diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 41f6d6bdc3..0430b49713 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -52,18 +52,6 @@
   <arg name="use_foa" default="false"/>
   <arg name="rviz_respawn" default="true"/>
 
-  <!-- rtc settings (auto/manual) -->
-  <let
-    name="rtc_auto_mode_manager_param_path"
-    value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml"
-    unless="$(var use_foa)"
-  />
-  <let
-    name="rtc_auto_mode_manager_param_path"
-    value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager_foa.param.yaml"
-    if="$(var use_foa)"
-  />
-
   <!-- external lane change setting -->
   <let
     name="scene_module_manager_param_path"
@@ -138,7 +126,6 @@
     <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_planning_component.launch.xml">
       <arg name="module_preset" value="$(var planning_module_preset)"/>
       <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
-      <arg name="rtc_auto_mode_manager_param_path" value="$(var rtc_auto_mode_manager_param_path)"/>
       <arg name="scene_module_manager_param_path" value="$(var scene_module_manager_param_path)"/>
       <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
     </include>
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 6df932d985..d6e1146587 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -4,7 +4,6 @@
 
   <!-- behavior -->
   <arg name="use_experimental_lane_change_function" default="false"/>
-  <arg name="rtc_auto_mode_manager_param_path"/>
   <arg name="scene_module_manager_param_path"/>
   <arg name="module_preset" default="default"/>
   <arg name="enable_all_modules_auto_mode" default="false"/>