diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
index 9b04847bd59b0..23c3d6a3ad443 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
@@ -1634,11 +1634,6 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine(
   universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
   const auto & data = avoid_data_;
 
-  if (data.new_shift_line.empty()) {
-    RCLCPP_WARN(getLogger(), "module doesn't have return shift line.");
-    return;
-  }
-
   if (data.to_return_point > planner_data_->parameters.forward_path_length) {
     RCLCPP_DEBUG(getLogger(), "return dead line is far enough.");
     return;
@@ -1651,6 +1646,11 @@ void StaticObstacleAvoidanceModule::insertReturnDeadLine(
     return;
   }
 
+  if (data.new_shift_line.empty()) {
+    RCLCPP_WARN(getLogger(), "module doesn't have return shift line.");
+    return;
+  }
+
   if (!helper_->isFeasible(data.new_shift_line)) {
     RCLCPP_WARN(getLogger(), "return shift line is not feasible. do nothing..");
     return;