diff --git a/joint_trajectory_controller/test/test_trajectory_actions.cpp b/joint_trajectory_controller/test/test_trajectory_actions.cpp
index 286e4cf82a..eba26dc7ec 100644
--- a/joint_trajectory_controller/test/test_trajectory_actions.cpp
+++ b/joint_trajectory_controller/test/test_trajectory_actions.cpp
@@ -103,8 +103,6 @@ class TestTrajectoryActions : public ::testing::Test
     rclcpp::Parameter stopped_velocity_parameters("constraints.stopped_velocity_tolerance", 0.0);
     traj_lifecycle_node_->set_parameter(stopped_velocity_parameters);
 
-    goal_options_.goal_response_callback =
-      std::bind(&TestTrajectoryActions::common_goal_response, this, _1);
     goal_options_.result_callback =
       std::bind(&TestTrajectoryActions::common_result_response, this, _1);
     goal_options_.feedback_callback = nullptr;
@@ -203,7 +201,7 @@ class TestTrajectoryActions : public ::testing::Test
   using GoalHandle = rclcpp_action::ClientGoalHandle<FollowJointTrajectoryMsg>;
   using GoalOptions = rclcpp_action::Client<FollowJointTrajectoryMsg>::SendGoalOptions;
 
-  bool sendActionGoal(
+  std::shared_future<typename GoalHandle::SharedPtr> sendActionGoal(
     const std::vector<JointTrajectoryPoint> & points,
     double timeout,
     const GoalOptions & opt)
@@ -213,8 +211,7 @@ class TestTrajectoryActions : public ::testing::Test
     goal_msg.trajectory.joint_names = joint_names_;
     goal_msg.trajectory.points = points;
 
-    auto goal_handle_future = action_client_->async_send_goal(goal_msg, opt);
-    return true;
+    return action_client_->async_send_goal(goal_msg, opt);
   }
 
   std::string controller_name_ = "test_joint_trajectory_actions";
@@ -233,7 +230,6 @@ class TestTrajectoryActions : public ::testing::Test
 
   rclcpp_action::Client<FollowJointTrajectoryMsg>::SharedPtr action_client_;
   rclcpp_action::ResultCode common_resultcode_ = rclcpp_action::ResultCode::UNKNOWN;
-  bool common_goal_accepted_ = false;
   int common_action_result_code_ = control_msgs::action::FollowJointTrajectory_Result::SUCCESSFUL;
 
   bool setup_executor_ = false;
@@ -246,21 +242,6 @@ class TestTrajectoryActions : public ::testing::Test
   GoalOptions goal_options_;
 
 public:
-  void common_goal_response(std::shared_future<GoalHandle::SharedPtr> future)
-  {
-    RCLCPP_DEBUG(
-      node_->get_logger(), "common_goal_response time: %f",
-      rclcpp::Clock().now().seconds());
-    const auto goal_handle = future.get();
-    if (!goal_handle) {
-      common_goal_accepted_ = false;
-      RCLCPP_DEBUG(node_->get_logger(), "Goal rejected");
-    } else {
-      common_goal_accepted_ = true;
-      RCLCPP_DEBUG(node_->get_logger(), "Goal accepted");
-    }
-  }
-
   void common_result_response(const GoalHandle::WrappedResult & result)
   {
     RCLCPP_DEBUG(
@@ -288,6 +269,7 @@ TEST_F(TestTrajectoryActions, test_success_single_point_sendgoal) {
   SetUpExecutor();
   SetUpControllerHardware();
 
+  std::shared_future<typename GoalHandle::SharedPtr> gh_future;
   // send goal
   {
     std::vector<JointTrajectoryPoint> points;
@@ -301,11 +283,11 @@ TEST_F(TestTrajectoryActions, test_success_single_point_sendgoal) {
 
     points.push_back(point);
 
-    sendActionGoal(points, 1.0, goal_options_);
+    gh_future = sendActionGoal(points, 1.0, goal_options_);
   }
   controller_hw_thread_.join();
 
-  EXPECT_TRUE(common_goal_accepted_);
+  EXPECT_TRUE(gh_future.get());
   EXPECT_EQ(rclcpp_action::ResultCode::SUCCEEDED, common_resultcode_);
 
   EXPECT_EQ(1.0, joint1_pos_handle_->get_value());
@@ -327,6 +309,7 @@ TEST_F(TestTrajectoryActions, test_success_multi_point_sendgoal) {
       feedback_recv = true;
     };
 
+  std::shared_future<typename GoalHandle::SharedPtr> gh_future;
   // send goal with multiple points
   {
     std::vector<JointTrajectoryPoint> points;
@@ -348,12 +331,12 @@ TEST_F(TestTrajectoryActions, test_success_multi_point_sendgoal) {
     point2.positions[2] = 9.0;
     points.push_back(point2);
 
-    sendActionGoal(points, 1.0, goal_options_);
+    gh_future = sendActionGoal(points, 1.0, goal_options_);
   }
   controller_hw_thread_.join();
 
   EXPECT_TRUE(feedback_recv);
-  EXPECT_TRUE(common_goal_accepted_);
+  EXPECT_TRUE(gh_future.get());
   EXPECT_EQ(rclcpp_action::ResultCode::SUCCEEDED, common_resultcode_);
 
   EXPECT_NEAR(7.0, joint1_pos_handle_->get_value(), COMMON_THRESHOLD);
@@ -370,6 +353,7 @@ TEST_F(TestTrajectoryActions, test_goal_tolerances_single_point_success) {
   SetUpExecutor();
   SetUpControllerHardware();
 
+  std::shared_future<typename GoalHandle::SharedPtr> gh_future;
   // send goal
   {
     std::vector<JointTrajectoryPoint> points;
@@ -382,11 +366,11 @@ TEST_F(TestTrajectoryActions, test_goal_tolerances_single_point_success) {
     point.positions[2] = 3.0;
     points.push_back(point);
 
-    sendActionGoal(points, 1.0, goal_options_);
+    gh_future = sendActionGoal(points, 1.0, goal_options_);
   }
   controller_hw_thread_.join();
 
-  EXPECT_TRUE(common_goal_accepted_);
+  EXPECT_TRUE(gh_future.get());
   EXPECT_EQ(rclcpp_action::ResultCode::SUCCEEDED, common_resultcode_);
   EXPECT_EQ(
     control_msgs::action::FollowJointTrajectory_Result::SUCCESSFUL,
@@ -416,6 +400,7 @@ TEST_F(TestTrajectoryActions, test_goal_tolerances_multi_point_success) {
       feedback_recv = true;
     };
 
+  std::shared_future<typename GoalHandle::SharedPtr> gh_future;
   // send goal with multiple points
   {
     std::vector<JointTrajectoryPoint> points;
@@ -437,12 +422,12 @@ TEST_F(TestTrajectoryActions, test_goal_tolerances_multi_point_success) {
     point2.positions[2] = 9.0;
     points.push_back(point2);
 
-    sendActionGoal(points, 1.0, goal_options_);
+    gh_future = sendActionGoal(points, 1.0, goal_options_);
   }
   controller_hw_thread_.join();
 
   EXPECT_TRUE(feedback_recv);
-  EXPECT_TRUE(common_goal_accepted_);
+  EXPECT_TRUE(gh_future.get());
   EXPECT_EQ(rclcpp_action::ResultCode::SUCCEEDED, common_resultcode_);
   EXPECT_EQ(
     control_msgs::action::FollowJointTrajectory_Result::SUCCESSFUL,
@@ -463,6 +448,7 @@ TEST_F(TestTrajectoryActions, test_state_tolerances_fail) {
   SetUpExecutor();
   SetUpControllerHardware();
 
+  std::shared_future<typename GoalHandle::SharedPtr> gh_future;
   // send goal
   {
     std::vector<JointTrajectoryPoint> points;
@@ -475,11 +461,11 @@ TEST_F(TestTrajectoryActions, test_state_tolerances_fail) {
     point.positions[2] = 6.0;
     points.push_back(point);
 
-    sendActionGoal(points, 1.0, goal_options_);
+    gh_future = sendActionGoal(points, 1.0, goal_options_);
   }
   controller_hw_thread_.join();
 
-  EXPECT_TRUE(common_goal_accepted_);
+  EXPECT_TRUE(gh_future.get());
   EXPECT_EQ(rclcpp_action::ResultCode::ABORTED, common_resultcode_);
   EXPECT_EQ(
     control_msgs::action::FollowJointTrajectory_Result::PATH_TOLERANCE_VIOLATED,
@@ -490,6 +476,7 @@ TEST_F(TestTrajectoryActions, test_cancel_hold_position) {
   SetUpExecutor();
   SetUpControllerHardware();
 
+  std::shared_future<typename GoalHandle::SharedPtr> gh_future;
   // send goal
   {
     std::vector<JointTrajectoryPoint> points;
@@ -508,15 +495,15 @@ TEST_F(TestTrajectoryActions, test_cancel_hold_position) {
     goal_msg.trajectory.points = points;
 
     // send and wait for half a second before cancel
-    const auto goal_handle_future = action_client_->async_send_goal(goal_msg, goal_options_);
+    gh_future = action_client_->async_send_goal(goal_msg, goal_options_);
     std::this_thread::sleep_for(std::chrono::milliseconds(500));
 
-    const auto goal_handle = goal_handle_future.get();
+    const auto goal_handle = gh_future.get();
     action_client_->async_cancel_goal(goal_handle);
   }
   controller_hw_thread_.join();
 
-  EXPECT_TRUE(common_goal_accepted_);
+  EXPECT_TRUE(gh_future.get());
   EXPECT_EQ(rclcpp_action::ResultCode::CANCELED, common_resultcode_);
   EXPECT_EQ(
     control_msgs::action::FollowJointTrajectory_Result::SUCCESSFUL,