diff --git a/.github/PULL_REQUEST_TEMPLATE/small-change.md b/.github/PULL_REQUEST_TEMPLATE/small-change.md
index 2ff933c..e15fdd9 100644
--- a/.github/PULL_REQUEST_TEMPLATE/small-change.md
+++ b/.github/PULL_REQUEST_TEMPLATE/small-change.md
@@ -15,6 +15,10 @@ Not applicable.
 
 Not applicable.
 
+## Interface changes
+
+<!-- Describe any changed interfaces, such as topics, services, or parameters, including debugging interfaces -->
+
 ## Pre-review checklist for the PR author
 
 The PR author **must** check the checkboxes below when creating the PR.
diff --git a/.github/PULL_REQUEST_TEMPLATE/standard-change.md b/.github/PULL_REQUEST_TEMPLATE/standard-change.md
index 7aedefd..391af62 100644
--- a/.github/PULL_REQUEST_TEMPLATE/standard-change.md
+++ b/.github/PULL_REQUEST_TEMPLATE/standard-change.md
@@ -18,6 +18,19 @@
 
 <!-- Describe any changed interfaces, such as topics, services, or parameters. -->
 
+### ROS Topic Changes
+
+<!-- | Topic Name       | Type                | Direction | Update Description                                            | -->
+<!-- | ---------------- | ------------------- | --------- | ------------------------------------------------------------- | -->
+<!-- | `/example_topic` | `std_msgs/String`   | Subscribe | Description of what the topic is used for in the system       | -->
+<!-- | `/another_topic` | `sensor_msgs/Image` | Publish   | Also explain if it is added / modified / deleted with the PR | -->
+
+### ROS Parameter Changes
+
+<!-- | Parameter Name       | Default Value | Update Description                                  | -->
+<!-- | -------------------- | ------------- | --------------------------------------------------- | -->
+<!-- | `example_parameters` | `1.0`         | Describe the parameter and also explain the updates | -->
+
 ## Effects on system behavior
 
 <!-- Describe how this PR affects the system behavior. -->
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index 74c7c77..323b0a1 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -17,7 +17,7 @@ jobs:
             container: ros:humble
     steps:
       - name: Check out repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
@@ -58,7 +58,7 @@ jobs:
     needs: build-and-test-differential
     steps:
       - name: Check out repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 51caa49..ea5f849 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -21,7 +21,7 @@ jobs:
             container: ros:humble
     steps:
       - name: Check out repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v3
 
       - name: Free disk space (Ubuntu)
         uses: jlumbroso/free-disk-space@v1.3.1
diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml
index 3b43f9a..8c9345e 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: v3.11.2
+    rev: v3.12.2
     hooks:
       - id: markdown-link-check
         args: [--quiet, --config=.markdown-link-check.json]
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 6b8da99..14fe1c8 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -4,7 +4,7 @@ ci:
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v4.4.0
     hooks:
       - id: check-json
       - id: check-merge-conflict
@@ -18,18 +18,18 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.39.0
+    rev: v0.34.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v4.0.0-alpha.8
+    rev: v3.0.0-alpha.9-for-vscode
     hooks:
       - id: prettier
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.35.1
+    rev: v1.31.0
     hooks:
       - id: yamllint