diff --git a/docs/design/autoware-interfaces/ad-api/features/routing.md b/docs/design/autoware-interfaces/ad-api/features/routing.md
index a2a6909a484..30ef703212b 100644
--- a/docs/design/autoware-interfaces/ad-api/features/routing.md
+++ b/docs/design/autoware-interfaces/ad-api/features/routing.md
@@ -35,7 +35,3 @@ See the sections below for supported options and details.
 ### allow_goal_modification
 
 **[v1.1.0]** Autoware tries to look for an alternate goal when goal is unreachable (e.g., when there is an obstacle on the given goal). When setting a route from the API, applications can choose whether they allow Autoware to adjust goal pose in such situation. When set false, Autoware may get stuck until the given goal becomes reachable.
-
-### allow_while_using_route
-
-**[v1.6.0]** This option only affects the route change APIs. Autoware accepts new route even while the vehicle is using the current route. The APIs fail if it cannot safely transition to new route. When set false, the APIs always fail when the vehicle is using the route.
diff --git a/docs/design/autoware-interfaces/ad-api/release.md b/docs/design/autoware-interfaces/ad-api/release.md
index 98fcc4585fe..ac38ecf02b7 100644
--- a/docs/design/autoware-interfaces/ad-api/release.md
+++ b/docs/design/autoware-interfaces/ad-api/release.md
@@ -3,7 +3,6 @@
 ## v1.6.0 (Not released)
 
 - [Change] Fix communication method of {{ link_ad_api('/api/vehicle/status') }}
-- [Change] Add options to [the routing API](./features/routing.md)
 - [Change] Add restrictions to {{ link_ad_api('/api/routing/clear_route') }}
 - [Change] Add restrictions to {{ link_ad_api('/api/vehicle/doors/command') }}
 
diff --git a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md
index 0f10f1b06f6..41d8d4a208e 100644
--- a/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md
+++ b/docs/design/autoware-interfaces/ad-api/types/autoware_adapi_v1_msgs/msg/RouteOption.md
@@ -14,7 +14,6 @@ used:
 # https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/routing/
 
 bool allow_goal_modification
-bool allow_while_using_route
 ```
 
 {% endblock %}
diff --git a/yaml/autoware-interfaces.yaml b/yaml/autoware-interfaces.yaml
index 7efed1d6170..b4aec03a15a 100644
--- a/yaml/autoware-interfaces.yaml
+++ b/yaml/autoware-interfaces.yaml
@@ -129,7 +129,6 @@ types:
   autoware_adapi_v1_msgs/msg/RouteOption:
     msg:
       allow_goal_modification: bool
-      allow_while_using_route: bool
   autoware_adapi_v1_msgs/msg/RoutePrimitive:
     msg:
       id: int64