
-  if (shortest_path_has_no_drivable_lane) {
-    drivable_lane_path_found =
-      findDrivableLanePath(start_lanelet, goal_lanelet, drivable_lane_path);
-  }
-
-  lanelet::routing::LaneletPath path;
-  if (drivable_lane_path_found) {
-    path = drivable_lane_path;
-  } else {
-    path = shortest_path;
-  }
-
-  path_lanelets->reserve(path.size());
-  for (const auto & llt : path) {
+  const auto shortest_path = optional_route->shortestPath();
+  path_lanelets->reserve(shortest_path.size());
+  for (const auto & llt : shortest_path) {
     path_lanelets->push_back(llt);
   }
-
   return true;
 }
 
@@ -2059,42 +2042,4 @@ lanelet::ConstLanelets RouteHandler::getMainLanelets(
   return main_lanelets;
 }
 
-bool RouteHandler::hasNoDrivableLaneInPath(const lanelet::routing::LaneletPath & path) const
-{
-  for (const auto & llt : path) {
-    const std::string no_drivable_lane_attribute = llt.attributeOr("no_drivable_lane", "no");
-    if (no_drivable_lane_attribute == "yes") {
-      return true;
-    }
-  }
-
-  return false;
-}
-
-bool RouteHandler::findDrivableLanePath(
-  const lanelet::Lanelet & start_lanelet, const lanelet::Lanelet & goal_lanelet,
-  lanelet::routing::LaneletPath & drivable_lane_path) const
-{
-  double drivable_lane_path_length2d = std::numeric_limits<double>::max();
-  bool drivable_lane_path_found = false;
-
-  for (const auto & llt : road_lanelets_) {
-    lanelet::ConstLanelets via_lanelet;
-    via_lanelet.push_back(llt);
-    const lanelet::Optional<lanelet::routing::Route> optional_route =
-      routing_graph_ptr_->getRouteVia(start_lanelet, via_lanelet, goal_lanelet, 0);
-
-    if ((optional_route) && (!hasNoDrivableLaneInPath(optional_route->shortestPath()))) {
-      if (optional_route->length2d() < drivable_lane_path_length2d) {
-        drivable_lane_path_length2d = optional_route->length2d();
-        drivable_lane_path = optional_route->shortestPath();
-        drivable_lane_path_found = true;
-      }
-    }
-    via_lanelet.clear();
-  }
-
-  return drivable_lane_path_found;
-}
-
 }  // namespace route_handler