diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml
index b070131f1d567..90ef9e45c5439 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml
+++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml
@@ -18,6 +18,7 @@
   <depend>map_height_fitter</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
+  <depend>tier4_autoware_utils</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp
index 18421c976cf41..a2a4cb68c8278 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp
+++ b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp
@@ -24,14 +24,8 @@ RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options)
 {
   using std::placeholders::_1;
 
-  sub_fixed_goal_ = create_subscription<PoseStamped>(
-    "~/input/fixed_goal", 3, std::bind(&RoutingAdaptor::on_fixed_goal, this, _1));
-  sub_rough_goal_ = create_subscription<PoseStamped>(
-    "~/input/rough_goal", 3, std::bind(&RoutingAdaptor::on_rough_goal, this, _1));
   sub_reroute_ = create_subscription<PoseStamped>(
     "~/input/reroute", 3, std::bind(&RoutingAdaptor::on_reroute, this, _1));
-  sub_waypoint_ = create_subscription<PoseStamped>(
-    "~/input/waypoint", 10, std::bind(&RoutingAdaptor::on_waypoint, this, _1));
 
   const auto adaptor = component_interface_utils::NodeAdaptor(this);
   adaptor.init_cli(cli_reroute_);
@@ -50,6 +44,39 @@ RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options)
 
 void RoutingAdaptor::on_timer()
 {
+  const rclcpp::Time current_time = this->get_clock()->now();
+  auto fixed_goal_msg = sub_fixed_goal_.takeData();
+  auto rough_goal_msg = sub_rough_goal_.takeData();
+  auto waypoint_msg = sub_waypoint_.takeData();
+  if (
+    fixed_goal_msg && rough_goal_msg &&
+    rclcpp::Time(fixed_goal_msg->header.stamp) > previous_timer_time_ &&
+    rclcpp::Time(rough_goal_msg->header.stamp) > previous_timer_time_) {
+    if (rclcpp::Time(fixed_goal_msg->header.stamp) > rclcpp::Time(rough_goal_msg->header.stamp)) {
+      request_timing_control_ = 1;
+      set_route_from_goal(fixed_goal_msg, false);
+    } else {
+      request_timing_control_ = 1;
+      set_route_from_goal(rough_goal_msg, true);
+    }
+  } else if (fixed_goal_msg && rclcpp::Time(fixed_goal_msg->header.stamp) > previous_timer_time_) {
+    request_timing_control_ = 1;
+    set_route_from_goal(fixed_goal_msg, false);
+  } else if (rough_goal_msg && rclcpp::Time(rough_goal_msg->header.stamp) > previous_timer_time_) {
+    request_timing_control_ = 1;
+    set_route_from_goal(rough_goal_msg, true);
+  }
+  if (waypoint_msg && rclcpp::Time(waypoint_msg->header.stamp) > previous_timer_time_) {
+    if (route_->header.frame_id != waypoint_msg->header.frame_id) {
+      RCLCPP_ERROR_STREAM(get_logger(), "The waypoint frame does not match the goal.");
+      previous_timer_time_ = current_time;
+      return;
+    }
+    request_timing_control_ = 1;
+    route_->waypoints.push_back(waypoint_msg->pose);
+  }
+  previous_timer_time_ = current_time;
+
   // Wait a moment to combine consecutive goals and checkpoints into a single request.
   // This value is rate dependent and set the wait time for merging.
   constexpr int delay_count = 3;  // 0.4 seconds (rate * (value - 1))
@@ -73,32 +100,13 @@ void RoutingAdaptor::on_timer()
   }
 }
 
-void RoutingAdaptor::on_fixed_goal(const PoseStamped::ConstSharedPtr pose)
+void RoutingAdaptor::set_route_from_goal(
+  const PoseStamped::ConstSharedPtr msg, const bool allow_goal_modification)
 {
-  request_timing_control_ = 1;
-  route_->header = pose->header;
-  route_->goal = pose->pose;
+  route_->header = msg->header;
+  route_->goal = msg->pose;
   route_->waypoints.clear();
-  route_->option.allow_goal_modification = false;
-}
-
-void RoutingAdaptor::on_rough_goal(const PoseStamped::ConstSharedPtr pose)
-{
-  request_timing_control_ = 1;
-  route_->header = pose->header;
-  route_->goal = pose->pose;
-  route_->waypoints.clear();
-  route_->option.allow_goal_modification = true;
-}
-
-void RoutingAdaptor::on_waypoint(const PoseStamped::ConstSharedPtr pose)
-{
-  if (route_->header.frame_id != pose->header.frame_id) {
-    RCLCPP_ERROR_STREAM(get_logger(), "The waypoint frame does not match the goal.");
-    return;
-  }
-  request_timing_control_ = 1;
-  route_->waypoints.push_back(pose->pose);
+  route_->option.allow_goal_modification = allow_goal_modification;
 }
 
 void RoutingAdaptor::on_reroute(const PoseStamped::ConstSharedPtr pose)
diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp
index 877d705825733..91c62062a1bf0 100644
--- a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp
+++ b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp
@@ -18,6 +18,7 @@
 #include <autoware_ad_api_specs/routing.hpp>
 #include <component_interface_utils/rclcpp.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/polling_subscriber.hpp>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 
@@ -41,11 +42,16 @@ class RoutingAdaptor : public rclcpp::Node
   component_interface_utils::Client<SetRoutePoints>::SharedPtr cli_route_;
   component_interface_utils::Client<ClearRoute>::SharedPtr cli_clear_;
   component_interface_utils::Subscription<RouteState>::SharedPtr sub_state_;
-  rclcpp::Subscription<PoseStamped>::SharedPtr sub_fixed_goal_;
-  rclcpp::Subscription<PoseStamped>::SharedPtr sub_rough_goal_;
-  rclcpp::Subscription<PoseStamped>::SharedPtr sub_waypoint_;
   rclcpp::Subscription<PoseStamped>::SharedPtr sub_reroute_;
+  // Subscriber without callback
+  tier4_autoware_utils::InterProcessPollingSubscriber<PoseStamped> sub_fixed_goal_{
+    this, "~/input/fixed_goal"};
+  tier4_autoware_utils::InterProcessPollingSubscriber<PoseStamped> sub_rough_goal_{
+    this, "~/input/rough_goal"};
+  tier4_autoware_utils::InterProcessPollingSubscriber<PoseStamped> sub_waypoint_{
+    this, "~/input/waypoint"};
   rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::Time previous_timer_time_ = rclcpp::Time(0);
 
   bool calling_service_ = false;
   int request_timing_control_ = 0;
@@ -53,9 +59,8 @@ class RoutingAdaptor : public rclcpp::Node
   RouteState::Message::_state_type state_;
 
   void on_timer();
-  void on_fixed_goal(const PoseStamped::ConstSharedPtr pose);
-  void on_rough_goal(const PoseStamped::ConstSharedPtr pose);
-  void on_waypoint(const PoseStamped::ConstSharedPtr pose);
+  void set_route_from_goal(
+    const PoseStamped::ConstSharedPtr pose, const bool allow_goal_modification);
   void on_reroute(const PoseStamped::ConstSharedPtr pose);
 };