diff --git a/hardware/opentrons_hardware/hardware_control/move_group_runner.py b/hardware/opentrons_hardware/hardware_control/move_group_runner.py
index 7d621bd312b..1b7baf61d6d 100644
--- a/hardware/opentrons_hardware/hardware_control/move_group_runner.py
+++ b/hardware/opentrons_hardware/hardware_control/move_group_runner.py
@@ -255,16 +255,6 @@ def all_moving_nodes(self) -> Set[NodeId]:
                         node_set.add(node)
         return node_set
 
-    def all_moving_nodes(self) -> Set[NodeId]:
-        """Get all of the moving nodes in the move group runner's move groups."""
-        node_set: Set[NodeId] = set()
-        for group in self._move_groups:
-            for sequence in group:
-                for node, node_step in sequence.items():
-                    if node_step.is_moving_step():
-                        node_set.add(node)
-        return node_set
-
     async def _send_groups(self, can_messenger: CanMessenger) -> None:
         """Send commands to set up the message groups."""
         for group_i, group in enumerate(self._move_groups):