diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index c0b9634ba..75c390e0e 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -54,6 +54,18 @@ runs:
         echo ::set-output name=tags::$tags_multiline
       shell: bash
 
+    - name: Docker meta for base
+      id: meta-base
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-base
+        flavor: |
+          latest=false
+          prefix=${{ inputs.tag-prefix }}
+          suffix=-base${{ inputs.tag-suffix }}
+          
     - name: Docker meta for devel
       id: meta-devel
       uses: docker/metadata-action@v4
@@ -64,7 +76,7 @@ runs:
         flavor: |
           latest=false
           prefix=${{ inputs.tag-prefix }}
-          suffix=${{ inputs.tag-suffix }}
+          suffix=-devel${{ inputs.tag-suffix }}
 
     - name: Docker meta for prebuilt
       id: meta-prebuilt
@@ -77,6 +89,30 @@ runs:
           latest=false
           prefix=${{ inputs.tag-prefix }}
           suffix=-prebuilt${{ inputs.tag-suffix }}
+        
+    - name: Docker meta for runtime-monolithic
+      id: meta-runtime-monolithic
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-runtime-monolithic
+        flavor: |
+          latest=false
+          prefix=${{ inputs.tag-prefix }}
+          suffix=-runtime-monolithic${{ inputs.tag-suffix }}
+    
+    - name: Docker meta for runtime-planning-control
+      id: meta-runtime-planning-control
+      uses: docker/metadata-action@v4
+      with:
+        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
+        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        bake-target: docker-metadata-action-runtime-planning-control
+        flavor: |
+          latest=false
+          prefix=${{ inputs.tag-prefix }}
+          suffix=-runtime-planning-control${{ inputs.tag-suffix }}
 
     - name: Login to GitHub Container Registry
       if: ${{ github.event_name != 'pull_request' }}
@@ -90,10 +126,14 @@ runs:
       uses: docker/bake-action@v2
       with:
         # Checking event_name for https://github.com/autowarefoundation/autoware/issues/2796
-        push: ${{ github.event_name == 'schedule' || github.ref_name == github.event.repository.default_branch || github.event_name == 'push'}}
+        # ${{ github.event_name == 'schedule' || github.ref_name == github.event.repository.default_branch || github.event_name == 'push'}}
+        push: true
         files: |
           docker/${{ inputs.bake-target }}/docker-bake.hcl
+          ${{ steps.meta-base.outputs.bake-file }}
           ${{ steps.meta-devel.outputs.bake-file }}
           ${{ steps.meta-prebuilt.outputs.bake-file }}
+          ${{ steps.meta-runtime-monolithic.outputs.bake-file }}
+          ${{ steps.meta-runtime-planning-control.outputs.bake-file }}
         set: |
           ${{ inputs.build-args }}
diff --git a/.github/workflows/backport.yaml b/.github/workflows/backport.yaml
deleted file mode 100644
index 7a9d63f79..000000000
--- a/.github/workflows/backport.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-name: backport
-on:
-  pull_request_target:
-    types:
-      - closed
-      - labeled
-
-jobs:
-  backport:
-    runs-on: ubuntu-latest
-    # Only react to merged PRs for security reasons.
-    # See https://docs.github.com/en/actions/using-workflows/events-that-trigger-workflows#pull_request_target.
-    if: >
-      github.event.pull_request.merged
-      && (
-        github.event.action == 'closed'
-        || (
-          github.event.action == 'labeled'
-          && contains(github.event.label.name, 'backport')
-        )
-      )
-    steps:
-      - name: Generate token
-        id: generate-token
-        uses: tibdex/github-app-token@v1
-        with:
-          app_id: ${{ secrets.APP_ID }}
-          private_key: ${{ secrets.PRIVATE_KEY }}
-
-      - uses: tibdex/backport@v2
-        with:
-          github_token: ${{ steps.generate-token.outputs.token }}
-          title_template: "<%= title %> (backport #<%= number %>)"
diff --git a/.github/workflows/build-main-self-hosted.yaml b/.github/workflows/build-main-self-hosted.yaml
deleted file mode 100644
index 3f0fdb23b..000000000
--- a/.github/workflows/build-main-self-hosted.yaml
+++ /dev/null
@@ -1,47 +0,0 @@
-name: build-main-self-hosted
-
-on:
-  schedule:
-    - cron: 0 12 * * *
-  workflow_dispatch:
-
-jobs:
-  load-env:
-    uses: ./.github/workflows/load-env.yaml
-
-  build-main-self-hosted:
-    needs: load-env
-    runs-on: [self-hosted, linux, ARM64]
-    container: ${{ needs.load-env.outputs.base-image }}
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Run setup script
-        run: |
-          ./setup-dev-env.sh -y
-
-      - name: Set git config
-        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Run vcs import
-        run: |
-          mkdir src
-          vcs import src < autoware.repos
-
-      - name: Run vcs export
-        run: |
-          vcs export --exact src || true
-
-      - name: Run rosdep install
-        run: |
-          sudo apt-get -y update
-          rosdep update
-          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro ${{ needs.load-env.outputs.rosdistro }}
-
-      - name: Build
-        run: |
-          . /opt/ros/${{ needs.load-env.outputs.rosdistro }}/setup.sh
-          colcon build --event-handlers console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=Release
diff --git a/.github/workflows/build-main.yaml b/.github/workflows/build-main.yaml
deleted file mode 100644
index a57934080..000000000
--- a/.github/workflows/build-main.yaml
+++ /dev/null
@@ -1,47 +0,0 @@
-name: build-main
-
-on:
-  schedule:
-    - cron: 0 12 * * *
-  workflow_dispatch:
-
-jobs:
-  load-env:
-    uses: ./.github/workflows/load-env.yaml
-
-  build-main:
-    needs: load-env
-    runs-on: ubuntu-latest
-    container: ${{ needs.load-env.outputs.base-image }}
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Run setup script
-        run: |
-          ./setup-dev-env.sh -y
-
-      - name: Set git config
-        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Run vcs import
-        run: |
-          mkdir src
-          vcs import src < autoware.repos
-
-      - name: Run vcs export
-        run: |
-          vcs export --exact src || true
-
-      - name: Run rosdep install
-        run: |
-          sudo apt-get -y update
-          rosdep update
-          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro ${{ needs.load-env.outputs.rosdistro }}
-
-      - name: Build
-        run: |
-          . /opt/ros/${{ needs.load-env.outputs.rosdistro }}/setup.sh
-          colcon build --event-handlers console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=Release
diff --git a/.github/workflows/docker-build-and-push-main-self-hosted.yaml b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
deleted file mode 100644
index e2c435fc0..000000000
--- a/.github/workflows/docker-build-and-push-main-self-hosted.yaml
+++ /dev/null
@@ -1,64 +0,0 @@
-name: docker-build-and-push-main-self-hosted
-
-on:
-  push:
-    tags:
-      - v*
-      - "[0-9]+.[0-9]+*"
-  schedule:
-    - cron: 0 0 1,15 * *
-  workflow_dispatch:
-
-jobs:
-  docker-build-and-push-main-self-hosted:
-    runs-on: [self-hosted, linux, ARM64]
-    strategy:
-      fail-fast: false
-      matrix:
-        name:
-          - no-cuda
-          - cuda
-        include:
-          - name: no-cuda
-            base_image_env: base_image
-            setup-args: --no-nvidia
-            additional-tag-suffix: ""
-          - name: cuda
-            base_image_env: cuda_base_image
-            setup-args: --no-cuda-drivers
-            additional-tag-suffix: -cuda
-    steps:
-      # https://github.com/actions/checkout/issues/211
-      - name: Change permission of workspace
-        run: |
-          sudo chown -R $USER:$USER ${{ github.workspace }}
-
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Free disk space
-        uses: ./.github/actions/free-disk-space
-
-      - name: Load env
-        run: |
-          cat amd64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          if [ "$(uname -m)" = "aarch64" ]; then
-            cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          fi
-
-      - name: Build 'autoware-universe'
-        uses: ./.github/actions/docker-build-and-push
-        with:
-          bake-target: autoware-universe
-          build-args: |
-            *.platform=linux/arm64
-            *.args.ROS_DISTRO=${{ env.rosdistro }}
-            *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
-            *.args.PREBUILT_BASE_IMAGE=${{ env.prebuilt_base_image }}
-            *.args.SETUP_ARGS=${{ matrix.setup-args }}
-          tag-prefix: ${{ env.rosdistro }}-
-          tag-suffix: ${{ matrix.additional-tag-suffix }}-arm64
-
-      - name: Show disk space
-        run: |
-          df -h
diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
index 6f71ac715..77c5634af 100644
--- a/.github/workflows/docker-build-and-push-main.yaml
+++ b/.github/workflows/docker-build-and-push-main.yaml
@@ -12,22 +12,27 @@ on:
 jobs:
   docker-build-and-push-main:
     runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        name:
-          - no-cuda
-          - cuda
-        include:
-          - name: no-cuda
-            base_image_env: base_image
-            setup-args: --no-nvidia
-            additional-tag-suffix: ""
-          - name: cuda
-            base_image_env: cuda_base_image
-            setup-args: --no-cuda-drivers
-            additional-tag-suffix: -cuda
+    # strategy:
+    #   fail-fast: false
+    #   matrix:
+    #     name:
+    #       - no-cuda
+    #       - cuda
+    #     include:
+    #       - name: no-cuda
+    #         base_image_env: base_image
+    #         setup-args: --no-nvidia
+    #         additional-tag-suffix: ""
+    #       - name: cuda
+    #         base_image_env: cuda_base_image
+    #         setup-args: --no-cuda-drivers
+    #         additional-tag-suffix: -cuda
     steps:
+      # https://github.com/actions/checkout/issues/211
+      - name: Change permission of workspace
+        run: |
+          sudo chown -R $USER:$USER ${{ github.workspace }}
+          
       - name: Check out repository
         uses: actions/checkout@v3
 
@@ -44,15 +49,13 @@ jobs:
       - name: Build 'autoware-universe'
         uses: ./.github/actions/docker-build-and-push
         with:
-          bake-target: autoware-universe
+          bake-target: autoware-openadk
           build-args: |
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ env.rosdistro }}
-            *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
-            *.args.PREBUILT_BASE_IMAGE=${{ env.prebuilt_base_image }}
-            *.args.SETUP_ARGS=${{ matrix.setup-args }}
+            *.args.BASE_IMAGE=${{ env.base_image }}
           tag-prefix: ${{ env.rosdistro }}-
-          tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
+          tag-suffix: -amd64
 
       - name: Show disk space
         run: |
diff --git a/.github/workflows/mirror-main-branch.yaml b/.github/workflows/mirror-main-branch.yaml
deleted file mode 100644
index 504867e36..000000000
--- a/.github/workflows/mirror-main-branch.yaml
+++ /dev/null
@@ -1,15 +0,0 @@
-name: mirror-main-branch
-
-on:
-  push:
-    branches:
-      - main
-  workflow_dispatch:
-
-jobs:
-  mirror-main-branch:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: zofrex/mirror-branch@v1
-        with:
-          target-branch: humble
diff --git a/.github/workflows/pre-commit-ansible-autoupdate.yaml b/.github/workflows/pre-commit-ansible-autoupdate.yaml
deleted file mode 100644
index 5595c69d5..000000000
--- a/.github/workflows/pre-commit-ansible-autoupdate.yaml
+++ /dev/null
@@ -1,37 +0,0 @@
-name: pre-commit-ansible-autoupdate
-
-on:
-  schedule:
-    - cron: 0 0 * * *
-  workflow_dispatch:
-
-jobs:
-  check-secret:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1
-    secrets:
-      secret: ${{ secrets.APP_ID }}
-
-  pre-commit-ansible-autoupdate:
-    needs: check-secret
-    if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
-    steps:
-      - name: Generate token
-        id: generate-token
-        uses: tibdex/github-app-token@v1
-        with:
-          app_id: ${{ secrets.APP_ID }}
-          private_key: ${{ secrets.PRIVATE_KEY }}
-
-      - name: Run pre-commit-autoupdate
-        uses: autowarefoundation/autoware-github-actions/pre-commit-autoupdate@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          pre-commit-config: .pre-commit-config-ansible.yaml
-          pr-labels: |
-            bot
-            pre-commit-ansible-autoupdate
-          pr-branch: pre-commit-ansible-autoupdate
-          pr-title: "ci(pre-commit-ansible): autoupdate"
-          pr-commit-message: "ci(pre-commit-ansible): autoupdate"
-          auto-merge-method: squash
diff --git a/.github/workflows/pre-commit-ansible.yaml b/.github/workflows/pre-commit-ansible.yaml
deleted file mode 100644
index feaef88fe..000000000
--- a/.github/workflows/pre-commit-ansible.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-name: pre-commit-ansible
-
-on:
-  pull_request:
-
-jobs:
-  pre-commit-ansible:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Install Ansible Galaxy depends for ansible-lint
-        run: |
-          ansible-galaxy collection install -f -r ansible-galaxy-requirements.yaml
-
-      - name: Run pre-commit
-        uses: autowarefoundation/autoware-github-actions/pre-commit@v1
-        with:
-          pre-commit-config: .pre-commit-config-ansible.yaml
diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml
deleted file mode 100644
index 02e3ab2c6..000000000
--- a/.github/workflows/pre-commit-autoupdate.yaml
+++ /dev/null
@@ -1,37 +0,0 @@
-name: pre-commit-autoupdate
-
-on:
-  schedule:
-    - cron: 0 0 * * *
-  workflow_dispatch:
-
-jobs:
-  check-secret:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1
-    secrets:
-      secret: ${{ secrets.APP_ID }}
-
-  pre-commit-autoupdate:
-    needs: check-secret
-    if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
-    steps:
-      - name: Generate token
-        id: generate-token
-        uses: tibdex/github-app-token@v1
-        with:
-          app_id: ${{ secrets.APP_ID }}
-          private_key: ${{ secrets.PRIVATE_KEY }}
-
-      - name: Run pre-commit-autoupdate
-        uses: autowarefoundation/autoware-github-actions/pre-commit-autoupdate@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          pre-commit-config: .pre-commit-config.yaml
-          pr-labels: |
-            bot
-            pre-commit-autoupdate
-          pr-branch: pre-commit-autoupdate
-          pr-title: "ci(pre-commit): autoupdate"
-          pr-commit-message: "ci(pre-commit): autoupdate"
-          auto-merge-method: squash
diff --git a/.github/workflows/pre-commit-optional-autoupdate.yaml b/.github/workflows/pre-commit-optional-autoupdate.yaml
deleted file mode 100644
index 12f9c3c0d..000000000
--- a/.github/workflows/pre-commit-optional-autoupdate.yaml
+++ /dev/null
@@ -1,37 +0,0 @@
-name: pre-commit-optional-autoupdate
-
-on:
-  schedule:
-    - cron: 0 0 * * *
-  workflow_dispatch:
-
-jobs:
-  check-secret:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1
-    secrets:
-      secret: ${{ secrets.APP_ID }}
-
-  pre-commit-optional-autoupdate:
-    needs: check-secret
-    if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
-    steps:
-      - name: Generate token
-        id: generate-token
-        uses: tibdex/github-app-token@v1
-        with:
-          app_id: ${{ secrets.APP_ID }}
-          private_key: ${{ secrets.PRIVATE_KEY }}
-
-      - name: Run pre-commit-autoupdate
-        uses: autowarefoundation/autoware-github-actions/pre-commit-autoupdate@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          pre-commit-config: .pre-commit-config-optional.yaml
-          pr-labels: |
-            bot
-            pre-commit-optional-autoupdate
-          pr-branch: pre-commit-optional-autoupdate
-          pr-title: "ci(pre-commit-optional): autoupdate"
-          pr-commit-message: "ci(pre-commit-optional): autoupdate"
-          auto-merge-method: squash
diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
deleted file mode 100644
index 93e05dc2c..000000000
--- a/.github/workflows/pre-commit-optional.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-name: pre-commit-optional
-
-on:
-  pull_request:
-
-jobs:
-  pre-commit-optional:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Run pre-commit
-        uses: autowarefoundation/autoware-github-actions/pre-commit@v1
-        with:
-          pre-commit-config: .pre-commit-config-optional.yaml
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
deleted file mode 100644
index bda722c87..000000000
--- a/.github/workflows/pre-commit.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-name: pre-commit
-
-on:
-  pull_request:
-
-jobs:
-  pre-commit:
-    if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories
-    runs-on: ubuntu-latest
-    steps:
-      - name: Generate token
-        id: generate-token
-        uses: tibdex/github-app-token@v1
-        with:
-          app_id: ${{ secrets.APP_ID }}
-          private_key: ${{ secrets.PRIVATE_KEY }}
-
-      - name: Check out repository
-        uses: actions/checkout@v3
-        with:
-          ref: ${{ github.event.pull_request.head.ref }}
-
-      - name: Set git config
-        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-
-      - name: Run pre-commit
-        uses: autowarefoundation/autoware-github-actions/pre-commit@v1
-        with:
-          pre-commit-config: .pre-commit-config.yaml
-          token: ${{ steps.generate-token.outputs.token }}
diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml
deleted file mode 100644
index 71224c224..000000000
--- a/.github/workflows/semantic-pull-request.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-name: semantic-pull-request
-
-on:
-  pull_request_target:
-    types:
-      - opened
-      - edited
-      - synchronize
-
-jobs:
-  semantic-pull-request:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@v1
diff --git a/.github/workflows/setup-docker.yaml b/.github/workflows/setup-docker.yaml
deleted file mode 100644
index 9e3fee08f..000000000
--- a/.github/workflows/setup-docker.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-name: setup-docker
-
-on:
-  pull_request:
-
-jobs:
-  load-env:
-    uses: ./.github/workflows/load-env.yaml
-
-  setup-docker:
-    needs: load-env
-    runs-on: ubuntu-latest
-    container: ${{ needs.load-env.outputs.base-image }}
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Run setup script
-        run: |
-          ./setup-dev-env.sh -y -v docker
diff --git a/.github/workflows/setup-universe.yaml b/.github/workflows/setup-universe.yaml
deleted file mode 100644
index 5735967e6..000000000
--- a/.github/workflows/setup-universe.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-name: setup-universe
-
-on:
-  pull_request:
-
-jobs:
-  load-env:
-    uses: ./.github/workflows/load-env.yaml
-
-  setup-universe:
-    needs: load-env
-    runs-on: ubuntu-latest
-    container: ${{ needs.load-env.outputs.base-image }}
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Run setup script
-        run: |
-          ./setup-dev-env.sh -y -v universe
diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml
deleted file mode 100644
index eb18ccdba..000000000
--- a/.github/workflows/spell-check-differential.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-name: spell-check-differential
-
-on:
-  pull_request:
-
-jobs:
-  spell-check-differential:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Run spell-check
-        uses: autowarefoundation/autoware-github-actions/spell-check@v1
-        with:
-          cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json
diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml
deleted file mode 100644
index b9dc5907a..000000000
--- a/.github/workflows/sync-files.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-name: sync-files
-
-on:
-  schedule:
-    - cron: 0 0 * * *
-  workflow_dispatch:
-
-jobs:
-  check-secret:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1
-    secrets:
-      secret: ${{ secrets.APP_ID }}
-
-  sync-files:
-    needs: check-secret
-    if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
-    steps:
-      - name: Generate token
-        id: generate-token
-        uses: tibdex/github-app-token@v1
-        with:
-          app_id: ${{ secrets.APP_ID }}
-          private_key: ${{ secrets.PRIVATE_KEY }}
-
-      - name: Run sync-files
-        uses: autowarefoundation/autoware-github-actions/sync-files@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          pr-labels: |
-            bot
-            sync-files
-          auto-merge-method: squash
diff --git a/.github/workflows/update-tool-versions.yaml b/.github/workflows/update-tool-versions.yaml
deleted file mode 100644
index 8c4b5875b..000000000
--- a/.github/workflows/update-tool-versions.yaml
+++ /dev/null
@@ -1,69 +0,0 @@
-name: update-tool-versions
-
-on:
-  schedule:
-    - cron: 0 0 * * *
-  workflow_dispatch:
-
-jobs:
-  update-tool-versions:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Generate token
-        id: generate-token
-        uses: tibdex/github-app-token@v1
-        with:
-          app_id: ${{ secrets.APP_ID }}
-          private_key: ${{ secrets.PRIVATE_KEY }}
-
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Set up sd
-        uses: kenji-miyake/setup-sd@v1
-
-      - name: Get clang-format version
-        id: get-clang-format-version
-        run: |
-          function get-latest-pip-version() {
-            pip index versions "$1" 2>/dev/null | head -n1 | sd '.*\((.*)\)' '$1'
-          }
-
-          echo ::set-output name=version::$(get-latest-pip-version clang-format)
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Update clang-format version
-        run: |
-          sd '(clang_format_version): .*' '$1: ${{ steps.get-clang-format-version.outputs.version }}' ansible/roles/pre_commit/defaults/main.yaml
-          sd '(clang_format_version)=.*' '$1=${{ steps.get-clang-format-version.outputs.version }}' ansible/roles/pre_commit/README.md
-
-      - name: Create PR
-        id: create-pr
-        uses: peter-evans/create-pull-request@v4
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          base: ${{ github.event.repository.default_branch }}
-          branch: update-tool-versions
-          title: "chore: update tool versions"
-          commit-message: "chore: update tool versions"
-          body: ""
-          labels: |
-            bot
-            update-tool-versions
-          signoff: true
-          delete-branch: true
-
-      - name: Check outputs
-        run: |
-          echo "Pull Request Number - ${{ steps.create-pr.outputs.pull-request-number }}"
-          echo "Pull Request URL - ${{ steps.create-pr.outputs.pull-request-url }}"
-        shell: bash
-
-      - name: Enable auto-merge
-        if: ${{ steps.create-pr.outputs.pull-request-operation == 'created' }}
-        uses: peter-evans/enable-pull-request-automerge@v2
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          pull-request-number: ${{ steps.create-pr.outputs.pull-request-number }}
-          merge-method: squash
diff --git a/.github/workflows/vcs-import.yaml b/.github/workflows/vcs-import.yaml
deleted file mode 100644
index 829c1c81e..000000000
--- a/.github/workflows/vcs-import.yaml
+++ /dev/null
@@ -1,47 +0,0 @@
-name: vcs-import
-
-on:
-  pull_request:
-  workflow_dispatch:
-
-jobs:
-  load-env:
-    uses: ./.github/workflows/load-env.yaml
-
-  vcs-import:
-    needs: load-env
-    runs-on: ubuntu-latest
-    container: ros:${{ needs.load-env.outputs.rosdistro }}
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Install pip for rosdep
-        run: |
-          sudo apt-get -y update
-          sudo apt-get -y install python3-pip
-
-      - name: Register AutonomouStuff repository
-        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@v1
-        with:
-          rosdistro: ${{ needs.load-env.outputs.rosdistro }}
-
-      - name: Set git config
-        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Run vcs import
-        run: |
-          mkdir src
-          vcs import src < autoware.repos
-
-      - name: Run vcs export
-        run: |
-          vcs export --exact src || true
-
-      - name: Run rosdep install
-        run: |
-          sudo apt-get -y update
-          rosdep update
-          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro ${{ needs.load-env.outputs.rosdistro }}
diff --git a/autoware.repos b/autoware.repos
index 38fc2ba76..1c30532b6 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -23,9 +23,9 @@ repositories:
   # universe
   universe/autoware.universe:
     type: git
-    url: https://github.com/autowarefoundation/autoware.universe.git
+    url: https://github.com/leo-drive/avte.autoware_universe.git
     version: main
-  universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Improve design/code and transfer to AWF
+  universe/external/eagleye:
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
     version: tier4/universe
diff --git a/docker/autoware-openadk/build.sh b/docker/autoware-openadk/build.sh
index 1a4d30299..65b29e949 100755
--- a/docker/autoware-openadk/build.sh
+++ b/docker/autoware-openadk/build.sh
@@ -14,7 +14,7 @@ while [ "$1" != "" ]; do
         option_platform="$2"
         shift
         ;;
-    --devel-only)
+    --prebuilt-only)
         option_no_runtime=true
         ;;
     *)
@@ -59,20 +59,19 @@ docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/docker-bake.hcl" \
     --set "base.tags=ghcr.io/autowarefoundation/autoware-openadk:base-$rosdistro-$platform" \
     --set "devel.tags=ghcr.io/autowarefoundation/autoware-openadk:devel-$rosdistro-$platform" \
     --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-openadk:prebuilt-$rosdistro-$platform"
-
-# Build runtime images
+    
+# Set build targets
 if [ "$option_no_runtime" = "false" ]; then
     docker buildx bake --load --progress=plain -f "$SCRIPT_DIR/docker-bake.hcl" \
-    --set "*.context=$WORKSPACE_ROOT" \
-    --set "*.ssh=default" \
-    --set "*.platform=$platform" \
-    --set "*.args.PLATFORM=$platform" \
-    --set "*.args.ROS_DISTRO=$rosdistro" \
-    --set "*.args.BASE_IMAGE=$base_image" \
-    --set "monolithic.tags=ghcr.io/autowarefoundation/autoware-openadk:monolithic-$rosdistro-$platform" \
-    --set "main-perception.tags=ghcr.io/autowarefoundation/autoware-openadk:main-perception-$rosdistro-$platform" \
-    --set "planning-control.tags=ghcr.io/autowarefoundation/autoware-openadk:planning-control-$rosdistro-$platform" \
-    --set "simulator.tags=ghcr.io/autowarefoundation/autoware-openadk:simulator-$rosdistro-$platform" \
-    monolithic main-perception planning-control simulator
+        --set "*.context=$WORKSPACE_ROOT" \
+        --set "*.ssh=default" \
+        --set "*.platform=$platform" \
+        --set "*.args.PLATFORM=$platform" \
+        --set "*.args.ROS_DISTRO=$rosdistro" \
+        --set "*.args.BASE_IMAGE=$base_image" \
+        --set "monolithic.tags=ghcr.io/autowarefoundation/autoware-openadk:runtime-monolithic-$rosdistro-$platform" \
+        --set "main-perception.tags=ghcr.io/autowarefoundation/autoware-openadk:runtime-main-perception-$rosdistro-$platform" \
+        --set "planning-control.tags=ghcr.io/autowarefoundation/autoware-openadk:runtime-before-planning-$rosdistro-$platform" \
+        planning-control
 fi
 set +x
\ No newline at end of file
diff --git a/docker/autoware-openadk/docker-bake.hcl b/docker/autoware-openadk/docker-bake.hcl
index bfd021014..50674a8b9 100644
--- a/docker/autoware-openadk/docker-bake.hcl
+++ b/docker/autoware-openadk/docker-bake.hcl
@@ -1,14 +1,14 @@
 group "default" {
-  targets = ["base", "devel", "prebuilt"]
+  targets = ["base", "devel", "prebuilt", "runtime-planning-control"]
 }
 
 // For docker/metadata-action
 target "docker-metadata-action-base" {}
 target "docker-metadata-action-devel" {}
 target "docker-metadata-action-prebuilt" {}
-target "docker-metadata-action-monolithic" {}
-target "docker-metadata-action-main-perception" {}
-target "docker-metadata-action-planning-control" {}
+target "docker-metadata-action-runtime-monolithic" {}
+target "docker-metadata-action-runtime-main-perception" {}
+target "docker-metadata-action-runtime-planning-control" {}
 target "docker-metadata-action-simulator" {}
 
 target "base" {
@@ -29,26 +29,27 @@ target "prebuilt" {
   target = "prebuilt"
 }
 
-target "monolithic" {
+target "runtime-monolithic" {
   inherits = ["docker-metadata-action-monolithic"]
   dockerfile = "docker/autoware-openadk/monolithic/Dockerfile"
   target = "monolithic"
 }
 
-target "main-perception" {
+target "runtime-main-perception" {
+
   inherits = ["docker-metadata-action-main-perception"]
   dockerfile = "docker/autoware-openadk/services/main-perception/Dockerfile"
   target = "main-perception"
 }
 
-target "planning-control" {
+target "runtime-planning-control" {
   inherits = ["docker-metadata-action-planning-control"]
   dockerfile = "docker/autoware-openadk/services/planning-control/Dockerfile"
   target = "planning-control"
 }
 
 target "simulator" {
-  inherits = ["docker-metadata-action-simulator"]
-  dockerfile = "docker/autoware-openadk/services/simulator/Dockerfile"
-  target = "simulator"
+  inherits = ["docker-metadata-action-planning-control"]
+  dockerfile = "docker/autoware-openadk/services/planning-control/Dockerfile"
+  target = "planning-control"
 }
diff --git a/docker/autoware-openadk/monolithic/Dockerfile b/docker/autoware-openadk/monolithic/Dockerfile
index a1d622594..218be5d5e 100644
--- a/docker/autoware-openadk/monolithic/Dockerfile
+++ b/docker/autoware-openadk/monolithic/Dockerfile
@@ -21,6 +21,8 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && mkdir src \
   && vcs import src < autoware.repos \
+  && vcs import src < simulator.repos \
+  && apt-get update \
   && rosdep update \
   && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \ 
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache \
diff --git a/docker/autoware-openadk/services/main-perception/Dockerfile b/docker/autoware-openadk/services/main-perception/Dockerfile
index a00ff52a5..fc7e2afec 100644
--- a/docker/autoware-openadk/services/main-perception/Dockerfile
+++ b/docker/autoware-openadk/services/main-perception/Dockerfile
@@ -20,6 +20,7 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && mkdir src \
   && vcs import src < autoware.repos \
+  && apt-get update \
   && rosdep update \
   && DEBIAN_FRONTEND=noninteractive rosdep install -y --rosdistro "$ROS_DISTRO" --ignore-src --from-paths src \
   # Remove unnecessary files
diff --git a/docker/autoware-openadk/services/planning-control/Dockerfile b/docker/autoware-openadk/services/planning-control/Dockerfile
index deba5d47f..4f086346d 100644
--- a/docker/autoware-openadk/services/planning-control/Dockerfile
+++ b/docker/autoware-openadk/services/planning-control/Dockerfile
@@ -20,6 +20,7 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && mkdir src \
   && vcs import src < autoware.repos \
+  && apt-get update \
   && rosdep update \
   && DEBIAN_FRONTEND=noninteractive rosdep install -y --rosdistro "$ROS_DISTRO" --ignore-src --from-paths src \
   # Remove unnecessary files