diff --git a/simulator/simulator_compatibility_test/test_base/test_01_control_mode_and_report.py b/simulator/simulator_compatibility_test/test_base/test_01_control_mode_and_report.py
deleted file mode 100644
index d6e4d96c..00000000
--- a/simulator/simulator_compatibility_test/test_base/test_01_control_mode_and_report.py
+++ /dev/null
@@ -1,94 +0,0 @@
-from enum import Enum
-import time
-
-from autoware_vehicle_msgs.msg import ControlModeCommand
-import pytest
-import rclpy
-from rclpy.executors import MultiThreadedExecutor
-from rclpy.qos import QoSDurabilityPolicy
-from rclpy.qos import QoSHistoryPolicy
-from rclpy.qos import QoSProfile
-from rclpy.qos import QoSReliabilityPolicy
-from simulator_compatibility_test.subscribers.control_mode_report import ControlModeReport_Constants
-from simulator_compatibility_test.subscribers.control_mode_report import SubscriberControlModeReport
-
-
-class ControlModeCommand_Constants(Enum):
-    NO_COMMAND = 0
-    AUTONOMOUS = 1
-    MANUAL = 2
-
-
-class Test01ControlModeAndReportBase:
-    msgs_rx = []
-    node = None
-    sub = None
-    pub = None
-    sub_control_mode_report = None
-    executor = None
-
-    @classmethod
-    def setup_class(cls) -> None:
-        QOS_RKL10TL = QoSProfile(
-            reliability=QoSReliabilityPolicy.RELIABLE,
-            history=QoSHistoryPolicy.KEEP_LAST,
-            depth=10,
-            durability=QoSDurabilityPolicy.TRANSIENT_LOCAL,
-        )
-        rclpy.init()
-        cls.msgs_rx = []
-        cls.node = rclpy.create_node("test_01_control_mode_and_report_base")
-        cls.sub = cls.node.create_subscription(
-            ControlModeCommand,
-            "/control/command/control_mode_cmd",
-            lambda msg: cls.msgs_rx.append(msg),
-            10,
-        )
-        cls.pub = cls.node.create_publisher(
-            ControlModeCommand, "/control/command/control_mode_cmd", QOS_RKL10TL
-        )
-        cls.sub_control_mode_report = SubscriberControlModeReport()
-        cls.executor = MultiThreadedExecutor()
-        cls.executor.add_node(cls.sub_control_mode_report)
-        cls.executor.add_node(cls.node)
-
-    @classmethod
-    def teardown_class(cls) -> None:
-        cls.node.destroy_node()
-        cls.executor.shutdown()
-        rclpy.shutdown()
-
-    @pytest.fixture
-    def setup_method(self):
-        self.msgs_rx.clear()
-
-    def set_control_mode(self, control_mode):
-        while rclpy.ok():
-            self.executor.spin_once(timeout_sec=1)
-            self.pub.publish(self.generate_control_mode_cmd_msg(control_mode))
-            if len(self.msgs_rx) > 2:
-                break
-        received = self.msgs_rx[-1]
-        assert received.mode == control_mode.value
-        self.msgs_rx.clear()
-
-    def generate_control_mode_cmd_msg(self, control_mode):
-        stamp = self.node.get_clock().now().to_msg()
-        msg = ControlModeCommand()
-        msg.stamp.sec = stamp.sec
-        msg.stamp.nanosec = stamp.nanosec
-        msg.mode = control_mode.value
-        return msg
-
-    def get_control_mode_report(self):
-        time.sleep(1)
-        self.sub_control_mode_report.received.clear()
-        received = ControlModeReport_Constants.NO_COMMAND
-        try:
-            while rclpy.ok():
-                self.executor.spin_once(timeout_sec=1)
-                if len(self.sub_control_mode_report.received) > 2:
-                    break
-            received = self.sub_control_mode_report.received.pop()
-        finally:
-            return received
diff --git a/simulator/simulator_compatibility_test/test_morai_sim/test_01_control_mode_and_report.py b/simulator/simulator_compatibility_test/test_morai_sim/test_01_control_mode_and_report.py
deleted file mode 100644
index d664f1f3..00000000
--- a/simulator/simulator_compatibility_test/test_morai_sim/test_01_control_mode_and_report.py
+++ /dev/null
@@ -1,19 +0,0 @@
-import pytest
-from simulator_compatibility_test.publishers.control_mode_command import (
-    ControlModeCommand_Constants,
-)
-from simulator_compatibility_test.subscribers.control_mode_report import ControlModeReport_Constants
-from test_base.test_01_control_mode_and_report import Test01ControlModeAndReportBase
-
-
-class Test01ControlModeAndReportMorai(Test01ControlModeAndReportBase):
-    @pytest.mark.skip(reason="manual mode is not required for now")
-    def test_1_manual_mode(self, setup_method):
-        self.set_control_mode(ControlModeCommand_Constants.MANUAL)
-        result = self.get_control_mode_report()
-        assert result == ControlModeReport_Constants.MANUAL.value
-
-    def test_2_auto_mode(self, setup_method):
-        self.set_control_mode(ControlModeCommand_Constants.AUTONOMOUS)
-        result = self.get_control_mode_report()
-        assert result == ControlModeReport_Constants.AUTONOMOUS.value
diff --git a/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_01_control_mode_and_report.py b/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_01_control_mode_and_report.py
deleted file mode 100644
index 35e33149..00000000
--- a/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_01_control_mode_and_report.py
+++ /dev/null
@@ -1,19 +0,0 @@
-import pytest
-from simulator_compatibility_test.publishers.control_mode_command import (
-    ControlModeCommand_Constants,
-)
-from simulator_compatibility_test.subscribers.control_mode_report import ControlModeReport_Constants
-from test_base.test_01_control_mode_and_report import Test01ControlModeAndReportBase
-
-
-class Test01ControlModeAndReportSim(Test01ControlModeAndReportBase):
-    @pytest.mark.skip(reason="manual mode is not required for now")
-    def test_1_manual_mode(self, setup_method):
-        self.set_control_mode(ControlModeCommand_Constants.MANUAL)
-        result = self.get_control_mode_report()
-        assert result == ControlModeReport_Constants.MANUAL.value
-
-    def test_2_auto_mode(self, setup_method):
-        self.set_control_mode(ControlModeCommand_Constants.AUTONOMOUS)
-        result = self.get_control_mode_report()
-        assert result == ControlModeReport_Constants.AUTONOMOUS.value