diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp
index 194d75e14228e..facb39c821764 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp
@@ -31,21 +31,78 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
 
   StartPlannerParameters p;
 
-  const std::string ns = "start_planner.";
-
-  p.th_arrived_distance = node->declare_parameter<double>(ns + "th_arrived_distance");
-  p.th_stopped_velocity = node->declare_parameter<double>(ns + "th_stopped_velocity");
-  p.th_stopped_time = node->declare_parameter<double>(ns + "th_stopped_time");
-  p.prepare_time_before_start = node->declare_parameter<double>(ns + "prepare_time_before_start");
-  p.th_distance_to_middle_of_the_road =
-    node->declare_parameter<double>(ns + "th_distance_to_middle_of_the_road");
-  p.extra_width_margin_for_rear_obstacle =
-    node->declare_parameter<double>(ns + "extra_width_margin_for_rear_obstacle");
-  p.collision_check_margins =
-    node->declare_parameter<std::vector<double>>(ns + "collision_check_margins");
-  p.collision_check_margin_from_front_object =
-    node->declare_parameter<double>(ns + "collision_check_margin_from_front_object");
-  p.th_moving_object_velocity = node->declare_parameter<double>(ns + "th_moving_object_velocity");
+  {
+    const std::string ns = "start_planner.";
+
+    p.th_arrived_distance = node->declare_parameter<double>(ns + "th_arrived_distance");
+    p.th_stopped_velocity = node->declare_parameter<double>(ns + "th_stopped_velocity");
+    p.th_stopped_time = node->declare_parameter<double>(ns + "th_stopped_time");
+    p.prepare_time_before_start = node->declare_parameter<double>(ns + "prepare_time_before_start");
+    p.th_distance_to_middle_of_the_road =
+      node->declare_parameter<double>(ns + "th_distance_to_middle_of_the_road");
+    p.extra_width_margin_for_rear_obstacle =
+      node->declare_parameter<double>(ns + "extra_width_margin_for_rear_obstacle");
+    p.collision_check_margins =
+      node->declare_parameter<std::vector<double>>(ns + "collision_check_margins");
+    p.collision_check_margin_from_front_object =
+      node->declare_parameter<double>(ns + "collision_check_margin_from_front_object");
+    p.th_moving_object_velocity = node->declare_parameter<double>(ns + "th_moving_object_velocity");
+    p.center_line_path_interval = node->declare_parameter<double>(ns + "center_line_path_interval");
+    // shift pull out
+    p.enable_shift_pull_out = node->declare_parameter<bool>(ns + "enable_shift_pull_out");
+    p.check_shift_path_lane_departure =
+      node->declare_parameter<bool>(ns + "check_shift_path_lane_departure");
+    p.allow_check_shift_path_lane_departure_override =
+      node->declare_parameter<bool>(ns + "allow_check_shift_path_lane_departure_override");
+    p.shift_collision_check_distance_from_end =
+      node->declare_parameter<double>(ns + "shift_collision_check_distance_from_end");
+    p.minimum_shift_pull_out_distance =
+      node->declare_parameter<double>(ns + "minimum_shift_pull_out_distance");
+    p.lateral_acceleration_sampling_num =
+      node->declare_parameter<int>(ns + "lateral_acceleration_sampling_num");
+    p.lateral_jerk = node->declare_parameter<double>(ns + "lateral_jerk");
+    p.maximum_lateral_acc = node->declare_parameter<double>(ns + "maximum_lateral_acc");
+    p.minimum_lateral_acc = node->declare_parameter<double>(ns + "minimum_lateral_acc");
+    p.maximum_curvature = node->declare_parameter<double>(ns + "maximum_curvature");
+    p.end_pose_curvature_threshold =
+      node->declare_parameter<double>(ns + "end_pose_curvature_threshold");
+    p.maximum_longitudinal_deviation =
+      node->declare_parameter<double>(ns + "maximum_longitudinal_deviation");
+    // geometric pull out
+    p.enable_geometric_pull_out = node->declare_parameter<bool>(ns + "enable_geometric_pull_out");
+    p.geometric_collision_check_distance_from_end =
+      node->declare_parameter<double>(ns + "geometric_collision_check_distance_from_end");
+    p.divide_pull_out_path = node->declare_parameter<bool>(ns + "divide_pull_out_path");
+    p.parallel_parking_parameters.pull_out_velocity =
+      node->declare_parameter<double>(ns + "geometric_pull_out_velocity");
+    p.parallel_parking_parameters.pull_out_arc_path_interval =
+      node->declare_parameter<double>(ns + "arc_path_interval");
+    p.parallel_parking_parameters.pull_out_lane_departure_margin =
+      node->declare_parameter<double>(ns + "lane_departure_margin");
+    p.lane_departure_check_expansion_margin =
+      node->declare_parameter<double>(ns + "lane_departure_check_expansion_margin");
+    p.parallel_parking_parameters.pull_out_max_steer_angle =
+      node->declare_parameter<double>(ns + "pull_out_max_steer_angle");  // 15deg
+    p.parallel_parking_parameters.center_line_path_interval =
+      p.center_line_path_interval;  // for geometric parallel parking
+    // search start pose backward
+    p.search_priority = node->declare_parameter<std::string>(
+      ns + "search_priority");  // "efficient_path" or "short_back_distance"
+    p.enable_back = node->declare_parameter<bool>(ns + "enable_back");
+    p.backward_velocity = node->declare_parameter<double>(ns + "backward_velocity");
+    p.max_back_distance = node->declare_parameter<double>(ns + "max_back_distance");
+    p.backward_search_resolution =
+      node->declare_parameter<double>(ns + "backward_search_resolution");
+    p.backward_path_update_duration =
+      node->declare_parameter<double>(ns + "backward_path_update_duration");
+    p.ignore_distance_from_lane_end =
+      node->declare_parameter<double>(ns + "ignore_distance_from_lane_end");
+    // stop condition
+    p.maximum_deceleration_for_stop =
+      node->declare_parameter<double>(ns + "stop_condition.maximum_deceleration_for_stop");
+    p.maximum_jerk_for_stop =
+      node->declare_parameter<double>(ns + "stop_condition.maximum_jerk_for_stop");
+  }
   {
     const std::string ns = "start_planner.object_types_to_check_for_path_generation.";
     p.object_types_to_check_for_path_generation.check_car =
@@ -65,55 +122,6 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
     p.object_types_to_check_for_path_generation.check_pedestrian =
       node->declare_parameter<bool>(ns + "check_pedestrian");
   }
-  p.center_line_path_interval = node->declare_parameter<double>(ns + "center_line_path_interval");
-  // shift pull out
-  p.enable_shift_pull_out = node->declare_parameter<bool>(ns + "enable_shift_pull_out");
-  p.check_shift_path_lane_departure =
-    node->declare_parameter<bool>(ns + "check_shift_path_lane_departure");
-  p.allow_check_shift_path_lane_departure_override =
-    node->declare_parameter<bool>(ns + "allow_check_shift_path_lane_departure_override");
-  p.shift_collision_check_distance_from_end =
-    node->declare_parameter<double>(ns + "shift_collision_check_distance_from_end");
-  p.minimum_shift_pull_out_distance =
-    node->declare_parameter<double>(ns + "minimum_shift_pull_out_distance");
-  p.lateral_acceleration_sampling_num =
-    node->declare_parameter<int>(ns + "lateral_acceleration_sampling_num");
-  p.lateral_jerk = node->declare_parameter<double>(ns + "lateral_jerk");
-  p.maximum_lateral_acc = node->declare_parameter<double>(ns + "maximum_lateral_acc");
-  p.minimum_lateral_acc = node->declare_parameter<double>(ns + "minimum_lateral_acc");
-  p.maximum_curvature = node->declare_parameter<double>(ns + "maximum_curvature");
-  p.end_pose_curvature_threshold =
-    node->declare_parameter<double>(ns + "end_pose_curvature_threshold");
-  p.maximum_longitudinal_deviation =
-    node->declare_parameter<double>(ns + "maximum_longitudinal_deviation");
-  // geometric pull out
-  p.enable_geometric_pull_out = node->declare_parameter<bool>(ns + "enable_geometric_pull_out");
-  p.geometric_collision_check_distance_from_end =
-    node->declare_parameter<double>(ns + "geometric_collision_check_distance_from_end");
-  p.divide_pull_out_path = node->declare_parameter<bool>(ns + "divide_pull_out_path");
-  p.parallel_parking_parameters.pull_out_velocity =
-    node->declare_parameter<double>(ns + "geometric_pull_out_velocity");
-  p.parallel_parking_parameters.pull_out_arc_path_interval =
-    node->declare_parameter<double>(ns + "arc_path_interval");
-  p.parallel_parking_parameters.pull_out_lane_departure_margin =
-    node->declare_parameter<double>(ns + "lane_departure_margin");
-  p.lane_departure_check_expansion_margin =
-    node->declare_parameter<double>(ns + "lane_departure_check_expansion_margin");
-  p.parallel_parking_parameters.pull_out_max_steer_angle =
-    node->declare_parameter<double>(ns + "pull_out_max_steer_angle");  // 15deg
-  p.parallel_parking_parameters.center_line_path_interval =
-    p.center_line_path_interval;  // for geometric parallel parking
-  // search start pose backward
-  p.search_priority = node->declare_parameter<std::string>(
-    ns + "search_priority");  // "efficient_path" or "short_back_distance"
-  p.enable_back = node->declare_parameter<bool>(ns + "enable_back");
-  p.backward_velocity = node->declare_parameter<double>(ns + "backward_velocity");
-  p.max_back_distance = node->declare_parameter<double>(ns + "max_back_distance");
-  p.backward_search_resolution = node->declare_parameter<double>(ns + "backward_search_resolution");
-  p.backward_path_update_duration =
-    node->declare_parameter<double>(ns + "backward_path_update_duration");
-  p.ignore_distance_from_lane_end =
-    node->declare_parameter<double>(ns + "ignore_distance_from_lane_end");
   // freespace planner general params
   {
     const std::string ns = "start_planner.freespace_planner.";
@@ -184,19 +192,10 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
     p.rrt_star_parameters.margin = node->declare_parameter<double>(ns + "margin");
   }
 
-  // stop condition
-  {
-    p.maximum_deceleration_for_stop =
-      node->declare_parameter<double>(ns + "stop_condition.maximum_deceleration_for_stop");
-    p.maximum_jerk_for_stop =
-      node->declare_parameter<double>(ns + "stop_condition.maximum_jerk_for_stop");
-  }
-
   const std::string base_ns = "start_planner.path_safety_check.";
-
   // EgoPredictedPath
-  const std::string ego_path_ns = base_ns + "ego_predicted_path.";
   {
+    const std::string ego_path_ns = base_ns + "ego_predicted_path.";
     p.ego_predicted_path_params.min_velocity =
       node->declare_parameter<double>(ego_path_ns + "min_velocity");
     p.ego_predicted_path_params.acceleration =
@@ -210,7 +209,6 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
     p.ego_predicted_path_params.delay_until_departure =
       node->declare_parameter<double>(ego_path_ns + "delay_until_departure");
   }
-
   // ObjectFilteringParams
   const std::string obj_filter_ns = base_ns + "target_filtering.";
   {
@@ -235,10 +233,9 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
     p.objects_filtering_params.use_predicted_path_outside_lanelet =
       node->declare_parameter<bool>(obj_filter_ns + "use_predicted_path_outside_lanelet");
   }
-
   // ObjectTypesToCheck
-  const std::string obj_types_ns = obj_filter_ns + "object_types_to_check.";
   {
+    const std::string obj_types_ns = obj_filter_ns + "object_types_to_check.";
     p.objects_filtering_params.object_types_to_check.check_car =
       node->declare_parameter<bool>(obj_types_ns + "check_car");
     p.objects_filtering_params.object_types_to_check.check_truck =
@@ -256,10 +253,9 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
     p.objects_filtering_params.object_types_to_check.check_pedestrian =
       node->declare_parameter<bool>(obj_types_ns + "check_pedestrian");
   }
-
   // ObjectLaneConfiguration
-  const std::string obj_lane_ns = obj_filter_ns + "object_lane_configuration.";
   {
+    const std::string obj_lane_ns = obj_filter_ns + "object_lane_configuration.";
     p.objects_filtering_params.object_lane_configuration.check_current_lane =
       node->declare_parameter<bool>(obj_lane_ns + "check_current_lane");
     p.objects_filtering_params.object_lane_configuration.check_right_lane =
@@ -271,7 +267,6 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
     p.objects_filtering_params.object_lane_configuration.check_other_lane =
       node->declare_parameter<bool>(obj_lane_ns + "check_other_lane");
   }
-
   // SafetyCheckParams
   const std::string safety_check_ns = base_ns + "safety_check_params.";
   {
@@ -288,10 +283,9 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
     p.safety_check_params.collision_check_yaw_diff_threshold =
       node->declare_parameter<double>(safety_check_ns + "collision_check_yaw_diff_threshold");
   }
-
   // RSSparams
-  const std::string rss_ns = safety_check_ns + "rss_params.";
   {
+    const std::string rss_ns = safety_check_ns + "rss_params.";
     p.safety_check_params.rss_params.rear_vehicle_reaction_time =
       node->declare_parameter<double>(rss_ns + "rear_vehicle_reaction_time");
     p.safety_check_params.rss_params.rear_vehicle_safety_time_margin =
@@ -305,17 +299,17 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
     p.safety_check_params.rss_params.extended_polygon_policy =
       node->declare_parameter<std::string>(rss_ns + "extended_polygon_policy");
   }
-
   // surround moving obstacle check
-  std::string surround_moving_obstacle_check_ns = ns + "surround_moving_obstacle_check.";
   {
+    const std::string surround_moving_obstacle_check_ns =
+      "start_planner.surround_moving_obstacle_check.";
     p.search_radius =
       node->declare_parameter<double>(surround_moving_obstacle_check_ns + "search_radius");
     p.th_moving_obstacle_velocity = node->declare_parameter<double>(
       surround_moving_obstacle_check_ns + "th_moving_obstacle_velocity");
     // ObjectTypesToCheck
-    std::string obj_types_ns = surround_moving_obstacle_check_ns + "object_types_to_check.";
     {
+      const std::string obj_types_ns = surround_moving_obstacle_check_ns + "object_types_to_check.";
       p.surround_moving_obstacles_type_to_check.check_car =
         node->declare_parameter<bool>(obj_types_ns + "check_car");
       p.surround_moving_obstacles_type_to_check.check_truck =
@@ -336,8 +330,8 @@ void StartPlannerModuleManager::init(rclcpp::Node * node)
   }
 
   // debug
-  std::string debug_ns = ns + "debug.";
   {
+    const std::string debug_ns = "start_planner.debug.";
     p.print_debug_info = node->declare_parameter<bool>(debug_ns + "print_debug_info");
   }
 
@@ -361,9 +355,8 @@ void StartPlannerModuleManager::updateModuleParams(
 
   auto & p = parameters_;
 
-  const std::string ns = "start_planner.";
-
   {
+    const std::string ns = "start_planner.";
     updateParam<double>(parameters, ns + "th_arrived_distance", p->th_arrived_distance);
     updateParam<double>(parameters, ns + "th_stopped_velocity", p->th_stopped_velocity);
     updateParam<double>(parameters, ns + "th_stopped_time", p->th_stopped_time);
@@ -458,6 +451,11 @@ void StartPlannerModuleManager::updateModuleParams(
       parameters, ns + "backward_path_update_duration", p->backward_path_update_duration);
     updateParam<double>(
       parameters, ns + "ignore_distance_from_lane_end", p->ignore_distance_from_lane_end);
+    updateParam<double>(
+      parameters, ns + "stop_condition.maximum_deceleration_for_stop",
+      p->maximum_deceleration_for_stop);
+    updateParam<double>(
+      parameters, ns + "stop_condition.maximum_jerk_for_stop", p->maximum_jerk_for_stop);
   }
   {
     const std::string ns = "start_planner.freespace_planner.";
@@ -525,6 +523,7 @@ void StartPlannerModuleManager::updateModuleParams(
     updateParam<double>(
       parameters, ns + "distance_heuristic_weight", p->astar_parameters.distance_heuristic_weight);
   }
+
   {
     const std::string ns = "start_planner.freespace_planner.rrtstar.";
 
@@ -537,14 +536,6 @@ void StartPlannerModuleManager::updateModuleParams(
     updateParam<double>(parameters, ns + "margin", p->rrt_star_parameters.margin);
   }
 
-  {
-    updateParam<double>(
-      parameters, ns + "stop_condition.maximum_deceleration_for_stop",
-      p->maximum_deceleration_for_stop);
-    updateParam<double>(
-      parameters, ns + "stop_condition.maximum_jerk_for_stop", p->maximum_jerk_for_stop);
-  }
-
   const std::string base_ns = "start_planner.path_safety_check.";
   const std::string ego_path_ns = base_ns + "ego_predicted_path.";
 
@@ -567,7 +558,6 @@ void StartPlannerModuleManager::updateModuleParams(
   }
 
   const std::string obj_filter_ns = base_ns + "target_filtering.";
-
   {
     updateParam<double>(
       parameters, obj_filter_ns + "safety_check_time_horizon",
@@ -601,9 +591,8 @@ void StartPlannerModuleManager::updateModuleParams(
       p->objects_filtering_params.use_predicted_path_outside_lanelet);
   }
 
-  const std::string obj_types_ns = obj_filter_ns + "object_types_to_check.";
-
   {
+    const std::string obj_types_ns = obj_filter_ns + "object_types_to_check.";
     updateParam<bool>(
       parameters, obj_types_ns + "check_car",
       p->objects_filtering_params.object_types_to_check.check_car);
@@ -629,8 +618,8 @@ void StartPlannerModuleManager::updateModuleParams(
       parameters, obj_types_ns + "check_pedestrian",
       p->objects_filtering_params.object_types_to_check.check_pedestrian);
   }
-  const std::string obj_lane_ns = obj_filter_ns + "object_lane_configuration.";
 
+  const std::string obj_lane_ns = obj_filter_ns + "object_lane_configuration.";
   {
     updateParam<bool>(
       parameters, obj_lane_ns + "check_current_lane",
@@ -648,6 +637,7 @@ void StartPlannerModuleManager::updateModuleParams(
       parameters, obj_lane_ns + "check_other_lane",
       p->objects_filtering_params.object_lane_configuration.check_other_lane);
   }
+
   const std::string safety_check_ns = base_ns + "safety_check_params.";
   {
     updateParam<bool>(
@@ -669,8 +659,9 @@ void StartPlannerModuleManager::updateModuleParams(
       parameters, safety_check_ns + "collision_check_yaw_diff_threshold",
       p->safety_check_params.collision_check_yaw_diff_threshold);
   }
-  const std::string rss_ns = safety_check_ns + "rss_params.";
+
   {
+    const std::string rss_ns = safety_check_ns + "rss_params.";
     updateParam<double>(
       parameters, rss_ns + "rear_vehicle_reaction_time",
       p->safety_check_params.rss_params.rear_vehicle_reaction_time);
@@ -690,8 +681,9 @@ void StartPlannerModuleManager::updateModuleParams(
       parameters, rss_ns + "extended_polygon_policy",
       p->safety_check_params.rss_params.extended_polygon_policy);
   }
-  std::string surround_moving_obstacle_check_ns = ns + "surround_moving_obstacle_check.";
   {
+    const std::string surround_moving_obstacle_check_ns =
+      "start_planner.surround_moving_obstacle_check.";
     updateParam<double>(
       parameters, surround_moving_obstacle_check_ns + "search_radius", p->search_radius);
     updateParam<double>(
@@ -699,8 +691,8 @@ void StartPlannerModuleManager::updateModuleParams(
       p->th_moving_obstacle_velocity);
 
     // ObjectTypesToCheck
-    std::string obj_types_ns = surround_moving_obstacle_check_ns + "object_types_to_check.";
     {
+      std::string obj_types_ns = surround_moving_obstacle_check_ns + "object_types_to_check.";
       updateParam<bool>(
         parameters, obj_types_ns + "check_car",
         p->surround_moving_obstacles_type_to_check.check_car);
@@ -728,8 +720,8 @@ void StartPlannerModuleManager::updateModuleParams(
     }
   }
 
-  std::string debug_ns = ns + "debug.";
   {
+    const std::string debug_ns = "start_planner.debug.";
     updateParam<bool>(parameters, debug_ns + "print_debug_info", p->print_debug_info);
   }
 
diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
index 909a9574faa43..c621b16824110 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -652,7 +652,6 @@ BehaviorModuleOutput StartPlannerModule::plan()
     resetPathReference();
   }
 
-  BehaviorModuleOutput output;
   if (!status_.found_pull_out_path) {
     RCLCPP_WARN_THROTTLE(
       getLogger(), *clock_, 5000, "Not found safe pull out path, publish stop path");
@@ -702,6 +701,7 @@ BehaviorModuleOutput StartPlannerModule::plan()
     return getCurrentPath();
   });
 
+  BehaviorModuleOutput output;
   output.path = path;
   output.reference_path = getPreviousModuleOutput().reference_path;
   output.turn_signal_info = calcTurnSignalInfo();
@@ -777,7 +777,6 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval()
 {
   updatePullOutStatus();
 
-  BehaviorModuleOutput output;
   if (!status_.found_pull_out_path) {
     RCLCPP_WARN_THROTTLE(
       getLogger(), *clock_, 5000, "Not found safe pull out path, publish stop path");
@@ -806,6 +805,7 @@ BehaviorModuleOutput StartPlannerModule::planWaitingApproval()
     p.point.longitudinal_velocity_mps = 0.0;
   }
 
+  BehaviorModuleOutput output;
   output.path = stop_path;
   output.reference_path = getPreviousModuleOutput().reference_path;
   output.turn_signal_info = calcTurnSignalInfo();