diff --git a/doc/website/release-notes/iceoryx-unreleased.md b/doc/website/release-notes/iceoryx-unreleased.md
index 8d6d2ba787..4cde701812 100644
--- a/doc/website/release-notes/iceoryx-unreleased.md
+++ b/doc/website/release-notes/iceoryx-unreleased.md
@@ -17,6 +17,7 @@
 - Refactor semaphore [\#751](https://github.com/eclipse-iceoryx/iceoryx/issues/751)
     - Introduce `UnnamedSemaphore`
     - Introduce `NamedSemaphore`
+    - Remove old `Semaphore`
 - Extend `concatenate`, `operator+`, `unsafe_append` and `append` of `iox::cxx::string` for chars [\#208](https://github.com/eclipse-iceoryx/iceoryx/issues/208)
 - Extend `unsafe_append` and `append` methods of `iox::cxx::string` for `std::string` [\#208](https://github.com/eclipse-iceoryx/iceoryx/issues/208)
 - The iceoryx development environment supports multiple running docker containers [\#1410](https://github.com/eclipse-iceoryx/iceoryx/issues/1410)
@@ -79,3 +80,59 @@
     // after
     #include "iceoryx_hoofs/design_pattern/builder.hpp"
     ```
+
+3. Replace `Semaphore` with `NamedSemaphore` and `UnnamedSemaphore`
+
+    ```cpp
+    // before
+        #include "iceoryx_hoofs/posix_wrapper/semaphore.hpp"
+
+        // named semaphore
+        auto semaphore = iox::posix::Semaphore::create(iox::posix::CreateNamedSemaphore,
+                                                   "mySemaphoreName",
+                                                   S_IRUSR | S_IWUSR,
+                                                   0);
+
+        // unnamed semaphore
+        auto semaphore = iox::posix::Semaphore::create(iox::posix::CreateUnnamedSingleProcessSemaphore, 0);
+
+    // after
+        // named semaphore
+        #include "iceoryx_hoofs/posix_wrapper/named_semaphore.hpp"
+
+        iox::cxx::optional<iox::posix::NamedSemaphore> semaphore;
+        auto result = iox::posix::NamedSemaphoreBuilder()
+                        .name("mySemaphoreName")
+                        .openMode(iox::posix::OpenMode::OPEN_OR_CREATE)
+                        .permissions(iox::cxx::perms::owner_all)
+                        .initialValue(0U)
+                        .create(semaphore);
+
+        // unnamed semaphore
+        #include "iceoryx_hoofs/posix_wrapper/unnamed_semaphore.hpp"
+
+        iox::cxx::optional<iox::posix::UnnamedSemaphore> semaphore;
+        auto result = iox::posix::UnnamedSemaphoreBuilder()
+                        .initialValue(0U)
+                        .isInterProcessCapable(true)
+                        .create(semaphore);
+    ```
+
+4. `RoudiApp::waitForSignal` is deprecated
+    ```cpp
+    // before
+        // in my custom roudi app implementation
+        uint8_t MyCustomRoudiApp::run() noexcept {
+            // ...
+
+            waitForSignal();
+        }
+
+    // after
+        // in my custom roudi app implementation
+        uint8_t MyCustomRoudiApp::run() noexcept {
+            // ...
+
+            iox::posix::waitForTerminationRequest();
+        }
+    ```
diff --git a/iceoryx_hoofs/include/iceoryx_hoofs/internal/cxx/adaptive_wait.hpp b/iceoryx_hoofs/include/iceoryx_hoofs/internal/cxx/adaptive_wait.hpp
index 694e173efc..17c4093792 100644
--- a/iceoryx_hoofs/include/iceoryx_hoofs/internal/cxx/adaptive_wait.hpp
+++ b/iceoryx_hoofs/include/iceoryx_hoofs/internal/cxx/adaptive_wait.hpp
@@ -20,7 +20,6 @@
 #include "iceoryx_hoofs/cxx/function_ref.hpp"
 #include "iceoryx_hoofs/internal/units/duration.hpp"
 
-#include <atomic>
 #include <cstdint>
 
 namespace iox
diff --git a/iceoryx_hoofs/include/iceoryx_hoofs/internal/cxx/functional_interface.inl b/iceoryx_hoofs/include/iceoryx_hoofs/internal/cxx/functional_interface.inl
index 3e5967cc68..eed508f15d 100644
--- a/iceoryx_hoofs/include/iceoryx_hoofs/internal/cxx/functional_interface.inl
+++ b/iceoryx_hoofs/include/iceoryx_hoofs/internal/cxx/functional_interface.inl
@@ -37,7 +37,7 @@ inline void Expect<Derived>::expect(const StringType& msg) const noexcept
 
     if (!(*static_cast<const Derived*>(this)))
     {
-        // it is possible that expect is called inside an error handler therefore we
+        // it is possible that expect is called inside a signal handler therefore we
         // use write
         IOX_DISCARD_RESULT(write(STDERR_FILENO, &msg[0], strlen(&msg[0])));
         Ensures(false);
@@ -55,7 +55,7 @@ inline ValueType& ExpectWithValue<Derived, ValueType>::expect(const StringType&
 
     if (!(*derivedThis))
     {
-        // it is possible that expect is called inside an error handler therefore we
+        // it is possible that expect is called inside a signal handler therefore we
         // use write
         IOX_DISCARD_RESULT(write(STDERR_FILENO, &msg[0], strlen(&msg[0])));
         Ensures(false);
diff --git a/iceoryx_hoofs/test/moduletests/test_cxx_adaptive_wait.cpp b/iceoryx_hoofs/test/moduletests/test_cxx_adaptive_wait.cpp
index bb67c6b751..9c6d8018d6 100644
--- a/iceoryx_hoofs/test/moduletests/test_cxx_adaptive_wait.cpp
+++ b/iceoryx_hoofs/test/moduletests/test_cxx_adaptive_wait.cpp
@@ -108,5 +108,7 @@ TEST(AdaptiveWaitTest, wait_loopWaitsAtLeastAsLongAsTheConditionsReturnsTrue)
 
     EXPECT_THAT(std::chrono::nanoseconds(end - start).count(),
                 Ge(iox::units::Duration::fromMilliseconds(waitTime.count()).toNanoseconds()));
+
+    waitThread.join();
 }
 } // namespace