diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml
new file mode 100644
index 0000000000..e848f156a4
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree_with_external_request_LC.xml
@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+<root main_tree_to_execute="BehaviorTree">
+    <!-- ////////// -->
+    <BehaviorTree ID="BehaviorTree">
+        <Fallback>
+            <ReactiveSequence>
+                <Condition ID="PullOver_Request"/>
+                <Action ID="PullOver_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="PullOut_Request"/>
+                <Action ID="PullOut_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="SideShift_Request"/>
+                <Action ID="SideShift_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="ExternalRequestLaneChangeRight_Request"/>
+                <Action ID="ExternalRequestLaneChangeRight_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="ExternalRequestLaneChangeLeft_Request"/>
+                <Action ID="ExternalRequestLaneChangeLeft_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="LaneChange_Request"/>
+                <Action ID="LaneChange_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <ReactiveSequence>
+                <Condition ID="Avoidance_Request"/>
+                <Action ID="Avoidance_Plan" output="{output}"/>
+            </ReactiveSequence>
+            <Action ID="LaneFollowing_Plan" output="{output}"/>
+        </Fallback>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <TreeNodesModel>
+        <Action ID="Avoidance_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="Avoidance_Request"/>
+        <Condition ID="ExternalApproval"/>
+        <Action ID="ExternalRequestLaneChangeRight_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="ExternalRequestLaneChangeRight_Request"/>
+        <Action ID="ExternalRequestLaneChangeLeft_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="ExternalRequestLaneChangeLeft_Request"/>
+        <Action ID="LaneChange_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="LaneChange_Request"/>
+        <Action ID="LaneFollowing_Plan">
+            <output_port name="output" type="boost::optional&lt;tier4_planning_msgs::PathWithLaneId_&lt;std::allocator&lt;void&gt; &gt; &gt;">desc</output_port>
+        </Action>
+        <Condition ID="LaneFollowing_Request"/>
+        <Action ID="PullOut_Plan">
+            <output_port name="output"/>
+        </Action>
+        <Condition ID="PullOut_Request"/>
+        <Action ID="PullOver_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="PullOver_Request"/>
+        <Action ID="SideShift_Plan">
+            <output_port name="output" type="behavior_path_planner::BehaviorModuleOutput">desc</output_port>
+        </Action>
+        <Condition ID="SideShift_Request"/>
+    </TreeNodesModel>
+    <!-- ////////// -->
+</root>