diff --git a/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp b/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp
index 2fb23334578..91c66da9697 100644
--- a/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp
+++ b/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp
@@ -42,13 +42,13 @@ class LoadDoNothingPluginScenario : public cpp_mock_scenarios::CppScenarioNode
     /// @note When using the do_nothing plugin, the return value of the `getCurrentAction` function is always do_nothing.
 
     if (
-      api_.getEntity("ego")->getCurrentAction() != "do_nothing" ||
-      api_.getEntity("pedestrian")->getCurrentAction() != "do_nothing") {
+      api_.getEntity("ego").getCurrentAction() != "do_nothing" ||
+      api_.getEntity("pedestrian").getCurrentAction() != "do_nothing") {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     if (
-      api_.getEntity("vehicle_spawn_with_behavior_tree")->getCurrentAction() == "do_nothing" ||
-      api_.getEntity("pedestrian_spawn_with_behavior_tree")->getCurrentAction() == "do_nothing") {
+      api_.getEntity("vehicle_spawn_with_behavior_tree").getCurrentAction() == "do_nothing" ||
+      api_.getEntity("pedestrian_spawn_with_behavior_tree").getCurrentAction() == "do_nothing") {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     api_.resetBehaviorPlugin(
@@ -58,8 +58,8 @@ class LoadDoNothingPluginScenario : public cpp_mock_scenarios::CppScenarioNode
       "pedestrian_spawn_with_behavior_tree",
       traffic_simulator::entity::PedestrianEntity::BuiltinBehavior::doNothing());
     if (
-      api_.getEntity("vehicle_spawn_with_behavior_tree")->getCurrentAction() != "do_nothing" ||
-      api_.getEntity("pedestrian_spawn_with_behavior_tree")->getCurrentAction() != "do_nothing") {
+      api_.getEntity("vehicle_spawn_with_behavior_tree").getCurrentAction() != "do_nothing" ||
+      api_.getEntity("pedestrian_spawn_with_behavior_tree").getCurrentAction() != "do_nothing") {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
 
diff --git a/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp b/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp
index d7e7ea1e11c..c2d6ed15468 100644
--- a/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp
+++ b/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp
@@ -56,21 +56,21 @@ class CrashingNpcScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0.0);
-    ego_entity->requestSpeedChange(15, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0.0);
+    ego_entity.requestSpeedChange(15, true);
     traffic_simulator_msgs::msg::BehaviorParameter behavior_parameter;
     behavior_parameter.see_around = false;
-    ego_entity->setBehaviorParameter(behavior_parameter);
+    ego_entity.setBehaviorParameter(behavior_parameter);
 
     api_.spawn(
       "npc",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto npc_entity = api_.getEntity("npc");
-    npc_entity->setLinearVelocity(0.0);
-    npc_entity->requestSpeedChange(5, true);
+    auto & npc_entity = api_.getEntity("npc");
+    npc_entity.setLinearVelocity(0.0);
+    npc_entity.requestSpeedChange(5, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp b/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp
index 59cb53f753d..66e141e15dd 100644
--- a/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp
+++ b/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp
@@ -54,18 +54,18 @@ class SpawnWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.2, 1.3, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0);
-    ego_entity->requestSpeedChange(0, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0);
+    ego_entity.requestSpeedChange(0, true);
 
     api_.spawn(
       "bob",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, -0.874, api_.getHdmapUtils()),
       getPedestrianParameters());
-    auto bob_entity = api_.getEntity("bob");
-    bob_entity->setLinearVelocity(0);
-    bob_entity->requestSpeedChange(0, true);
+    auto & bob_entity = api_.getEntity("bob");
+    bob_entity.setLinearVelocity(0);
+    bob_entity.requestSpeedChange(0, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp b/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp
index a6443c234c1..f4b27729b4c 100644
--- a/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp
+++ b/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp
@@ -106,8 +106,8 @@ void CppScenarioNode::spawnEgoEntity(
   api_.updateFrame();
   std::this_thread::sleep_for(std::chrono::duration<double>(1.0 / 20.0));
   api_.spawn("ego", spawn_lanelet_pose, parameters, traffic_simulator::VehicleBehavior::autoware());
-  auto ego_entity = api_.getEgoEntity("ego");
-  ego_entity->setParameter<bool>("allow_goal_modification", true);
+  auto & ego_entity = api_.getEgoEntity("ego");
+  ego_entity.setParameter<bool>("allow_goal_modification", true);
   api_.attachLidarSensor("ego", 0.0);
 
   api_.attachDetectionSensor("ego", 200.0, true, 0.0, 0, 0.0, 0.0);
@@ -126,12 +126,12 @@ void CppScenarioNode::spawnEgoEntity(
     // clang-format on
     return configuration;
   }());
-  ego_entity->requestAssignRoute(goal_lanelet_poses);
+  ego_entity.requestAssignRoute(goal_lanelet_poses);
 
   using namespace std::chrono_literals;
-  while (!ego_entity->isEngaged()) {
-    if (ego_entity->isEngageable()) {
-      ego_entity->engage();
+  while (!ego_entity.isEngaged()) {
+    if (ego_entity.isEngageable()) {
+      ego_entity.engage();
     }
     api_.updateFrame();
     std::this_thread::sleep_for(std::chrono::duration<double>(1.0 / 20.0));
@@ -140,13 +140,13 @@ void CppScenarioNode::spawnEgoEntity(
 
 auto CppScenarioNode::isVehicle(const std::string & name) const -> bool
 {
-  return api_.getEntity(name)->getEntityType().type ==
+  return api_.getEntity(name).getEntityType().type ==
          traffic_simulator_msgs::msg::EntityType::VEHICLE;
 }
 
 auto CppScenarioNode::isPedestrian(const std::string & name) const -> bool
 {
-  return api_.getEntity(name)->getEntityType().type ==
+  return api_.getEntity(name).getEntityType().type ==
          traffic_simulator_msgs::msg::EntityType::PEDESTRIAN;
 }
 
diff --git a/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp b/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp
index 90cecc4d835..dbc827005be 100644
--- a/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp
+++ b/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp
@@ -50,11 +50,11 @@ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode
      * @sa https://wandbox.org/permlink/dSNRX7K2bQiqSI7P
      */
     if (t == 1.0) {
-      if (t != api_.getEntity("bob")->getCurrentTwist().linear.x) {
+      if (t != api_.getEntity("bob").getCurrentTwist().linear.x) {
         stop(cpp_mock_scenarios::Result::FAILURE);
       }
     }
-    const auto ego_linear_velocity = api_.getEntity("ego")->getCurrentTwist().linear.x;
+    const auto ego_linear_velocity = api_.getEntity("ego").getCurrentTwist().linear.x;
     if (t >= 6.6) {
       if (7.5 >= t) {
         if (std::fabs(0.1) <= ego_linear_velocity) {
@@ -79,10 +79,10 @@ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         120545, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(8, true);
-    ego_entity->requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(8, true);
+    ego_entity.requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34675, 0.0, 0.0, api_.getHdmapUtils()),
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
@@ -93,9 +93,9 @@ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34378, 0.0, 0.0, api_.getHdmapUtils()),
       getPedestrianParameters());
-    auto bob_entity = api_.getEntity("bob");
-    bob_entity->setLinearVelocity(0);
-    bob_entity->requestSpeedChange(
+    auto & bob_entity = api_.getEntity("bob");
+    bob_entity.setLinearVelocity(0);
+    bob_entity.requestSpeedChange(
       1.0, traffic_simulator::speed_change::Transition::LINEAR,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::LONGITUDINAL_ACCELERATION, 1.0),
diff --git a/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp b/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp
index e3ef445909a..1cc1bc21cec 100644
--- a/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp
+++ b/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp
@@ -39,10 +39,9 @@ class AccelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
 private:
   void onUpdate() override
   {
-    double ego_linear_acceleration = api_.getEntity("ego")->getCurrentAccel().linear.x;
-    double ego_linear_velocity = api_.getEntity("ego")->getCurrentTwist().linear.x;
-    // double npc_linear_acceleration =  api_.getEntity("npc")->getCurrentAccel().linear.x;
-    double npc_linear_velocity = api_.getEntity("npc")->getCurrentTwist().linear.x;
+    const double ego_linear_acceleration = api_.getEntity("ego").getCurrentAccel().linear.x;
+    const double ego_linear_velocity = api_.getEntity("ego").getCurrentTwist().linear.x;
+    const double npc_linear_velocity = api_.getEntity("npc").getCurrentTwist().linear.x;
 
     // LCOV_EXCL_START
     if (npc_linear_velocity > (ego_linear_velocity + 1) && ego_linear_acceleration < 0) {
@@ -63,16 +62,16 @@ class AccelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.getEntity("ego")->setLinearVelocity(3);
+    api_.getEntity("ego").setLinearVelocity(3);
 
     api_.spawn(
       "npc",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto npc_entity = api_.getEntity("npc");
-    npc_entity->setLinearVelocity(10);
-    npc_entity->requestSpeedChange(10, true);
+    auto & npc_entity = api_.getEntity("npc");
+    npc_entity.setLinearVelocity(10);
+    npc_entity.requestSpeedChange(10, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp b/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp
index 25d23f49941..12a92fb5656 100644
--- a/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp
+++ b/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp
@@ -39,10 +39,9 @@ class DecelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
 private:
   void onUpdate() override
   {
-    double ego_linear_acceleration = api_.getEntity("ego")->getCurrentAccel().linear.x;
-    double ego_linear_velocity = api_.getEntity("ego")->getCurrentTwist().linear.x;
-    // double npc_linear_acceleration = api_.getEntity("npc")->getCurrentAccel().linear.x;
-    double npc_linear_velocity = api_.getEntity("npc")->getCurrentTwist().linear.x;
+    const double ego_linear_acceleration = api_.getEntity("ego").getCurrentAccel().linear.x;
+    const double ego_linear_velocity = api_.getEntity("ego").getCurrentTwist().linear.x;
+    const double npc_linear_velocity = api_.getEntity("npc").getCurrentTwist().linear.x;
 
     // LCOV_EXCL_START
     if (ego_linear_velocity > (npc_linear_velocity + 1) && ego_linear_acceleration > 0) {
@@ -63,16 +62,16 @@ class DecelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.getEntity("ego")->setLinearVelocity(15);
+    api_.getEntity("ego").setLinearVelocity(15);
 
     api_.spawn(
       "npc",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 15.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto npc_entity = api_.getEntity("npc");
-    npc_entity->setLinearVelocity(10);
-    npc_entity->requestSpeedChange(10, true);
+    auto & npc_entity = api_.getEntity("npc");
+    npc_entity.setLinearVelocity(10);
+    npc_entity.requestSpeedChange(10, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp b/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp
index 4912db96ea2..6c8149044bc 100644
--- a/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp
+++ b/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp
@@ -40,7 +40,7 @@ class AcquirePositionInWorldFrameScenario : public cpp_mock_scenarios::CppScenar
   bool requested = false;
   void onUpdate() override
   {
-    if (api_.getEntity("ego")->isInLanelet(34408, 0.1)) {
+    if (api_.getEntity("ego").isInLanelet(34408, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
   }
@@ -51,16 +51,16 @@ class AcquirePositionInWorldFrameScenario : public cpp_mock_scenarios::CppScenar
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setStatus(
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setStatus(
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 0.0, 0.0, api_.getHdmapUtils()),
       traffic_simulator::helper::constructActionStatus(10));
-    ego_entity->requestSpeedChange(10, true);
+    ego_entity.requestSpeedChange(10, true);
     const geometry_msgs::msg::Pose goal_pose = traffic_simulator::pose::toMapPose(
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34408, 1.0, 0.0, api_.getHdmapUtils()));
-    ego_entity->requestAcquirePosition(goal_pose);
+    ego_entity.requestAcquirePosition(goal_pose);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp b/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp
index 41360172631..360c168c02c 100644
--- a/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp
+++ b/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp
@@ -40,7 +40,7 @@ class AcquireRouteInWorldFrameScenario : public cpp_mock_scenarios::CppScenarioN
   bool requested = false;
   void onUpdate() override
   {
-    if (api_.getEntity("ego")->isInLanelet(34630, 0.1)) {
+    if (api_.getEntity("ego").isInLanelet(34630, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
   }
@@ -51,9 +51,9 @@ class AcquireRouteInWorldFrameScenario : public cpp_mock_scenarios::CppScenarioN
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(10, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(10, true);
     std::vector<geometry_msgs::msg::Pose> goal_poses;
     goal_poses.emplace_back(traffic_simulator::pose::toMapPose(
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
@@ -61,7 +61,7 @@ class AcquireRouteInWorldFrameScenario : public cpp_mock_scenarios::CppScenarioN
     goal_poses.emplace_back(traffic_simulator::pose::toMapPose(
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34408, 10, 0.0, api_.getHdmapUtils())));
-    ego_entity->requestAssignRoute(goal_poses);
+    ego_entity.requestAssignRoute(goal_poses);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp b/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp
index 54c59f313fd..94e48b0f3a0 100644
--- a/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp
+++ b/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp
@@ -39,15 +39,15 @@ class CancelRequestScenario : public cpp_mock_scenarios::CppScenarioNode
   bool canceled = false;
   void onUpdate() override
   {
-    const auto ego_entity = api_.getEntity("ego");
-    if (ego_entity->isInPosition(
+    auto & ego_entity = api_.getEntity("ego");
+    if (ego_entity.isInPosition(
           traffic_simulator::helper::constructCanonicalizedLaneletPose(
             34513, 30, 0, api_.getHdmapUtils()),
           3.0)) {
-      ego_entity->cancelRequest();
+      ego_entity.cancelRequest();
       canceled = true;
     }
-    if (ego_entity->isInLanelet(34507, 0.1)) {
+    if (ego_entity.isInLanelet(34507, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
   }
@@ -58,12 +58,12 @@ class CancelRequestScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(7);
-    ego_entity->requestSpeedChange(7, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(7);
+    ego_entity.requestSpeedChange(7, true);
     const geometry_msgs::msg::Pose goal_pose = traffic_simulator::pose::toMapPose(
       traffic_simulator::helper::constructLaneletPose(34408, 0.0, 0.0), api_.getHdmapUtils());
-    ego_entity->requestAcquirePosition(goal_pose);
+    ego_entity.requestAcquirePosition(goal_pose);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp b/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp
index da8c60d40e6..b2003ae8677 100644
--- a/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp
+++ b/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp
@@ -40,11 +40,11 @@ class FollowLaneWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode
   bool requested = false;
   void onUpdate() override
   {
-    if (const auto ego_entity = api_.getEntity("ego"); !ego_entity->isInLanelet()) {
+    if (const auto & ego_entity = api_.getEntity("ego"); !ego_entity.isInLanelet()) {
       stop(cpp_mock_scenarios::Result::FAILURE);
-    } else if (ego_entity->isInLanelet(34507, 0.1)) {
+    } else if (ego_entity.isInLanelet(34507, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
-    } else if (std::abs(ego_entity->getCanonicalizedStatus().getLaneletPose().offset) <= 2.8) {
+    } else if (std::abs(ego_entity.getCanonicalizedStatus().getLaneletPose().offset) <= 2.8) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
   }
@@ -55,9 +55,9 @@ class FollowLaneWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 0.0, 3.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(10, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(10, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/follow_trajectory/follow_polyline_trajectory_with_do_nothing_plugin.cpp b/mock/cpp_mock_scenarios/src/follow_trajectory/follow_polyline_trajectory_with_do_nothing_plugin.cpp
index 18a062c731a..f10d2194d02 100644
--- a/mock/cpp_mock_scenarios/src/follow_trajectory/follow_polyline_trajectory_with_do_nothing_plugin.cpp
+++ b/mock/cpp_mock_scenarios/src/follow_trajectory/follow_polyline_trajectory_with_do_nothing_plugin.cpp
@@ -63,32 +63,32 @@ class FollowPolylineTrajectoryWithDoNothingPluginScenario
 
   void onUpdate() override
   {
-    const auto ego_entity = api_.getEntity("ego");
+    const auto & ego_entity = api_.getEntity("ego");
     // LCOV_EXCL_START
     if (api_.getCurrentTime() >= 10.0) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     // LCOV_EXCL_STOP
-    if (equals(api_.getCurrentTime(), 0.0, 0.01) && !ego_entity->isInPosition(spawn_pose, 0.1)) {
+    if (equals(api_.getCurrentTime(), 0.0, 0.01) && !ego_entity.isInPosition(spawn_pose, 0.1)) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     if (
       equals(api_.getCurrentTime(), 1.0, 0.01) &&
-      !ego_entity->isInPosition(trajectory_start_pose, 0.1)) {
+      !ego_entity.isInPosition(trajectory_start_pose, 0.1)) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     if (
       equals(api_.getCurrentTime(), 1.5, 0.01) &&
-      !ego_entity->isInPosition(trajectory_waypoint_pose, 0.1)) {
+      !ego_entity.isInPosition(trajectory_waypoint_pose, 0.1)) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     if (
       equals(api_.getCurrentTime(), 2.0, 0.01) &&
-      !ego_entity->isInPosition(trajectory_goal_pose, 0.1)) {
+      !ego_entity.isInPosition(trajectory_goal_pose, 0.1)) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     if (equals(api_.getCurrentTime(), 2.5, 0.01)) {
-      if (ego_entity->isInPosition(trajectory_goal_pose, 0.1)) {
+      if (ego_entity.isInPosition(trajectory_goal_pose, 0.1)) {
         stop(cpp_mock_scenarios::Result::SUCCESS);
       } else {
         stop(cpp_mock_scenarios::Result::FAILURE);
@@ -100,10 +100,10 @@ class FollowPolylineTrajectoryWithDoNothingPluginScenario
     api_.spawn(
       "ego", spawn_pose, getVehicleParameters(),
       traffic_simulator::entity::VehicleEntity::BuiltinBehavior::doNothing());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(10, true);
-    ego_entity->requestFollowTrajectory(
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(10, true);
+    ego_entity.requestFollowTrajectory(
       std::make_shared<traffic_simulator_msgs::msg::PolylineTrajectory>(
         traffic_simulator_msgs::build<traffic_simulator_msgs::msg::PolylineTrajectory>()
           .initial_distance_offset(0.0)
diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp
index f20d484c2d8..3c01dce454a 100644
--- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp
+++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp
@@ -39,7 +39,7 @@ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode
   bool requested = false;
   void onUpdate() override
   {
-    if (api_.getEntity("ego")->isInLanelet(34513, 0.1)) {
+    if (api_.getEntity("ego").isInLanelet(34513, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
     // LCOV_EXCL_START
@@ -55,10 +55,10 @@ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34462, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(10, true);
-    ego_entity->requestLaneChange(traffic_simulator::lane_change::Direction::LEFT);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(10, true);
+    ego_entity.requestLaneChange(traffic_simulator::lane_change::Direction::LEFT);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp
index 3dc21831bd8..5c7fea9b2d5 100644
--- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp
+++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp
@@ -39,7 +39,7 @@ class LaneChangeLeftWithIdScenario : public cpp_mock_scenarios::CppScenarioNode
   bool requested = false;
   void onUpdate() override
   {
-    if (api_.getEntity("ego")->isInLanelet(34513, 0.1)) {
+    if (api_.getEntity("ego").isInLanelet(34513, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
     // LCOV_EXCL_START
@@ -55,10 +55,10 @@ class LaneChangeLeftWithIdScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34462, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(10, true);
-    ego_entity->requestLaneChange(34513);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(10, true);
+    ego_entity.requestLaneChange(34513);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp
index 466bac3ea24..771f42c6f9d 100644
--- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp
+++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp
@@ -40,11 +40,11 @@ class LaneChangeLinearScenario : public cpp_mock_scenarios::CppScenarioNode
   bool lanechange_finished = false;
   void onUpdate() override
   {
-    const auto ego_entity = api_.getEntity("ego");
-    if (ego_entity->isInLanelet(34513, 0.1)) {
+    const auto & ego_entity = api_.getEntity("ego");
+    if (ego_entity.isInLanelet(34513, 0.1)) {
       lanechange_finished = true;
     }
-    if (lanechange_finished && ego_entity->isInLanelet(34510, 0.1)) {
+    if (lanechange_finished && ego_entity.isInLanelet(34510, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
     // LCOV_EXCL_START
@@ -60,10 +60,10 @@ class LaneChangeLinearScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34462, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(10, true);
-    ego_entity->requestLaneChange(
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(10, true);
+    ego_entity.requestLaneChange(
       traffic_simulator::lane_change::RelativeTarget(
         "ego", traffic_simulator::lane_change::Direction::LEFT, 1, 0),
       traffic_simulator::lane_change::TrajectoryShape::LINEAR,
diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp
index b268fae2ac0..1e3c2dbb1f7 100644
--- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp
+++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp
@@ -39,11 +39,11 @@ class LaneChangeLinearLateralVelocityScenario : public cpp_mock_scenarios::CppSc
   int lanechange_frames = 0;
   void onUpdate() override
   {
-    const auto ego_entity = api_.getEntity("ego");
-    if (ego_entity->getCurrentAction() == "lane_change") {
+    const auto & ego_entity = api_.getEntity("ego");
+    if (ego_entity.getCurrentAction() == "lane_change") {
       lanechange_frames++;
     }
-    if (ego_entity->getCurrentAction() != "lane_change" && api_.getCurrentTime() >= 2.0) {
+    if (ego_entity.getCurrentAction() != "lane_change" && api_.getCurrentTime() >= 2.0) {
       double duration = static_cast<double>(lanechange_frames) * 0.05;
       if (duration >= 3.05 && 3.1 >= duration) {
         stop(cpp_mock_scenarios::Result::SUCCESS);
@@ -64,10 +64,10 @@ class LaneChangeLinearLateralVelocityScenario : public cpp_mock_scenarios::CppSc
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34462, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(10, true);
-    ego_entity->requestLaneChange(
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(10, true);
+    ego_entity.requestLaneChange(
       traffic_simulator::lane_change::RelativeTarget(
         "ego", traffic_simulator::lane_change::Direction::LEFT, 1, 0),
       traffic_simulator::lane_change::TrajectoryShape::LINEAR,
diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp
index 910781c7ae9..62a69f31bfd 100644
--- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp
+++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp
@@ -39,11 +39,11 @@ class LaneChangeLinearTimeScenario : public cpp_mock_scenarios::CppScenarioNode
   int lanechange_frames = 0;
   void onUpdate() override
   {
-    const auto ego_entity = api_.getEntity("ego");
-    if (ego_entity->getCurrentAction() == "lane_change") {
+    const auto & ego_entity = api_.getEntity("ego");
+    if (ego_entity.getCurrentAction() == "lane_change") {
       lanechange_frames++;
     }
-    if (ego_entity->getCurrentAction() != "lane_change" && api_.getCurrentTime() >= 10.0) {
+    if (ego_entity.getCurrentAction() != "lane_change" && api_.getCurrentTime() >= 10.0) {
       if (const double step_time = 50e-3, expected_time = 20.0,
           real_time = static_cast<double>(lanechange_frames) * step_time;
           expected_time - step_time <= real_time && real_time <= expected_time + step_time) {
@@ -65,10 +65,10 @@ class LaneChangeLinearTimeScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34462, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(10, true);
-    ego_entity->requestLaneChange(
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(10, true);
+    ego_entity.requestLaneChange(
       traffic_simulator::lane_change::RelativeTarget(
         "ego", traffic_simulator::lane_change::Direction::LEFT, 1, 0),
       traffic_simulator::lane_change::TrajectoryShape::LINEAR,
diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp
index cedf85c2273..a3c39b78b60 100644
--- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp
+++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp
@@ -40,7 +40,7 @@ class LaneChangeLongitudinalDistanceScenario : public cpp_mock_scenarios::CppSce
   bool lanechange_finished = false;
   void onUpdate() override
   {
-    if (api_.getEntity("ego")->isInLanelet(34513, 0.1)) {
+    if (api_.getEntity("ego").isInLanelet(34513, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
   }
@@ -51,10 +51,10 @@ class LaneChangeLongitudinalDistanceScenario : public cpp_mock_scenarios::CppSce
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34462, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(1);
-    ego_entity->requestSpeedChange(1, true);
-    ego_entity->requestLaneChange(
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(1);
+    ego_entity.requestSpeedChange(1, true);
+    ego_entity.requestLaneChange(
       traffic_simulator::lane_change::RelativeTarget(
         "ego", traffic_simulator::lane_change::Direction::LEFT, 1, 0),
       traffic_simulator::lane_change::TrajectoryShape::CUBIC,
diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp
index 1396b4ae61b..757e7f4e19c 100644
--- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp
+++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp
@@ -39,7 +39,7 @@ class LaneChangeRightScenario : public cpp_mock_scenarios::CppScenarioNode
   bool requested = false;
   void onUpdate() override
   {
-    if (api_.getEntity("ego")->isInLanelet(34462, 0.1)) {
+    if (api_.getEntity("ego").isInLanelet(34462, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
     // LCOV_EXCL_START
@@ -55,11 +55,10 @@ class LaneChangeRightScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(10, true);
-    ego_entity->requestLaneChange(traffic_simulator::lane_change::Direction::RIGHT);
-    // ego_entity->requestLaneChange(34462);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(10, true);
+    ego_entity.requestLaneChange(traffic_simulator::lane_change::Direction::RIGHT);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp
index 1d0d29db318..9d18184cbbd 100644
--- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp
+++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp
@@ -39,7 +39,7 @@ class LaneChangeRightWithIdScenario : public cpp_mock_scenarios::CppScenarioNode
   bool requested = false;
   void onUpdate() override
   {
-    if (api_.getEntity("ego")->isInLanelet(34462, 0.1)) {
+    if (api_.getEntity("ego").isInLanelet(34462, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
     // LCOV_EXCL_START
@@ -55,10 +55,10 @@ class LaneChangeRightWithIdScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(10, true);
-    ego_entity->requestLaneChange(34462);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(10, true);
+    ego_entity.requestLaneChange(34462);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp
index b49516c316c..a0176528c8b 100644
--- a/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp
+++ b/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp
@@ -39,11 +39,11 @@ class LaneChangeTimeScenario : public cpp_mock_scenarios::CppScenarioNode
   int lanechange_frames = 0;
   void onUpdate() override
   {
-    const auto ego_entity = api_.getEntity("ego");
-    if (ego_entity->getCurrentAction() == "lane_change") {
+    const auto & ego_entity = api_.getEntity("ego");
+    if (ego_entity.getCurrentAction() == "lane_change") {
       lanechange_frames++;
     }
-    if (ego_entity->getCurrentAction() != "lane_change" && api_.getCurrentTime() >= 10.0) {
+    if (ego_entity.getCurrentAction() != "lane_change" && api_.getCurrentTime() >= 10.0) {
       if (const double step_time = 50e-3, expected_time = 20.0,
           real_time = static_cast<double>(lanechange_frames) * step_time;
           expected_time - step_time <= real_time && real_time <= expected_time + step_time) {
@@ -65,10 +65,10 @@ class LaneChangeTimeScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34462, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(10, true);
-    ego_entity->requestLaneChange(
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(10, true);
+    ego_entity.requestLaneChange(
       traffic_simulator::lane_change::RelativeTarget(
         "ego", traffic_simulator::lane_change::Direction::LEFT, 1, 0),
       traffic_simulator::lane_change::TrajectoryShape::CUBIC,
diff --git a/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp b/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp
index 21131356179..c7c0360fc5a 100644
--- a/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp
+++ b/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp
@@ -44,12 +44,12 @@ class GetDistanceInLaneCoordinateScenario : public cpp_mock_scenarios::CppScenar
   auto lateralDistance(const std::string & from_entity_name, const std::string & to_entity_name)
     -> std::optional<double>
   {
-    const auto from_entity = api_.getEntity(from_entity_name);
-    const auto to_entity = api_.getEntity(to_entity_name);
-    if (from_entity->isInLanelet() && to_entity->isInLanelet()) {
+    const auto & from_entity = api_.getEntity(from_entity_name);
+    const auto & to_entity = api_.getEntity(to_entity_name);
+    if (from_entity.isInLanelet() && to_entity.isInLanelet()) {
       return traffic_simulator::distance::lateralDistance(
-        from_entity->getCanonicalizedLaneletPose().value(),
-        to_entity->getCanonicalizedLaneletPose().value(), traffic_simulator::RoutingConfiguration(),
+        from_entity.getCanonicalizedLaneletPose().value(),
+        to_entity.getCanonicalizedLaneletPose().value(), traffic_simulator::RoutingConfiguration(),
         api_.getHdmapUtils());
     }
     return std::nullopt;
@@ -60,9 +60,9 @@ class GetDistanceInLaneCoordinateScenario : public cpp_mock_scenarios::CppScenar
     const double matching_distance) -> std::optional<double>
   {
     const auto from_entity_lanelet_pose =
-      api_.getEntity(from_entity_name)->getCanonicalizedLaneletPose(matching_distance);
+      api_.getEntity(from_entity_name).getCanonicalizedLaneletPose(matching_distance);
     const auto to_entity_lanelet_pose =
-      api_.getEntity(to_entity_name)->getCanonicalizedLaneletPose(matching_distance);
+      api_.getEntity(to_entity_name).getCanonicalizedLaneletPose(matching_distance);
     if (from_entity_lanelet_pose && to_entity_lanelet_pose) {
       return traffic_simulator::distance::lateralDistance(
         from_entity_lanelet_pose.value(), to_entity_lanelet_pose.value(),
@@ -75,12 +75,12 @@ class GetDistanceInLaneCoordinateScenario : public cpp_mock_scenarios::CppScenar
     const std::string & from_entity_name, const std::string & to_entity_name)
     -> std::optional<double>
   {
-    const auto from_entity = api_.getEntity(from_entity_name);
-    const auto to_entity = api_.getEntity(to_entity_name);
-    if (from_entity->isInLanelet() && to_entity->isInLanelet()) {
+    const auto & from_entity = api_.getEntity(from_entity_name);
+    const auto & to_entity = api_.getEntity(to_entity_name);
+    if (from_entity.isInLanelet() && to_entity.isInLanelet()) {
       return traffic_simulator::distance::longitudinalDistance(
-        from_entity->getCanonicalizedLaneletPose().value(),
-        to_entity->getCanonicalizedLaneletPose().value(), false, false,
+        from_entity.getCanonicalizedLaneletPose().value(),
+        to_entity.getCanonicalizedLaneletPose().value(), false, false,
         traffic_simulator::RoutingConfiguration(), api_.getHdmapUtils());
     }
     return std::nullopt;
@@ -142,27 +142,27 @@ class GetDistanceInLaneCoordinateScenario : public cpp_mock_scenarios::CppScenar
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 5.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(3, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(3, true);
 
     api_.spawn(
       "front",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 10.0, 1.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto front_entity = api_.getEntity("front");
-    front_entity->setLinearVelocity(10);
-    front_entity->requestSpeedChange(3, true);
+    auto & front_entity = api_.getEntity("front");
+    front_entity.setLinearVelocity(10);
+    front_entity.requestSpeedChange(3, true);
 
     api_.spawn(
       "behind",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 0.0, -1.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto behind_entity = api_.getEntity("behind");
-    behind_entity->setLinearVelocity(10);
-    behind_entity->requestSpeedChange(3, true);
+    auto & behind_entity = api_.getEntity("behind");
+    behind_entity.setLinearVelocity(10);
+    behind_entity.requestSpeedChange(3, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp b/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp
index a2384ba2e87..550ab1fac6b 100644
--- a/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp
+++ b/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp
@@ -44,9 +44,9 @@ class GetDistanceToLaneBoundScenario : public cpp_mock_scenarios::CppScenarioNod
     if (api_.getCurrentTime() >= 10.0) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
-    const auto ego_entity = api_.getEntity("ego");
+    auto & ego_entity = api_.getEntity("ego");
     const auto distance = traffic_simulator::distance::distanceToLaneBound(
-      ego_entity->getMapPose(), ego_entity->getBoundingBox(), ego_entity->getRouteLanelets(),
+      ego_entity.getMapPose(), ego_entity.getBoundingBox(), ego_entity.getRouteLanelets(),
       api_.getHdmapUtils());
     // LCOV_EXCL_START
     if (distance <= 0.4 && distance >= 0.52) {
@@ -61,9 +61,9 @@ class GetDistanceToLaneBoundScenario : public cpp_mock_scenarios::CppScenarioNod
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 5.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(3, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(3, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/merge/merge_left.cpp b/mock/cpp_mock_scenarios/src/merge/merge_left.cpp
index 9e87b6bf79e..bf1815e1a02 100644
--- a/mock/cpp_mock_scenarios/src/merge/merge_left.cpp
+++ b/mock/cpp_mock_scenarios/src/merge/merge_left.cpp
@@ -39,7 +39,7 @@ class MergeLeftScenario : public cpp_mock_scenarios::CppScenarioNode
   bool requested = false;
   void onUpdate() override
   {
-    if (api_.getEntity("ego")->isInLanelet(34510, 0.1)) {
+    if (api_.getEntity("ego").isInLanelet(34510, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
     // LCOV_EXCL_START
@@ -58,17 +58,17 @@ class MergeLeftScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34462, 15.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(5);
-    ego_entity->requestSpeedChange(5, true);
-    ego_entity->requestLaneChange(34513);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(5);
+    ego_entity.requestSpeedChange(5, true);
+    ego_entity.requestLaneChange(34513);
 
     api_.spawn(
       "npc",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34513, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.getEntity("npc")->setLinearVelocity(10);
+    api_.getEntity("npc").setLinearVelocity(10);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp b/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp
index 223ea80ac8d..a1ce6f3fec8 100644
--- a/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp
+++ b/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp
@@ -44,11 +44,11 @@ class TraveledDistanceScenario : public cpp_mock_scenarios::CppScenarioNode
   void onUpdate() override
   {
     // LCOV_EXCL_START
-    if (const auto ego_entity = api_.getEntity("ego"); !ego_entity->isInLanelet()) {
+    if (const auto & ego_entity = api_.getEntity("ego"); !ego_entity.isInLanelet()) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     } else if (const auto difference = std::abs(
-                 ego_entity->getCanonicalizedStatus().getLaneletPose().s -
-                 ego_entity->getTraveledDistance());
+                 ego_entity.getCanonicalizedStatus().getLaneletPose().s -
+                 ego_entity.getTraveledDistance());
                difference > std::numeric_limits<double>::epsilon()) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }  // LCOV_EXCL_STOP
@@ -64,9 +64,9 @@ class TraveledDistanceScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(3);
-    ego_entity->requestSpeedChange(3, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(3);
+    ego_entity.requestSpeedChange(3, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp b/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp
index b3d1fe71e97..6fad55e4fe3 100644
--- a/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp
+++ b/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp
@@ -42,7 +42,7 @@ class MoveBackwardScenario : public cpp_mock_scenarios::CppScenarioNode
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
     // LCOV_EXCL_START
-    if (api_.getEntity("ego")->getCurrentTwist().linear.x >= -2.9) {
+    if (api_.getEntity("ego").getCurrentTwist().linear.x >= -2.9) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     // LCOV_EXCL_STOP
@@ -55,9 +55,9 @@ class MoveBackwardScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(-3);
-    ego_entity->requestSpeedChange(-3, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(-3);
+    ego_entity.requestSpeedChange(-3, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp b/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp
index fb910e766c9..43d97ec231b 100644
--- a/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp
+++ b/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp
@@ -50,13 +50,13 @@ class WalkStraightScenario : public cpp_mock_scenarios::CppScenarioNode
      * @sa https://wandbox.org/permlink/dSNRX7K2bQiqSI7P
      */
     if (t == 1.0) {
-      const auto vel = api_.getEntity("bob")->getCurrentTwist().linear.x;
+      const auto vel = api_.getEntity("bob").getCurrentTwist().linear.x;
       if (t != vel) {
         stop(cpp_mock_scenarios::Result::FAILURE);
       }
     }
     if (t >= 6.65 && 7.25 >= t) {
-      const auto vel = api_.getEntity("ego")->getCurrentTwist().linear.x;
+      const auto vel = api_.getEntity("ego").getCurrentTwist().linear.x;
       if (std::fabs(0.01) <= vel) {
         stop(cpp_mock_scenarios::Result::FAILURE);
       }
@@ -74,10 +74,10 @@ class WalkStraightScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         120545, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(8, true);
-    ego_entity->requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(8, true);
+    ego_entity.requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34675, 0.0, 0.0, api_.getHdmapUtils()),
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
@@ -87,10 +87,10 @@ class WalkStraightScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34378, 0.0, 0.0, api_.getHdmapUtils()),
       getPedestrianParameters());
-    auto bob_entity = api_.getEntity("bob");
-    bob_entity->setLinearVelocity(0);
-    bob_entity->requestWalkStraight();
-    bob_entity->requestSpeedChange(
+    auto & bob_entity = api_.getEntity("bob");
+    bob_entity.setLinearVelocity(0);
+    bob_entity.requestWalkStraight();
+    bob_entity.requestSpeedChange(
       1.0, traffic_simulator::speed_change::Transition::LINEAR,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::LONGITUDINAL_ACCELERATION, 1.0),
diff --git a/mock/cpp_mock_scenarios/src/random_scenario/random001.cpp b/mock/cpp_mock_scenarios/src/random_scenario/random001.cpp
index 620f1583bed..d1ae9ac7b2d 100644
--- a/mock/cpp_mock_scenarios/src/random_scenario/random001.cpp
+++ b/mock/cpp_mock_scenarios/src/random_scenario/random001.cpp
@@ -75,7 +75,7 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
             offset, api_.getHdmapUtils()),
           getVehicleParameters(
             get_entity_subtype(params_.random_parameters.road_parking_vehicle.entity_type)));
-        api_.getEntity(entity_name)->requestSpeedChange(0, true);
+        api_.getEntity(entity_name).requestSpeedChange(0, true);
       };
     std::uniform_real_distribution<> dist(
       params_.random_parameters.road_parking_vehicle.min_offset,
@@ -106,7 +106,7 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
 
   void onUpdate() override
   {
-    const auto ego_entity = api_.getEntity("ego");
+    const auto & ego_entity = api_.getEntity("ego");
     {
       if (param_listener_->is_old(params_)) {
         /// When the parameter was updated, clear entity before re-spawning entity.
@@ -130,26 +130,26 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
           params_.random_parameters.lane_following_vehicle.min_speed,
           params_.random_parameters.lane_following_vehicle.max_speed);
         const auto speed = speed_distribution(engine_);
-        auto entity = api_.getEntity(entity_name);
-        entity->requestSpeedChange(speed, true);
-        entity->setLinearVelocity(speed);
+        auto & entity = api_.getEntity(entity_name);
+        entity.requestSpeedChange(speed, true);
+        entity.setLinearVelocity(speed);
         std::uniform_real_distribution<> lane_change_position_distribution(
           0.0, traffic_simulator::pose::laneletLength(34684, api_.getHdmapUtils()));
         lane_change_position = lane_change_position_distribution(engine_);
         lane_change_requested = false;
       }
       /// Checking the ego entity overs the lane change position.
-      if (ego_entity->isInLanelet()) {
-        const auto lanelet_pose = ego_entity->getCanonicalizedStatus().getLaneletPose();
+      if (ego_entity.isInLanelet()) {
+        const auto lanelet_pose = ego_entity.getCanonicalizedStatus().getLaneletPose();
         if (lanelet_pose.lanelet_id == 34684 && std::abs(lanelet_pose.s) >= lane_change_position) {
           api_.getEntity(entity_name)
-            ->requestLaneChange(traffic_simulator::lane_change::Direction::RIGHT);
+            .requestLaneChange(traffic_simulator::lane_change::Direction::RIGHT);
           lane_change_requested = true;
         }
       }
     };
 
-    if (ego_entity->isInLanelet(34684, 0.1)) {
+    if (ego_entity.isInLanelet(34684, 0.1)) {
       spawn_and_change_lane("lane_following_0", 0.0);
     }
 
@@ -159,7 +159,7 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
       constexpr lanelet::Id lanelet_id = 34392;
       if (
         !api_.isEntityExist(entity_name) &&
-        !ego_entity->isInPosition(
+        !ego_entity.isInPosition(
           traffic_simulator::helper::constructCanonicalizedLaneletPose(
             34576, 25.0, 0.0, api_.getHdmapUtils()),
           5.0)) {
@@ -174,13 +174,13 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
             lanelet_id, 0.0, offset_distribution(engine_), api_.getHdmapUtils()),
           getPedestrianParameters());
         const auto speed = speed_distribution(engine_);
-        auto entity = api_.getEntity(entity_name);
-        entity->requestSpeedChange(speed, true);
-        entity->setLinearVelocity(speed);
+        auto & entity = api_.getEntity(entity_name);
+        entity.requestSpeedChange(speed, true);
+        entity.setLinearVelocity(speed);
       }
       if (
         api_.isEntityExist(entity_name) &&
-        api_.getEntity(entity_name)->getStandStillDuration() >= 0.5) {
+        api_.getEntity(entity_name).getStandStillDuration() >= 0.5) {
         api_.despawn(entity_name);
       }
     };
@@ -191,11 +191,11 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
     const auto trigger_position = traffic_simulator::helper::constructCanonicalizedLaneletPose(
       34621, 10, 0.0, api_.getHdmapUtils());
     constexpr auto entity_name = "spawn_nearby_ego";
-    if (ego_entity->isInPosition(trigger_position, 20.0) && !api_.isEntityExist(entity_name)) {
+    if (ego_entity.isInPosition(trigger_position, 20.0) && !api_.isEntityExist(entity_name)) {
       api_.spawn(
         entity_name,
         traffic_simulator::pose::transformRelativePoseToGlobal(
-          ego_entity->getMapPose(),
+          ego_entity.getMapPose(),
           geometry_msgs::build<geometry_msgs::msg::Pose>()
             .position(geometry_msgs::build<geometry_msgs::msg::Point>().x(10).y(-5).z(0))
             .orientation(geometry_msgs::msg::Quaternion())),
@@ -203,13 +203,13 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
         traffic_simulator::entity::VehicleEntity::BuiltinBehavior::doNothing());
     }
 
-    if (!ego_entity->isInPosition(trigger_position, 20.0) && api_.isEntityExist(entity_name)) {
+    if (!ego_entity.isInPosition(trigger_position, 20.0) && api_.isEntityExist(entity_name)) {
       api_.despawn(entity_name);
     }
 
     const auto ego_goal_position = traffic_simulator::helper::constructCanonicalizedLaneletPose(
       34606, 0.0, 0.0, api_.getHdmapUtils());
-    if (ego_entity->isInPosition(ego_goal_position, 1.0)) {
+    if (ego_entity.isInPosition(ego_goal_position, 1.0)) {
       api_.despawn("ego");
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
@@ -229,11 +229,11 @@ class RandomScenario : public cpp_mock_scenarios::CppScenarioNode
       {traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34606, 0.0, 0.0, api_.getHdmapUtils())},
       getVehicleParameters());
-    if (const auto ego = api_.getEntity("ego")) {
+    if (api_.isEntityExist("ego")) {
       api_.spawn(
         "parking_outside",
         traffic_simulator::pose::transformRelativePoseToGlobal(
-          ego->getMapPose(),
+          api_.getEntity("ego").getMapPose(),
           geometry_msgs::build<geometry_msgs::msg::Pose>()
             .position(geometry_msgs::build<geometry_msgs::msg::Point>().x(10).y(15).z(0))
             .orientation(geometry_msgs::msg::Quaternion())),
diff --git a/mock/cpp_mock_scenarios/src/spawn/spawn_in_map_frame.cpp b/mock/cpp_mock_scenarios/src/spawn/spawn_in_map_frame.cpp
index c34e8236e62..cbf68a114e0 100644
--- a/mock/cpp_mock_scenarios/src/spawn/spawn_in_map_frame.cpp
+++ b/mock/cpp_mock_scenarios/src/spawn/spawn_in_map_frame.cpp
@@ -41,7 +41,7 @@ class SpawnInMapFrameScenario : public cpp_mock_scenarios::CppScenarioNode
     const auto map_pose = traffic_simulator::pose::toMapPose(
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         120545, 0.0, 0.0, api_.getHdmapUtils()));
-    if (api_.getEntity("ego")->isInPosition(map_pose, 0.1)) {
+    if (api_.getEntity("ego").isInPosition(map_pose, 0.1)) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     } else {
       stop(cpp_mock_scenarios::Result::FAILURE);
diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change.cpp
index ce683734067..455a7101bb0 100644
--- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change.cpp
+++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change.cpp
@@ -39,8 +39,8 @@ class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode
 private:
   void onUpdate() override
   {
-    const auto ego_linear_velocity = api_.getEntity("ego")->getCurrentTwist().linear.x;
-    if (api_.getEntity("front")->getCurrentTwist().linear.x < 10.0) {
+    const auto ego_linear_velocity = api_.getEntity("ego").getCurrentTwist().linear.x;
+    if (api_.getEntity("front").getCurrentTwist().linear.x < 10.0) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     if (api_.getCurrentTime() <= 0.9 && ego_linear_velocity > 10.0) {
@@ -58,9 +58,9 @@ class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0);
-    ego_entity->requestSpeedChange(
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0);
+    ego_entity.requestSpeedChange(
       10.0, traffic_simulator::speed_change::Transition::LINEAR,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::LONGITUDINAL_ACCELERATION, 10.0),
@@ -71,9 +71,9 @@ class RequestSpeedChangeScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto front_entity = api_.getEntity("front");
-    front_entity->setLinearVelocity(0);
-    front_entity->requestSpeedChange(
+    auto & front_entity = api_.getEntity("front");
+    front_entity.setLinearVelocity(0);
+    front_entity.requestSpeedChange(
       10.0, traffic_simulator::speed_change::Transition::STEP,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::LONGITUDINAL_ACCELERATION, 10.0),
diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_continuous_false.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_continuous_false.cpp
index 917241b6ed8..29c1a41c876 100644
--- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_continuous_false.cpp
+++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_continuous_false.cpp
@@ -43,7 +43,7 @@ class RequestSpeedChangeContinuousFalseScenario : public cpp_mock_scenarios::Cpp
     /**
      * @brief checking linear speed
      */
-    const auto ego_linear_velocity = api_.getEntity("ego")->getCurrentTwist().linear.x;
+    const auto ego_linear_velocity = api_.getEntity("ego").getCurrentTwist().linear.x;
     if (api_.getCurrentTime() <= 0.95) {
       if (!equals(api_.getCurrentTime() * 10.0, ego_linear_velocity, 0.01)) {
         stop(cpp_mock_scenarios::Result::FAILURE);
@@ -65,9 +65,9 @@ class RequestSpeedChangeContinuousFalseScenario : public cpp_mock_scenarios::Cpp
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0);
-    ego_entity->requestSpeedChange(
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0);
+    ego_entity.requestSpeedChange(
       10.0, traffic_simulator::speed_change::Transition::LINEAR,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::LONGITUDINAL_ACCELERATION, 10.0),
diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_relative.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_relative.cpp
index 04f0661ee27..e891bc37182 100644
--- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_relative.cpp
+++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_relative.cpp
@@ -45,11 +45,11 @@ class RequestSpeedChangeRelativeScenario : public cpp_mock_scenarios::CppScenari
     api_.updateFrame();
 
     const double current_time = api_.getCurrentTime();
-    auto front_entity = api_.getEntity("front");
+    auto & front_entity = api_.getEntity("front");
 
     if (current_time >= 0.0 and not request_sent) {
       request_sent = true;
-      front_entity->requestSpeedChange(
+      front_entity.requestSpeedChange(
         traffic_simulator::speed_change::RelativeTargetSpeed(
           "ego", traffic_simulator::speed_change::RelativeTargetSpeed::Type::DELTA, 2.0),
         traffic_simulator::speed_change::Transition::LINEAR,
@@ -58,7 +58,7 @@ class RequestSpeedChangeRelativeScenario : public cpp_mock_scenarios::CppScenari
         true);
     }
 
-    const double current_speed = front_entity->getCurrentTwist().linear.x;
+    const double current_speed = front_entity.getCurrentTwist().linear.x;
     static constexpr double speed_tolerance = 0.05;
     if (current_time >= 0.0 and current_time < 2.0) {
       if (not equals(current_time + 3.0, current_speed, speed_tolerance)) {
@@ -80,16 +80,16 @@ class RequestSpeedChangeRelativeScenario : public cpp_mock_scenarios::CppScenari
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(3);
-    ego_entity->requestSpeedChange(3.0, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(3);
+    ego_entity.requestSpeedChange(3.0, true);
 
     api_.spawn(
       "front",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    api_.getEntity("front")->setLinearVelocity(3);
+    api_.getEntity("front").setLinearVelocity(3);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_step.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_step.cpp
index 1b6f5e867b0..4c6169a59fb 100644
--- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_step.cpp
+++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_step.cpp
@@ -41,8 +41,8 @@ class RequestSpeedChangeStepScenario : public cpp_mock_scenarios::CppScenarioNod
   {
     if (
       api_.getCurrentTime() <= 0.999 &&
-      !equals(api_.getEntity("ego")->getCurrentTwist().linear.x, 10.0, 0.01) &&
-      !equals(api_.getEntity("front")->getCurrentTwist().linear.x, 10.0, 0.01)) {
+      !equals(api_.getEntity("ego").getCurrentTwist().linear.x, 10.0, 0.01) &&
+      !equals(api_.getEntity("front").getCurrentTwist().linear.x, 10.0, 0.01)) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
     if (api_.getCurrentTime() >= 1.0) {
@@ -57,9 +57,9 @@ class RequestSpeedChangeStepScenario : public cpp_mock_scenarios::CppScenarioNod
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0);
-    ego_entity->requestSpeedChange(
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0);
+    ego_entity.requestSpeedChange(
       10.0, traffic_simulator::speed_change::Transition::STEP,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::LONGITUDINAL_ACCELERATION, 10.0),
@@ -70,9 +70,9 @@ class RequestSpeedChangeStepScenario : public cpp_mock_scenarios::CppScenarioNod
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto front_entity = api_.getEntity("front");
-    front_entity->setLinearVelocity(0);
-    front_entity->requestSpeedChange(
+    auto & front_entity = api_.getEntity("front");
+    front_entity.setLinearVelocity(0);
+    front_entity.requestSpeedChange(
       10.0, traffic_simulator::speed_change::Transition::STEP,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::TIME, 0.0),
diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_limit.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_limit.cpp
index 03a1b8f8df1..f2971f86d72 100644
--- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_limit.cpp
+++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_limit.cpp
@@ -39,7 +39,7 @@ class RequestSpeedChangeWithLimitScenario : public cpp_mock_scenarios::CppScenar
 private:
   void onUpdate() override
   {
-    const auto ego_linear_velocity = api_.getEntity("ego")->getCurrentTwist().linear.x;
+    const auto ego_linear_velocity = api_.getEntity("ego").getCurrentTwist().linear.x;
     if (api_.getCurrentTime() <= 0.9 && ego_linear_velocity > 10.0) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
@@ -55,10 +55,10 @@ class RequestSpeedChangeWithLimitScenario : public cpp_mock_scenarios::CppScenar
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0);
-    ego_entity->setVelocityLimit(5.0);
-    ego_entity->requestSpeedChange(
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0);
+    ego_entity.setVelocityLimit(5.0);
+    ego_entity.requestSpeedChange(
       10.0, traffic_simulator::speed_change::Transition::LINEAR,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::LONGITUDINAL_ACCELERATION, 10.0),
diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint.cpp
index 6fc3217c9cd..7ed1339e527 100644
--- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint.cpp
+++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint.cpp
@@ -39,7 +39,7 @@ class RequestSpeedChangeWithTimeConstraintScenario : public cpp_mock_scenarios::
 private:
   void onUpdate() override
   {
-    const auto ego_linear_velocity = api_.getEntity("ego")->getCurrentTwist().linear.x;
+    const auto ego_linear_velocity = api_.getEntity("ego").getCurrentTwist().linear.x;
     if (api_.getCurrentTime() <= 3.9 && ego_linear_velocity > 10.0) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
@@ -59,9 +59,9 @@ class RequestSpeedChangeWithTimeConstraintScenario : public cpp_mock_scenarios::
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0);
-    ego_entity->requestSpeedChange(
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0);
+    ego_entity.requestSpeedChange(
       10.0, traffic_simulator::speed_change::Transition::AUTO,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::TIME, 4.0),
@@ -72,9 +72,9 @@ class RequestSpeedChangeWithTimeConstraintScenario : public cpp_mock_scenarios::
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto front_entity = api_.getEntity("front");
-    front_entity->setLinearVelocity(10);
-    front_entity->requestSpeedChange(
+    auto & front_entity = api_.getEntity("front");
+    front_entity.setLinearVelocity(10);
+    front_entity.requestSpeedChange(
       10.0, traffic_simulator::speed_change::Transition::LINEAR,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::LONGITUDINAL_ACCELERATION, 4.0),
diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_linear.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_linear.cpp
index 8a1623eee5e..43b1d60c731 100644
--- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_linear.cpp
+++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_linear.cpp
@@ -42,7 +42,7 @@ class RequestSpeedChangeWithTimeConstraintLinearScenario
   {
     if (api_.getCurrentTime() <= 3.999) {
       if (!equals(
-            api_.getCurrentTime() * 2.5, api_.getEntity("ego")->getCurrentTwist().linear.x, 0.01)) {
+            api_.getCurrentTime() * 2.5, api_.getEntity("ego").getCurrentTwist().linear.x, 0.01)) {
         stop(cpp_mock_scenarios::Result::FAILURE);
       }
     } else if (api_.getCurrentTime() >= 4.0) {
@@ -57,10 +57,10 @@ class RequestSpeedChangeWithTimeConstraintLinearScenario
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
+    auto & ego_entity = api_.getEntity("ego");
 
-    ego_entity->setLinearVelocity(0);
-    ego_entity->requestSpeedChange(
+    ego_entity.setLinearVelocity(0);
+    ego_entity.requestSpeedChange(
       10.0, traffic_simulator::speed_change::Transition::LINEAR,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::TIME, 4.0),
diff --git a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_relative.cpp b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_relative.cpp
index 5192be24fa8..d861b33d08c 100644
--- a/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_relative.cpp
+++ b/mock/cpp_mock_scenarios/src/speed_planning/request_speed_change_with_time_constraint_relative.cpp
@@ -40,7 +40,7 @@ class RequestSpeedChangeWithTimeConstraintRelativeScenario
 private:
   void onUpdate() override
   {
-    const auto ego_linear_velocity = api_.getEntity("ego")->getCurrentTwist().linear.x;
+    const auto ego_linear_velocity = api_.getEntity("ego").getCurrentTwist().linear.x;
     if (api_.getCurrentTime() <= 3.9 && ego_linear_velocity >= 3.0) {
       stop(cpp_mock_scenarios::Result::FAILURE);
     }
@@ -60,9 +60,9 @@ class RequestSpeedChangeWithTimeConstraintRelativeScenario
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(1.0);
-    ego_entity->requestSpeedChange(
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(1.0);
+    ego_entity.requestSpeedChange(
       traffic_simulator::speed_change::RelativeTargetSpeed(
         "ego", traffic_simulator::speed_change::RelativeTargetSpeed::Type::DELTA, 2.0),
       traffic_simulator::speed_change::Transition::AUTO,
@@ -75,9 +75,9 @@ class RequestSpeedChangeWithTimeConstraintRelativeScenario
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34741, 10.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto front_entity = api_.getEntity("front");
-    front_entity->setLinearVelocity(10);
-    front_entity->requestSpeedChange(
+    auto & front_entity = api_.getEntity("front");
+    front_entity.setLinearVelocity(10);
+    front_entity.requestSpeedChange(
       10.0, traffic_simulator::speed_change::Transition::LINEAR,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::LONGITUDINAL_ACCELERATION, 4.0),
diff --git a/mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action.cpp b/mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action.cpp
index 9db459e8b53..0d7c204dcf5 100644
--- a/mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action.cpp
+++ b/mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action.cpp
@@ -44,14 +44,14 @@ class SynchronizedAction : public cpp_mock_scenarios::CppScenarioNode
 
   void onUpdate() override
   {
-    auto npc = api_.getEntity("npc");
-    auto ego = api_.getEntity("ego");
+    auto & npc = api_.getEntity("npc");
+    auto & ego = api_.getEntity("ego");
 
     // SUCCESS
     if (
-      npc->requestSynchronize("ego", ego_target, npc_target, 0, 0.5) &&
-      ego->isInPosition(ego_target, 1.0) && npc->isInPosition(npc_target, 1.0) &&
-      npc->getCurrentTwist().linear.x < 0.5) {
+      npc.requestSynchronize("ego", ego_target, npc_target, 0, 0.5) &&
+      ego.isInPosition(ego_target, 1.0) && npc.isInPosition(npc_target, 1.0) &&
+      npc.getCurrentTwist().linear.x < 0.5) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
 
@@ -71,14 +71,14 @@ class SynchronizedAction : public cpp_mock_scenarios::CppScenarioNode
         34976, 20, 0, api_.getHdmapUtils()),
       getVehicleParameters());
 
-    auto ego = api_.getEntity("ego");
-    ego->setLinearVelocity(3);
-    ego->requestSpeedChange(3, true);
+    auto & ego = api_.getEntity("ego");
+    ego.setLinearVelocity(3);
+    ego.requestSpeedChange(3, true);
 
     std::vector<geometry_msgs::msg::Pose> goal_poses;
     goal_poses.emplace_back(traffic_simulator::helper::constructCanonicalizedLaneletPose(
       34579, 20, 0, api_.getHdmapUtils()));
-    ego->requestAssignRoute(goal_poses);
+    ego.requestAssignRoute(goal_poses);
 
     api_.spawn(
       "npc",
@@ -86,13 +86,13 @@ class SynchronizedAction : public cpp_mock_scenarios::CppScenarioNode
         34576, 0, 0, api_.getHdmapUtils()),
       getVehicleParameters());
 
-    auto npc = api_.getEntity("npc");
+    auto & npc = api_.getEntity("npc");
 
     std::vector<geometry_msgs::msg::Pose> npc_goal_poses;
     npc_goal_poses.emplace_back(traffic_simulator::helper::constructCanonicalizedLaneletPose(
       34564, 20, 0, api_.getHdmapUtils()));
-    npc->requestAssignRoute(npc_goal_poses);
-    npc->setLinearVelocity(6);
+    npc.requestAssignRoute(npc_goal_poses);
+    npc.setLinearVelocity(6);
   }
 
   auto getSampleLaneletPose(const traffic_simulator::LaneletPose & lanelet_pose)
diff --git a/mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action_with_speed.cpp b/mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action_with_speed.cpp
index a03ebadbbb2..385109742b7 100644
--- a/mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action_with_speed.cpp
+++ b/mock/cpp_mock_scenarios/src/synchronized_action/synchronized_action_with_speed.cpp
@@ -44,14 +44,14 @@ class SynchronizedActionWithSpeed : public cpp_mock_scenarios::CppScenarioNode
 
   void onUpdate() override
   {
-    auto npc = api_.getEntity("npc");
-    auto ego = api_.getEntity("ego");
+    auto & npc = api_.getEntity("npc");
+    auto & ego = api_.getEntity("ego");
 
     // SUCCESS
     if (
-      npc->requestSynchronize("ego", ego_target, npc_target, 2, 0.5) &&
-      ego->isInPosition(ego_target, 1.0) && npc->isInPosition(npc_target, 1.0) &&
-      npc->getCurrentTwist().linear.x < 2.5) {
+      npc.requestSynchronize("ego", ego_target, npc_target, 2, 0.5) &&
+      ego.isInPosition(ego_target, 1.0) && npc.isInPosition(npc_target, 1.0) &&
+      npc.getCurrentTwist().linear.x < 2.5) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
     }
 
@@ -71,14 +71,14 @@ class SynchronizedActionWithSpeed : public cpp_mock_scenarios::CppScenarioNode
         34976, 20, 0, api_.getHdmapUtils()),
       getVehicleParameters());
 
-    auto ego = api_.getEntity("ego");
-    ego->setLinearVelocity(3);
-    ego->requestSpeedChange(3, true);
+    auto & ego = api_.getEntity("ego");
+    ego.setLinearVelocity(3);
+    ego.requestSpeedChange(3, true);
 
     std::vector<geometry_msgs::msg::Pose> goal_poses;
     goal_poses.emplace_back(traffic_simulator::helper::constructCanonicalizedLaneletPose(
       34579, 20, 0, api_.getHdmapUtils()));
-    ego->requestAssignRoute(goal_poses);
+    ego.requestAssignRoute(goal_poses);
 
     api_.spawn(
       "npc",
@@ -86,13 +86,13 @@ class SynchronizedActionWithSpeed : public cpp_mock_scenarios::CppScenarioNode
         34576, 0, 0, api_.getHdmapUtils()),
       getVehicleParameters());
 
-    auto npc = api_.getEntity("npc");
+    auto & npc = api_.getEntity("npc");
 
     std::vector<geometry_msgs::msg::Pose> npc_goal_poses;
     npc_goal_poses.emplace_back(traffic_simulator::helper::constructCanonicalizedLaneletPose(
       34564, 20, 0, api_.getHdmapUtils()));
-    npc->requestAssignRoute(npc_goal_poses);
-    npc->setLinearVelocity(6);
+    npc.requestAssignRoute(npc_goal_poses);
+    npc.setLinearVelocity(6);
   }
 
   auto getSampleLaneletPose(const traffic_simulator::LaneletPose & lanelet_pose)
diff --git a/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp b/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp
index 6ca6d01363d..2e59e506ec6 100644
--- a/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp
+++ b/mock/cpp_mock_scenarios/src/traffic_simulation_demo.cpp
@@ -47,7 +47,7 @@ class TrafficSimulationDemoScenario : public cpp_mock_scenarios::CppScenarioNode
     }
     if (api_.getCurrentTime() >= 4 && api_.isEntityExist("obstacle")) {
       api_.getEntity("obstacle")
-        ->setStatus(
+        .setStatus(
           traffic_simulator::helper::constructCanonicalizedLaneletPose(
             120545, 0.0, 0.0, api_.getHdmapUtils()),
           traffic_simulator::helper::constructActionStatus(10));
@@ -55,38 +55,38 @@ class TrafficSimulationDemoScenario : public cpp_mock_scenarios::CppScenarioNode
     if (api_.getCurrentTime() >= 6 && api_.isEntityExist("obstacle")) {
       api_.despawn("obstacle");
     }
-    const auto ego_entity = api_.getEntity("ego");
-    const auto npc2_entity = api_.getEntity("npc2");
-    if (ego_entity->isInPosition(
+    auto & ego_entity = api_.getEntity("ego");
+    auto & npc2_entity = api_.getEntity("npc2");
+    if (ego_entity.isInPosition(
           traffic_simulator::helper::constructCanonicalizedLaneletPose(
             34615, 10.0, 0.0, api_.getHdmapUtils()),
           5)) {
-      ego_entity->requestAcquirePosition(
+      ego_entity.requestAcquirePosition(
         traffic_simulator::helper::constructCanonicalizedLaneletPose(
           35026, 0.0, 0.0, api_.getHdmapUtils()));
       if (api_.isEntityExist("npc2")) {
-        npc2_entity->requestSpeedChange(13, true);
+        npc2_entity.requestSpeedChange(13, true);
       }
     }
-    if (ego_entity->isInPosition(
+    if (ego_entity.isInPosition(
           traffic_simulator::helper::constructCanonicalizedLaneletPose(
             34579, 0.0, 0.0, api_.getHdmapUtils()),
           5)) {
-      ego_entity->requestAcquirePosition(
+      ego_entity.requestAcquirePosition(
         traffic_simulator::helper::constructCanonicalizedLaneletPose(
           34675, 0.0, 0.0, api_.getHdmapUtils()));
       if (api_.isEntityExist("npc2")) {
-        npc2_entity->requestSpeedChange(3, true);
+        npc2_entity.requestSpeedChange(3, true);
       }
     }
-    if (npc2_entity->isInPosition(
+    if (npc2_entity.isInPosition(
           traffic_simulator::helper::constructCanonicalizedLaneletPose(
             34513, 0.0, 0.0, api_.getHdmapUtils()),
           5)) {
-      npc2_entity->requestAcquirePosition(
+      npc2_entity.requestAcquirePosition(
         traffic_simulator::helper::constructCanonicalizedLaneletPose(
           34630, 0.0, 0.0, api_.getHdmapUtils()));
-      npc2_entity->requestSpeedChange(13, true);
+      npc2_entity.requestSpeedChange(13, true);
     }
     if (api_.getCurrentTime() > 10.0 && api_.isEntityExist("bob")) {
       api_.despawn("bob");
@@ -102,10 +102,10 @@ class TrafficSimulationDemoScenario : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         120545, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(10);
-    ego_entity->requestSpeedChange(8, true);
-    ego_entity->requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(10);
+    ego_entity.requestSpeedChange(8, true);
+    ego_entity.requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34675, 0.0, 0.0, api_.getHdmapUtils()),
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
@@ -114,57 +114,56 @@ class TrafficSimulationDemoScenario : public cpp_mock_scenarios::CppScenarioNode
     api_.spawn(
       "tom", traffic_simulator::helper::constructPose(10, 3, 0, 0, 0, -1.57),
       getPedestrianParameters());
-    api_.getEntity("tom")->setStatus(
-      ego_entity->getMapPose(), traffic_simulator::helper::constructPose(10, 3, 0, 0, 0, -1.57),
+    api_.getEntity("tom").setStatus(
+      ego_entity.getMapPose(), traffic_simulator::helper::constructPose(10, 3, 0, 0, 0, -1.57),
       traffic_simulator::helper::constructActionStatus());
-    auto tom_entity = api_.getEntity("tom");
-    tom_entity->requestWalkStraight();
-    tom_entity->requestSpeedChange(3, true);
+    auto & tom_entity = api_.getEntity("tom");
+    tom_entity.requestWalkStraight();
+    tom_entity.requestSpeedChange(3, true);
 
     api_.spawn(
       "bob",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34378, 0.0, 0.0, api_.getHdmapUtils()),
       getPedestrianParameters());
-    auto bob_entity = api_.getEntity("bob");
-    bob_entity->setLinearVelocity(1.0);
-    bob_entity->requestSpeedChange(1, true);
+    auto & bob_entity = api_.getEntity("bob");
+    bob_entity.setLinearVelocity(1.0);
+    bob_entity.requestSpeedChange(1, true);
 
     api_.spawn(
       "npc1",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34579, 20.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto npc1_entity = api_.getEntity("npc1");
-    npc1_entity->setLinearVelocity(5.0);
-    npc1_entity->requestSpeedChange(5, true);
-    npc1_entity->requestAcquirePosition(
-      traffic_simulator::helper::constructCanonicalizedLaneletPose(
-        34675, 0.0, 0.0, api_.getHdmapUtils()));
+    auto & npc1_entity = api_.getEntity("npc1");
+    npc1_entity.setLinearVelocity(5.0);
+    npc1_entity.requestSpeedChange(5, true);
+    npc1_entity.requestAcquirePosition(traffic_simulator::helper::constructCanonicalizedLaneletPose(
+      34675, 0.0, 0.0, api_.getHdmapUtils()));
 
     api_.spawn(
       "npc2",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34606, 20.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto npc2_entity = api_.getEntity("npc1");
-    npc2_entity->setLinearVelocity(5);
-    npc2_entity->requestSpeedChange(0, true);
+    auto & npc2_entity = api_.getEntity("npc1");
+    npc2_entity.setLinearVelocity(5);
+    npc2_entity.requestSpeedChange(0, true);
 
     api_.spawn(
       "npc3",
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34468, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto npc3_entity = api_.getEntity("npc3");
-    npc3_entity->setLinearVelocity(10);
+    auto & npc3_entity = api_.getEntity("npc3");
+    npc3_entity.setLinearVelocity(10);
 
     api_.spawn(
       "obstacle", traffic_simulator::helper::constructPose(10, 5, 0, 0, 0, -1.57),
       getMiscObjectParameters());
     api_.getEntity("obstacle")
-      ->setStatus(
-        ego_entity->getMapPose(), traffic_simulator::helper::constructPose(10, 5, 0, 0, 0, -1.57),
+      .setStatus(
+        ego_entity.getMapPose(), traffic_simulator::helper::constructPose(10, 5, 0, 0, 0, -1.57),
         traffic_simulator::helper::constructActionStatus());
 
     api_.getConventionalTrafficLights()->setTrafficLightsColor(
diff --git a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_delay.cpp b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_delay.cpp
index a6e7f503031..0bd12e7b30b 100644
--- a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_delay.cpp
+++ b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_delay.cpp
@@ -75,12 +75,12 @@ class DefineTrafficSourceDelay : public cpp_mock_scenarios::CppScenarioNode
         stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
       }
       for (const auto & name : names) {
-        const auto entity = api_.getEntity(name);
-        if (!entity->isInLanelet()) {
+        const auto & entity = api_.getEntity(name);
+        if (!entity.isInLanelet()) {
           stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
         } else {
           const bool valid_vehicle_lanelet =
-            entity->isInLanelet(34705, 50.0) || entity->isInLanelet(34696, 50.0);
+            entity.isInLanelet(34705, 50.0) || entity.isInLanelet(34696, 50.0);
           if (!valid_vehicle_lanelet || !isVehicle(name)) {
             stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
           }
@@ -97,9 +97,9 @@ class DefineTrafficSourceDelay : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34570, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0.0);
-    ego_entity->requestSpeedChange(0.0, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0.0);
+    ego_entity.requestSpeedChange(0.0, true);
   }
 
   bool traffic_source_added_ = false;
diff --git a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_high_rate.cpp b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_high_rate.cpp
index 81b12eee1bd..3ede3188860 100644
--- a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_high_rate.cpp
+++ b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_high_rate.cpp
@@ -52,12 +52,12 @@ class DefineTrafficSourceHighRate : public cpp_mock_scenarios::CppScenarioNode
         stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
       }
       for (const auto & name : names) {
-        const auto entity = api_.getEntity(name);
-        if (!entity->isInLanelet()) {
+        const auto & entity = api_.getEntity(name);
+        if (!entity.isInLanelet()) {
           stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
         } else {
           const bool valid_vehicle_lanelet =
-            entity->isInLanelet(34705, 50.0) || entity->isInLanelet(34696, 50.0);
+            entity.isInLanelet(34705, 50.0) || entity.isInLanelet(34696, 50.0);
           if (!valid_vehicle_lanelet || !isVehicle(name)) {
             stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
           }
@@ -87,9 +87,9 @@ class DefineTrafficSourceHighRate : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34570, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0.0);
-    ego_entity->requestSpeedChange(0.0, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0.0);
+    ego_entity.requestSpeedChange(0.0, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_large.cpp b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_large.cpp
index 5c2233874e7..51c0b409101 100644
--- a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_large.cpp
+++ b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_large.cpp
@@ -52,9 +52,9 @@ class DefineTrafficSourceLarge : public cpp_mock_scenarios::CppScenarioNode
         stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
       }
       for (const auto & name : names) {
-        const auto entity = api_.getEntity(name);
+        const auto & entity = api_.getEntity(name);
 
-        if (!entity->isInLanelet() || !isVehicle(name)) {
+        if (!entity.isInLanelet() || !isVehicle(name)) {
           stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
         }
       }
@@ -82,9 +82,9 @@ class DefineTrafficSourceLarge : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34570, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0.0);
-    ego_entity->requestSpeedChange(0.0, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0.0);
+    ego_entity.requestSpeedChange(0.0, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_mixed.cpp b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_mixed.cpp
index d6e1d7a5558..48d43386e3b 100644
--- a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_mixed.cpp
+++ b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_mixed.cpp
@@ -53,12 +53,12 @@ class DefineTrafficSourceMixed : public cpp_mock_scenarios::CppScenarioNode
       }
       unsigned int vehicle_count = 0u, pedestrian_count = 0u;
       for (const auto & name : names) {
-        const auto entity = api_.getEntity(name);
-        if (!entity->isInLanelet()) {
+        const auto & entity = api_.getEntity(name);
+        if (!entity.isInLanelet()) {
           stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
         } else {
           const bool valid_vehicle_lanelet =
-            entity->isInLanelet(34705, 50.0) || entity->isInLanelet(34696, 50.0);
+            entity.isInLanelet(34705, 50.0) || entity.isInLanelet(34696, 50.0);
           if (isVehicle(name)) {
             ++vehicle_count;
           } else if (isPedestrian(name)) {
@@ -98,9 +98,9 @@ class DefineTrafficSourceMixed : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34570, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0.0);
-    ego_entity->requestSpeedChange(0.0, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0.0);
+    ego_entity.requestSpeedChange(0.0, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_multiple.cpp b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_multiple.cpp
index 783f524c4c7..7049fa27f40 100644
--- a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_multiple.cpp
+++ b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_multiple.cpp
@@ -53,13 +53,13 @@ class DefineTrafficSourceMultiple : public cpp_mock_scenarios::CppScenarioNode
       }
       unsigned int vehicle_count = 0u, pedestrian_count = 0u;
       for (const auto & name : names) {
-        const auto entity = api_.getEntity(name);
-        if (!entity->isInLanelet()) {
+        const auto & entity = api_.getEntity(name);
+        if (!entity.isInLanelet()) {
           stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
         } else {
           const bool valid_vehicle_lanelet =
-            entity->isInLanelet(34705, 50.0) || entity->isInLanelet(34696, 50.0);
-          const bool valid_pedestrian_lanelet = entity->isInLanelet(34385, 10.0);
+            entity.isInLanelet(34705, 50.0) || entity.isInLanelet(34696, 50.0);
+          const bool valid_pedestrian_lanelet = entity.isInLanelet(34385, 10.0);
           if (isVehicle(name)) {
             ++vehicle_count;
           } else if (isPedestrian(name)) {
@@ -114,9 +114,9 @@ class DefineTrafficSourceMultiple : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34570, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0.0);
-    ego_entity->requestSpeedChange(0.0, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0.0);
+    ego_entity.requestSpeedChange(0.0, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_outside_lane.cpp b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_outside_lane.cpp
index 306b9e4668e..da1845d73a4 100644
--- a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_outside_lane.cpp
+++ b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_outside_lane.cpp
@@ -52,9 +52,9 @@ class DefineTrafficSourceOutsideLane : public cpp_mock_scenarios::CppScenarioNod
         stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
       }
       for (const auto & name : names) {
-        const auto entity = api_.getEntity(name);
+        const auto & entity = api_.getEntity(name);
 
-        if (entity->isInLanelet() || !isPedestrian(name)) {
+        if (entity.isInLanelet() || !isPedestrian(name)) {
           stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
         }
         stop(cpp_mock_scenarios::Result::SUCCESS);
@@ -83,9 +83,9 @@ class DefineTrafficSourceOutsideLane : public cpp_mock_scenarios::CppScenarioNod
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34570, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0.0);
-    ego_entity->requestSpeedChange(0.0, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0.0);
+    ego_entity.requestSpeedChange(0.0, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_pedestrian.cpp b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_pedestrian.cpp
index 0469791afe9..85e712c222a 100644
--- a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_pedestrian.cpp
+++ b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_pedestrian.cpp
@@ -52,11 +52,11 @@ class DefineTrafficSourcePedestrian : public cpp_mock_scenarios::CppScenarioNode
         stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
       }
       for (const auto & name : names) {
-        const auto entity = api_.getEntity(name);
-        if (!entity->isInLanelet()) {
+        const auto & entity = api_.getEntity(name);
+        if (!entity.isInLanelet()) {
           stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
         } else {
-          const bool valid_pedestrian_lanelet = entity->isInLanelet(34385, 10.0);
+          const bool valid_pedestrian_lanelet = entity.isInLanelet(34385, 10.0);
           if (!valid_pedestrian_lanelet || !isPedestrian(name)) {
             stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
           }
@@ -87,9 +87,9 @@ class DefineTrafficSourcePedestrian : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34570, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0.0);
-    ego_entity->requestSpeedChange(0.0, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0.0);
+    ego_entity.requestSpeedChange(0.0, true);
   }
 };
 }  // namespace cpp_mock_scenarios
diff --git a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_vehicle.cpp b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_vehicle.cpp
index d470a0c3197..2ff2ca8f575 100644
--- a/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_vehicle.cpp
+++ b/mock/cpp_mock_scenarios/src/traffic_source/define_traffic_source_vehicle.cpp
@@ -52,12 +52,12 @@ class DefineTrafficSourceVehicle : public cpp_mock_scenarios::CppScenarioNode
         stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
       }
       for (const auto & name : names) {
-        const auto entity = api_.getEntity(name);
-        if (!entity->isInLanelet()) {
+        const auto & entity = api_.getEntity(name);
+        if (!entity.isInLanelet()) {
           stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
         } else {
           const bool valid_vehicle_lanelet =
-            entity->isInLanelet(34705, 50.0) || entity->isInLanelet(34696, 50.0);
+            entity.isInLanelet(34705, 50.0) || entity.isInLanelet(34696, 50.0);
           if (!valid_vehicle_lanelet || !isVehicle(name)) {
             stop(cpp_mock_scenarios::Result::FAILURE);  // LCOV_EXCL_LINE
           }
@@ -87,9 +87,9 @@ class DefineTrafficSourceVehicle : public cpp_mock_scenarios::CppScenarioNode
       traffic_simulator::helper::constructCanonicalizedLaneletPose(
         34570, 0.0, 0.0, api_.getHdmapUtils()),
       getVehicleParameters());
-    auto ego_entity = api_.getEntity("ego");
-    ego_entity->setLinearVelocity(0.0);
-    ego_entity->requestSpeedChange(0.0, true);
+    auto & ego_entity = api_.getEntity("ego");
+    ego_entity.setLinearVelocity(0.0);
+    ego_entity.requestSpeedChange(0.0, true);
   }
 };
 }  // namespace cpp_mock_scenarios