diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
new file mode 100644
index 0000000000..dd28f74253
--- /dev/null
+++ b/.github/CODEOWNERS
@@ -0,0 +1,26 @@
+### Automatically generated from package.xml ###
+autoware_launch/** yukihiro.saito@tier4.jp
+
+### Copied from .github/CODEOWNERS-manual ###
+# /**
+# .github/**
+autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp
+autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
+autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
+autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
+autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/config/system/** fumihito.ito@tier4.jp isamu.takagi@tier4.jp
+autoware_launch/config/vehicle/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.takagi@tier4.jp
+autoware_launch/launch/components/tier4_control_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/launch/components/tier4_localization_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
+autoware_launch/launch/components/tier4_map_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
+autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
+autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp
+autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
+autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp
+autoware_launch/rviz/**  # no codeowners
+autoware_launch/rviz/image/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp
diff --git a/.github/CODEOWNERS-manual b/.github/CODEOWNERS-manual
index 35b0281c57..cd10e1fbc4 100644
--- a/.github/CODEOWNERS-manual
+++ b/.github/CODEOWNERS-manual
@@ -1,6 +1,6 @@
 # /**
 # .github/**
-autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp
+autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodrive.ai
 autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp
 autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
 autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp
diff --git a/.github/workflows/update-codeowners-from-packages.yaml b/.github/workflows/update-codeowners-from-packages.yaml
new file mode 100644
index 0000000000..7898dfe091
--- /dev/null
+++ b/.github/workflows/update-codeowners-from-packages.yaml
@@ -0,0 +1,33 @@
+name: update-codeowners-from-packages
+
+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 }}
+
+  update-codeowners-from-packages:
+    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 update-codeowners-from-packages
+        uses: autowarefoundation/autoware-github-actions/update-codeowners-from-packages@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          pr-labels: |
+            tag:bot
+            tag:update-codeowners-from-packages
+          auto-merge-method: squash
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
index 3d59774e4a..ac7873a994 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
@@ -4,8 +4,6 @@
     avoidance:
       resample_interval_for_planning: 0.3               # [m]
       resample_interval_for_output: 4.0                 # [m]
-      drivable_area_right_bound_offset: 0.0             # [m]
-      drivable_area_left_bound_offset: 0.0              # [m]
 
       # avoidance module common setting
       enable_bound_clipping: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
index 8d93a95b37..6dee628c59 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
@@ -28,8 +28,3 @@
     output_path_interval: 2.0
 
     visualize_maximum_drivable_area: true
-
-    lane_following:
-      drivable_area_right_bound_offset: 0.0
-      drivable_area_left_bound_offset: 0.0
-      drivable_area_types_to_skip: [road_border]
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 4d978dc3fa..902d9bc33c 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <!-- Essential parameters -->
+  <arg name="use_sim_time" default="true" description="use simulation time"/>
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
@@ -57,7 +58,7 @@
       <arg name="launch_planning" value="$(var planning)"/>
       <arg name="launch_control" value="$(var control)"/>
       <!-- Global parameters -->
-      <arg name="use_sim_time" value="true"/>
+      <arg name="use_sim_time" value="$(var use_sim_time)"/>
       <!-- Vehicle -->
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- Map -->
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 93c4485206..bb7f1b66f1 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -41,8 +41,6 @@
     <let name="launch_vehicle_interface" value="true" unless="$(var vehicle_simulation)"/>
 
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
-      <!-- Global parameters -->
-      <arg name="use_sim_time" value="$(var scenario_simulation)"/>
       <!-- Common -->
       <arg name="map_path" value="$(var map_path)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
index eb83f2597c..f8000b8082 100644
--- a/autoware_launch/package.xml
+++ b/autoware_launch/package.xml
@@ -5,6 +5,8 @@
   <description>The autoware_launch package</description>
 
   <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <maintainer email="ryohsuke.mitsudome@tier4.jp">Ryohsuke Mitsudome</maintainer>
+  <maintainer email="mfc@leodrive.ai">M. Fatih Cırıt</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>