diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 5488363e9f..d75164c8ce 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -28,8 +28,6 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- System -->
   <arg name="system_run_mode" default="online" description="run mode in system"/>
-  <!-- API -->
-  <arg name="init_simulator_pose" default="false" description="initialize simulator pose"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -122,10 +120,9 @@
   </group>
 
   <!-- API -->
-  <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml">
-    <arg name="init_simulator_pose" value="$(var init_simulator_pose)"/>
-    <arg name="init_localization_pose" value="$(var launch_localization)"/>
-  </include>
+  <group>
+    <include file="$(find-pkg-share tier4_autoware_api_launch)/launch/autoware_api.launch.xml"/>
+  </group>
 
   <!-- Tools -->
   <group>
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 43670241a2..50d7425bf0 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -59,8 +59,6 @@
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
-      <!-- API -->
-      <arg name="init_simulator_pose" value="false"/>
     </include>
   </group>
 </launch>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index c0260428f1..b44d58dc1e 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -47,8 +47,6 @@
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
-      <!-- API -->
-      <arg name="init_simulator_pose" value="true"/>
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>
       <arg name="rviz_config" value="$(var rviz_config)"/>
@@ -56,25 +54,19 @@
     </include>
   </group>
 
-  <!-- Initial Pose Relay -->
-  <group>
-    <node pkg="topic_tools" exec="relay" name="initial_pose_2d">
-      <param name="input_topic" value="/initialpose"/>
-      <param name="output_topic" value="/initialpose2d"/>
-      <param name="type" value="geometry_msgs/msg/PoseWithCovarianceStamped"/>
-    </node>
-  </group>
-
   <!-- Simulator -->
   <group>
     <let name="launch_dummy_perception" value="false" if="$(var scenario_simulation)"/>
     <let name="launch_dummy_perception" value="true" unless="$(var scenario_simulation)"/>
     <let name="launch_dummy_vehicle" value="false" if="$(var scenario_simulation)"/>
     <let name="launch_dummy_vehicle" value="true" unless="$(var scenario_simulation)"/>
+    <let name="launch_dummy_localization" value="false" if="$(var scenario_simulation)"/>
+    <let name="launch_dummy_localization" value="true" unless="$(var scenario_simulation)"/>
 
     <include file="$(find-pkg-share tier4_simulator_launch)/launch/simulator.launch.xml">
       <arg name="launch_dummy_perception" value="$(var launch_dummy_perception)"/>
       <arg name="launch_dummy_vehicle" value="$(var launch_dummy_vehicle)"/>
+      <arg name="launch_dummy_localization" value="$(var launch_dummy_localization)"/>
       <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
       <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
       <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>