diff --git a/hardware_interface/include/hardware_interface/hardware_info.hpp b/hardware_interface/include/hardware_interface/hardware_info.hpp
index 013e20a07e..27d3d13ae3 100644
--- a/hardware_interface/include/hardware_interface/hardware_info.hpp
+++ b/hardware_interface/include/hardware_interface/hardware_info.hpp
@@ -260,6 +260,13 @@ struct HardwareAsyncParams
 };
 
 /// This structure stores information about hardware defined in a robot's URDF.
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
 struct HardwareInfo
 {
   /// Name of the hardware.
@@ -272,10 +279,8 @@ struct HardwareInfo
   unsigned int rw_rate;
   /// Component is async
   bool is_async;
-  // TODO(anyone): deprecate after branching for kilted
-  /// [[deprecated("Use async_params instead.")]]
   /// Async thread priority
-  int thread_priority;
+  [[deprecated("Use async_params instead.")]] int thread_priority;
   /// Async Parameters
   HardwareAsyncParams async_params;
   /// Name of the pluginlib plugin of the hardware that will be loaded.
@@ -322,6 +327,11 @@ struct HardwareInfo
    */
   std::unordered_map<std::string, joint_limits::SoftJointLimits> soft_limits;
 };
+#ifdef _MSC_VER
+#pragma warning(pop)
+#else
+#pragma GCC diagnostic pop
+#endif
 
 }  // namespace hardware_interface
 #endif  // HARDWARE_INTERFACE__HARDWARE_INFO_HPP_
diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
index 458693eba6..90c68c67d5 100644
--- a/hardware_interface/src/component_parser.cpp
+++ b/hardware_interface/src/component_parser.cpp
@@ -675,9 +675,23 @@ HardwareInfo parse_resource_from_xml(
   hardware.type = get_attribute_value(ros2_control_it, kTypeAttribute, kROS2ControlTag);
   hardware.rw_rate = parse_rw_rate_attribute(ros2_control_it);
   hardware.is_async = parse_is_async_attribute(ros2_control_it);
-  hardware.thread_priority = hardware.is_async ? parse_thread_priority_attribute(ros2_control_it)
-                                               : std::numeric_limits<int>::max();
-  hardware.async_params.thread_priority = hardware.thread_priority;
+  hardware.async_params.thread_priority = hardware.is_async
+                                            ? parse_thread_priority_attribute(ros2_control_it)
+                                            : std::numeric_limits<int>::max();
+  // TODO(anyone): remove this line once thread_priority is removed
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+  hardware.thread_priority = hardware.async_params.thread_priority;
+#ifdef _MSC_VER
+#pragma warning(pop)
+#else
+#pragma GCC diagnostic pop
+#endif
 
   // Parse everything under ros2_control tag
   hardware.hardware_plugin_name = "";
@@ -725,7 +739,20 @@ HardwareInfo parse_resource_from_xml(
           if (async_it->FindAttribute(kThreadPriorityAttribute))
           {
             hardware.async_params.thread_priority = parse_thread_priority_attribute(async_it);
+            // TODO(anyone): remove this line once thread_priority is removed
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
             hardware.thread_priority = hardware.async_params.thread_priority;
+#ifdef _MSC_VER
+#pragma warning(pop)
+#else
+#pragma GCC diagnostic pop
+#endif
           }
           if (async_it->FindAttribute(kPrintWarningsAttribute))
           {
diff --git a/hardware_interface/test/test_component_parser.cpp b/hardware_interface/test/test_component_parser.cpp
index e854b04307..21701b1661 100644
--- a/hardware_interface/test/test_component_parser.cpp
+++ b/hardware_interface/test/test_component_parser.cpp
@@ -880,7 +880,21 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_gpio
     hardware_info.hardware_plugin_name, "ros2_control_demo_hardware/RRBotSystemWithGPIOHardware");
 
   ASSERT_FALSE(hardware_info.is_async);
-  ASSERT_EQ(hardware_info.thread_priority, std::numeric_limits<int>::max());
+  // TODO(anyone): remove this line once thread_priority is removed
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+  ASSERT_EQ(hardware_info.thread_priority, hardware_info.async_params.thread_priority);
+#ifdef _MSC_VER
+#pragma warning(pop)
+#else
+#pragma GCC diagnostic pop
+#endif
+  ASSERT_EQ(hardware_info.async_params.thread_priority, std::numeric_limits<int>::max());
   ASSERT_THAT(hardware_info.joints, SizeIs(2));
 
   EXPECT_EQ(hardware_info.joints[0].name, "joint1");
@@ -952,7 +966,21 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_with_size_and_d
   ASSERT_THAT(hardware_info.joints, SizeIs(1));
 
   ASSERT_FALSE(hardware_info.is_async);
-  ASSERT_EQ(hardware_info.thread_priority, std::numeric_limits<int>::max());
+  // TODO(anyone): remove this line once thread_priority is removed
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+  ASSERT_EQ(hardware_info.thread_priority, hardware_info.async_params.thread_priority);
+#ifdef _MSC_VER
+#pragma warning(pop)
+#else
+#pragma GCC diagnostic pop
+#endif
+  ASSERT_EQ(hardware_info.async_params.thread_priority, std::numeric_limits<int>::max());
   EXPECT_EQ(hardware_info.joints[0].name, "joint1");
   EXPECT_EQ(hardware_info.joints[0].type, "joint");
   EXPECT_THAT(hardware_info.joints[0].command_interfaces, SizeIs(1));
@@ -1002,7 +1030,21 @@ TEST_F(
 
   ASSERT_THAT(hardware_info.joints, SizeIs(1));
   ASSERT_FALSE(hardware_info.is_async);
-  ASSERT_EQ(hardware_info.thread_priority, std::numeric_limits<int>::max());
+  // TODO(anyone): remove this line once thread_priority is removed
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+  ASSERT_EQ(hardware_info.thread_priority, hardware_info.async_params.thread_priority);
+#ifdef _MSC_VER
+#pragma warning(pop)
+#else
+#pragma GCC diagnostic pop
+#endif
+  ASSERT_EQ(hardware_info.async_params.thread_priority, std::numeric_limits<int>::max());
   EXPECT_EQ(hardware_info.joints[0].name, "joint1");
   EXPECT_EQ(hardware_info.joints[0].type, "joint");
   EXPECT_THAT(hardware_info.joints[0].command_interfaces, SizeIs(2));
@@ -1430,7 +1472,20 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_async_components)
   ASSERT_THAT(hardware_info.group, IsEmpty());
   ASSERT_THAT(hardware_info.joints, SizeIs(1));
   ASSERT_TRUE(hardware_info.is_async);
-  ASSERT_EQ(hardware_info.thread_priority, 30);
+  // TODO(anyone): remove this line once thread_priority is removed
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+  ASSERT_EQ(hardware_info.thread_priority, hardware_info.async_params.thread_priority);
+#ifdef _MSC_VER
+#pragma warning(pop)
+#else
+#pragma GCC diagnostic pop
+#endif
   ASSERT_EQ(hardware_info.async_params.thread_priority, 30);
   ASSERT_EQ(hardware_info.async_params.scheduling_policy, "detached");
   ASSERT_FALSE(hardware_info.async_params.print_warnings);
@@ -1450,7 +1505,20 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_async_components)
   ASSERT_THAT(hardware_info.joints, IsEmpty());
   ASSERT_THAT(hardware_info.sensors, SizeIs(1));
   ASSERT_TRUE(hardware_info.is_async);
-  ASSERT_EQ(hardware_info.thread_priority, 50);
+  // TODO(anyone): remove this line once thread_priority is removed
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+  ASSERT_EQ(hardware_info.thread_priority, hardware_info.async_params.thread_priority);
+#ifdef _MSC_VER
+#pragma warning(pop)
+#else
+#pragma GCC diagnostic pop
+#endif
   ASSERT_EQ(hardware_info.async_params.thread_priority, 50);
   ASSERT_EQ(hardware_info.async_params.scheduling_policy, "synchronized");
   ASSERT_TRUE(hardware_info.async_params.print_warnings);
@@ -1478,7 +1546,20 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_async_components)
   EXPECT_EQ(hardware_info.gpios[0].name, "configuration");
   EXPECT_EQ(hardware_info.gpios[0].type, "gpio");
   ASSERT_TRUE(hardware_info.is_async);
-  ASSERT_EQ(hardware_info.thread_priority, 70);
+  // TODO(anyone): remove this line once thread_priority is removed
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4996)
+#else
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+  ASSERT_EQ(hardware_info.thread_priority, hardware_info.async_params.thread_priority);
+#ifdef _MSC_VER
+#pragma warning(pop)
+#else
+#pragma GCC diagnostic pop
+#endif
   ASSERT_EQ(hardware_info.async_params.thread_priority, 70);
   ASSERT_EQ(hardware_info.async_params.scheduling_policy, "synchronized");
   ASSERT_EQ(1u, hardware_info.async_params.cpu_affinity_cores.size());