diff --git a/.clang-format b/.clang-format
index 7762ec9d..b41fae91 100644
--- a/.clang-format
+++ b/.clang-format
@@ -4,6 +4,7 @@ BasedOnStyle: Google
 
 AccessModifierOffset: -2
 AlignAfterOpenBracket: AlwaysBreak
+AllowShortFunctionsOnASingleLine: InlineOnly
 BraceWrapping:
   AfterClass: true
   AfterFunction: true
@@ -33,6 +34,9 @@ IncludeCategories:
   - Regex: .*_msgs/.*
     Priority: 3
     CaseSensitive: true
+  - Regex: .*_srvs/.*
+    Priority: 3
+    CaseSensitive: true
   # Other Package headers
   - Regex: <.*>
     Priority: 2
diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml
index 3f3bf243..0264c035 100644
--- a/.github/dependabot.yaml
+++ b/.github/dependabot.yaml
@@ -6,5 +6,5 @@ updates:
       interval: daily
     open-pull-requests-limit: 1
     labels:
-      - bot
-      - github-actions
+      - tag:bot
+      - type:github-actions
diff --git a/.github/stale.yml b/.github/stale.yml
index 84928d1b..bc99e438 100644
--- a/.github/stale.yml
+++ b/.github/stale.yml
@@ -4,7 +4,7 @@
 daysUntilClose: false
 
 # Label to use when marking as stale
-staleLabel: stale
+staleLabel: status:stale
 
 # Comment to post when marking as stale
 markComment: >
diff --git a/.github/workflows/build-and-test-differential-self-hosted.yaml b/.github/workflows/build-and-test-differential-self-hosted.yaml
index 344f090a..b6840197 100644
--- a/.github/workflows/build-and-test-differential-self-hosted.yaml
+++ b/.github/workflows/build-and-test-differential-self-hosted.yaml
@@ -23,12 +23,8 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         include:
-          - rosdistro: galactic
-            container: ros:galactic
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ros:humble
             build-depends-repos: build_depends.repos
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index 5f71a791..ad9fc662 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -11,19 +11,12 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         include:
-          - rosdistro: galactic
-            container: ros:galactic
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ros:humble
             build-depends-repos: build_depends.repos
     steps:
-      - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.9.1
-
       - name: Check out repository
         uses: actions/checkout@v3
         with:
@@ -36,12 +29,6 @@ jobs:
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
-      - name: Install python3-pytest-cov
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y python3-pytest-cov
-        shell: bash
-
       - name: Build
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
@@ -70,7 +57,7 @@ jobs:
 
   clang-tidy-differential:
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ros:humble
     needs: build-and-test-differential
     steps:
       - name: Check out repository
@@ -85,11 +72,20 @@ jobs:
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
+      - name: Get modified files
+        id: get-modified-files
+        uses: tj-actions/changed-files@v42
+        with:
+          files: |
+            **/*.cpp
+            **/*.hpp
+
       - name: Run clang-tidy
-        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
         uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
         with:
-          rosdistro: galactic
+          rosdistro: humble
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
           clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
           build-depends-repos: build_depends.repos
diff --git a/.github/workflows/build-and-test-self-hosted.yaml b/.github/workflows/build-and-test-self-hosted.yaml
index 0aeb1a81..e1a4c0ba 100644
--- a/.github/workflows/build-and-test-self-hosted.yaml
+++ b/.github/workflows/build-and-test-self-hosted.yaml
@@ -13,12 +13,8 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         include:
-          - rosdistro: galactic
-            container: ros:galactic
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ros:humble
             build-depends-repos: build_depends.repos
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 161e3ba2..60542272 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -15,12 +15,8 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro:
-          - galactic
           - humble
         include:
-          - rosdistro: galactic
-            container: ros:galactic
-            build-depends-repos: build_depends.repos
           - rosdistro: humble
             container: ros:humble
             build-depends-repos: build_depends.repos
@@ -28,6 +24,14 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v3
 
+      - name: Free disk space (Ubuntu)
+        uses: jlumbroso/free-disk-space@v1.3.1
+        with:
+          tool-cache: false
+          dotnet: false
+          swap-storage: false
+          large-packages: false
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -60,3 +64,6 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+
+      - name: Show disk space after the tasks
+        run: df -h
diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml
index 28de5fa8..81618a1d 100644
--- a/.github/workflows/check-build-depends.yaml
+++ b/.github/workflows/check-build-depends.yaml
@@ -3,16 +3,22 @@ name: check-build-depends
 on:
   pull_request:
     paths:
-      - build_depends.repos
+      - build_depends*.repos
 
 jobs:
   check-build-depends:
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - humble
+        include:
+          - rosdistro: humble
+            container: ros:humble
+            build-depends-repos: build_depends.repos
     steps:
-      - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.9.1
-
       - name: Check out repository
         uses: actions/checkout@v3
 
@@ -26,6 +32,6 @@ jobs:
       - name: Build
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
diff --git a/.github/workflows/clang-tidy-pr-comments.yaml b/.github/workflows/clang-tidy-pr-comments.yaml
index 22812106..baaa0fb8 100644
--- a/.github/workflows/clang-tidy-pr-comments.yaml
+++ b/.github/workflows/clang-tidy-pr-comments.yaml
@@ -9,7 +9,7 @@ on:
 
 jobs:
   clang-tidy-pr-comments:
-    if: ${{ github.event.workflow_run.event == 'pull_request' && github.event.workflow_run.conclusion == 'success' }}
+    if: ${{ github.event.workflow_run.event == 'pull_request' && contains(fromJson('["success", "failure"]'), github.event.workflow_run.conclusion) }}
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
@@ -17,18 +17,26 @@ jobs:
 
       - name: Download analysis results
         run: |
-          gh run download ${{ github.event.workflow_run.id }} -D /tmp
+          gh run download ${{ github.event.workflow_run.id }} -D /tmp || true
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Check if the fixes.yaml file exists
+        id: check-fixes-yaml-existence
+        uses: autowarefoundation/autoware-github-actions/check-file-existence@v1
+        with:
+          files: /tmp/clang-tidy-result/fixes.yaml
+
       - name: Set variables
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
         id: set-variables
         run: |
-          echo ::set-output name=pr-id::"$(cat /tmp/clang-tidy-result/pr-id.txt)"
-          echo ::set-output name=pr-head-repo::"$(cat /tmp/clang-tidy-result/pr-head-repo.txt)"
-          echo ::set-output name=pr-head-ref::"$(cat /tmp/clang-tidy-result/pr-head-ref.txt)"
+          echo "pr-id=$(cat /tmp/clang-tidy-result/pr-id.txt)" >> $GITHUB_OUTPUT
+          echo "pr-head-repo=$(cat /tmp/clang-tidy-result/pr-head-repo.txt)" >> $GITHUB_OUTPUT
+          echo "pr-head-ref=$(cat /tmp/clang-tidy-result/pr-head-ref.txt)" >> $GITHUB_OUTPUT
 
       - name: Check out PR head
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
         uses: actions/checkout@v3
         with:
           repository: ${{ steps.set-variables.outputs.pr-head-repo }}
@@ -36,15 +44,18 @@ jobs:
           persist-credentials: false
 
       - name: Replace paths in fixes.yaml
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
         run: |
           sed -i -e "s|/__w/|/home/runner/work/|g" /tmp/clang-tidy-result/fixes.yaml
           cat /tmp/clang-tidy-result/fixes.yaml
 
       - name: Copy fixes.yaml to access from Docker Container Action
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
         run: |
           cp /tmp/clang-tidy-result/fixes.yaml fixes.yaml
 
       - name: Run clang-tidy-pr-comments action
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
         uses: platisd/clang-tidy-pr-comments@v1
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml
index 19e1e9c1..b426d0cb 100644
--- a/.github/workflows/github-release.yaml
+++ b/.github/workflows/github-release.yaml
@@ -26,11 +26,11 @@ jobs:
             REF_NAME="${{ github.ref_name }}"
           fi
 
-          echo ::set-output name=ref-name::"$REF_NAME"
-          echo ::set-output name=tag-name::"${REF_NAME#beta/}"
+          echo "ref-name=$REF_NAME" >> $GITHUB_OUTPUT
+          echo "tag-name=${REF_NAME#beta/}" >> $GITHUB_OUTPUT
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
           ref: ${{ steps.set-tag-name.outputs.ref-name }}
@@ -39,7 +39,7 @@ jobs:
         id: set-target-name
         run: |
           if [[ "${{ steps.set-tag-name.outputs.ref-name }}" =~ "beta/" ]]; then
-            echo ::set-output name=target-name::"${{ steps.set-tag-name.outputs.ref-name }}"
+            echo "target-name=${{ steps.set-tag-name.outputs.ref-name }}" >> $GITHUB_OUTPUT
           fi
 
       - name: Create a local tag for beta branches
@@ -62,7 +62,7 @@ jobs:
             verb=edit
           fi
 
-          echo ::set-output name=verb::"$verb"
+          echo "verb=$verb" >> $GITHUB_OUTPUT
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
index 93e05dc2..38738196 100644
--- a/.github/workflows/pre-commit-optional.yaml
+++ b/.github/workflows/pre-commit-optional.yaml
@@ -8,9 +8,12 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
       - name: Run pre-commit
         uses: autowarefoundation/autoware-github-actions/pre-commit@v1
         with:
           pre-commit-config: .pre-commit-config-optional.yaml
+          base-branch: origin/${{ github.base_ref }}
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
index 7fd1cc90..c724885f 100644
--- a/.github/workflows/pre-commit.yaml
+++ b/.github/workflows/pre-commit.yaml
@@ -5,26 +5,21 @@ on:
 
 jobs:
   pre-commit:
-    if: ${{ github.event.repository.private }}
+    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
+        uses: tibdex/github-app-token@v2
         with:
           app_id: ${{ secrets.APP_ID }}
           private_key: ${{ secrets.PRIVATE_KEY }}
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         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:
diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml
index eb18ccdb..1fbf2ff4 100644
--- a/.github/workflows/spell-check-differential.yaml
+++ b/.github/workflows/spell-check-differential.yaml
@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Run spell-check
         uses: autowarefoundation/autoware-github-actions/spell-check@v1
diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml
index b9dc5907..51e523b8 100644
--- a/.github/workflows/sync-files.yaml
+++ b/.github/workflows/sync-files.yaml
@@ -18,7 +18,7 @@ jobs:
     steps:
       - name: Generate token
         id: generate-token
-        uses: tibdex/github-app-token@v1
+        uses: tibdex/github-app-token@v2
         with:
           app_id: ${{ secrets.APP_ID }}
           private_key: ${{ secrets.PRIVATE_KEY }}
@@ -28,6 +28,6 @@ jobs:
         with:
           token: ${{ steps.generate-token.outputs.token }}
           pr-labels: |
-            bot
-            sync-files
+            tag:bot
+            tag:sync-files
           auto-merge-method: squash
diff --git a/.markdown-link-check.json b/.markdown-link-check.json
index dec3db1a..c71a3e42 100644
--- a/.markdown-link-check.json
+++ b/.markdown-link-check.json
@@ -4,6 +4,9 @@
     {
       "pattern": "^http://localhost"
     },
+    {
+      "pattern": "^http://127\\.0\\.0\\.1"
+    },
     {
       "pattern": "^https://github.com/.*/discussions/new"
     }
diff --git a/.markdownlint.yaml b/.markdownlint.yaml
index df1f518d..babaaa1f 100644
--- a/.markdownlint.yaml
+++ b/.markdownlint.yaml
@@ -3,6 +3,8 @@ default: true
 MD013: false
 MD024:
   siblings_only: true
+MD029:
+  style: ordered
 MD033: false
 MD041: false
 MD046: false
diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml
index a805f120..8c9345e1 100644
--- a/.pre-commit-config-optional.yaml
+++ b/.pre-commit-config-optional.yaml
@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.10.0
+    rev: v3.12.2
     hooks:
       - id: markdown-link-check
-        args: [--config=.markdown-link-check.json]
+        args: [--quiet, --config=.markdown-link-check.json]
diff --git a/.yamllint.yaml b/.yamllint.yaml
index 6228c70f..2c7bd088 100644
--- a/.yamllint.yaml
+++ b/.yamllint.yaml
@@ -1,7 +1,6 @@
 extends: default
 
 ignore: |
-  .clang-tidy
   *.param.yaml
 
 rules: