diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
index 6728792249..4deb334463 100644
--- a/.github/sync-files.yaml
+++ b/.github/sync-files.yaml
@@ -11,7 +11,6 @@
     - source: .github/PULL_REQUEST_TEMPLATE/small-change.md
     - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md
     - source: .github/dependabot.yaml
-    - source: .github/workflows/backport.yaml
     - source: .github/stale.yml
     - source: .github/workflows/github-release.yaml
     - source: .github/workflows/pre-commit.yaml
diff --git a/.github/update-sync-param-files.py b/.github/update-sync-param-files.py
new file mode 100644
index 0000000000..707909cdd1
--- /dev/null
+++ b/.github/update-sync-param-files.py
@@ -0,0 +1,80 @@
+import argparse
+import dataclasses
+from pathlib import Path
+from typing import List
+from typing import Optional
+
+import git
+
+"""
+This module updates `sync-param-files.yaml` based on the launch parameter files in `autoware.universe`.
+"""
+
+REPO_NAME = "autowarefoundation/autoware.universe"
+REPO_URL = f"https://github.com/{REPO_NAME}.git"
+CLONE_PATH = Path("/tmp/autoware.universe")
+
+
+@dataclasses.dataclass
+class FileSyncConfig:
+    source: str
+    dest: str
+    replace: Optional[bool] = None
+    delete_orphaned: Optional[bool] = None
+    pre_commands: Optional[str] = None
+    post_commands: Optional[str] = None
+
+
+def create_tier4_launch_sync_configs(tier4_launch_package_path: Path) -> List[FileSyncConfig]:
+    launch_package_name = tier4_launch_package_path.name
+    launch_config_path = tier4_launch_package_path / "config"
+
+    sync_configs = []
+    for param_file_path in tier4_launch_package_path.glob("config/**/*.param.yaml"):
+        relative_param_file_path = param_file_path.relative_to(launch_config_path)
+
+        source = param_file_path.relative_to(CLONE_PATH)
+        dest = Path("autoware_launch/config") / launch_package_name / relative_param_file_path
+
+        sync_configs.append(FileSyncConfig(str(source), str(dest)))
+
+    return sync_configs
+
+
+def dump_sync_config(section_name: str, sync_configs: List[FileSyncConfig]) -> List[str]:
+    indent = 4 * " "
+    lines = [f"{indent}# {section_name}\n"]
+    for sync_config in sync_configs:
+        lines.append(f"{indent}- source: {sync_config.source}\n")
+        lines.append(f"{indent}  dest: {sync_config.dest}\n")
+    lines.append("\n")
+    return lines
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("sync_param_files_path", type=Path, help="path to sync-param-files.yaml")
+    args = parser.parse_args()
+
+    # Clone Autoware
+    if not CLONE_PATH.exists():
+        git.Repo.clone_from(REPO_URL, CLONE_PATH)
+
+    # Create sync config for tier4_*_launch
+    tier4_launch_package_paths = sorted(
+        CLONE_PATH.glob("launch/tier4_*_launch"), key=lambda p: p.name
+    )
+    tier4_launch_sync_configs_map = {
+        p.name: create_tier4_launch_sync_configs(p) for p in tier4_launch_package_paths
+    }
+
+    # Create sync-param-files.yaml
+    with open(args.sync_param_files_path, "w") as f:
+        f.write(f"- repository: {REPO_NAME}\n")
+        f.write("  files:\n")
+        for section_name, sync_config in tier4_launch_sync_configs_map.items():
+            f.writelines(dump_sync_config(section_name, sync_config))
+
+
+if __name__ == "__main__":
+    main()
diff --git a/.github/workflows/backport.yaml b/.github/workflows/backport.yaml
deleted file mode 100644
index d79e709888..0000000000
--- 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@v2
-        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/beta-to-tier4-main-sync.yaml b/.github/workflows/beta-to-tier4-main-sync.yaml
deleted file mode 100644
index 79bdb6f0bd..0000000000
--- a/.github/workflows/beta-to-tier4-main-sync.yaml
+++ /dev/null
@@ -1,34 +0,0 @@
-name: beta-to-tier4-main-sync
-
-on:
-  workflow_dispatch:
-    inputs:
-      source_branch:
-        description: Source branch
-        required: true
-        type: string
-
-jobs:
-  sync-beta-branch:
-    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-branches
-        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          base-branch: tier4/main
-          sync-pr-branch: beta-to-tier4-main-sync
-          sync-target-repository: https://github.com/tier4/autoware_launch.git
-          sync-target-branch: ${{ inputs.source_branch }}
-          pr-title: "chore: sync beta branch ${{ inputs.source_branch }} with tier4/main"
-          pr-labels: |
-            bot
-            sync-beta-branch
-          auto-merge-method: merge
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 46fd7f159f..fe0069d0a9 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -29,14 +29,6 @@ jobs:
       - name: Show disk space before the tasks
         run: df -h
 
-      - 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
 
diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml
new file mode 100644
index 0000000000..b2d14fa751
--- /dev/null
+++ b/.github/workflows/check-build-depends.yaml
@@ -0,0 +1,41 @@
+name: check-build-depends
+
+on:
+  pull_request:
+    paths:
+      - build_depends*.repos
+
+jobs:
+  check-build-depends:
+    runs-on: ubuntu-22.04
+    container: ${{ matrix.container }}
+    strategy:
+      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: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get self packages
+        id: get-self-packages
+        uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
+
+      - name: Build
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml
deleted file mode 100644
index 3cfec4bf14..0000000000
--- a/.github/workflows/comment-on-pr.yaml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: comment-on-pr
-
-on:
-  pull_request:
-    types:
-      - opened
-    branches:
-      - beta/v0.[0-9]+.[1-9]+
-
-jobs:
-  comment:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Create comments
-        run: |
-          cat << EOF > comments
-          ### Merging guidelines for the beta branch
-          Please use `Squash and merge` as the default.
-          However, when incorporating multiple changes with cherry-pick, use a `Create a merge commit` to preserve the changes in the history.
-          EOF
-      - name: Post comments
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          URL: ${{ github.event.pull_request.html_url }}
-        run: gh pr comment -F ./comments "${URL}"
diff --git a/.github/workflows/dispatch-release-note.yaml b/.github/workflows/dispatch-release-note.yaml
deleted file mode 100644
index 89356b6abd..0000000000
--- a/.github/workflows/dispatch-release-note.yaml
+++ /dev/null
@@ -1,44 +0,0 @@
-name: dispatch-release-note
-on:
-  push:
-    branches:
-      - beta/v*
-      - tier4/main
-    tags:
-      - v*
-  workflow_dispatch:
-    inputs:
-      beta-branch-or-tag-name:
-        description: The name of the beta branch or tag to write release note
-        type: string
-        required: true
-jobs:
-  dispatch-release-note:
-    runs-on: ubuntu-latest
-    name: release-repository-dispatch
-    steps:
-      - name: Set ref name
-        id: set-ref-name
-        run: |
-          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
-            REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}"
-          else
-            REF_NAME="${{ github.ref_name }}"
-          fi
-          echo ::set-output name=ref-name::"${{ github.repository }}/'$REF_NAME'"
-      - name: Generate token
-        id: generate-token
-        uses: tibdex/github-app-token@v1
-        with:
-          app_id: ${{ secrets.APP_ID }}
-          private_key: ${{ secrets.PRIVATE_KEY }}
-
-      - name: Repository dispatch for release note
-        run: |
-          curl \
-          -X POST \
-          -H "Accept: application/vnd.github+json" \
-          -H "Authorization: token ${{ steps.generate-token.outputs.token }}" \
-          -H "X-GitHub-Api-Version: 2022-11-28" \
-          "https://api.github.com/repos/tier4/update-release-notes/dispatches" \
-          -d '{"event_type":"${{ steps.set-ref-name.outputs.ref-name }}"}'
diff --git a/.github/workflows/sync-awf-latest.yaml b/.github/workflows/sync-awf-latest.yaml
deleted file mode 100644
index 7a5f79acaa..0000000000
--- a/.github/workflows/sync-awf-latest.yaml
+++ /dev/null
@@ -1,30 +0,0 @@
-name: sync-awf-latest
-
-on:
-  schedule:
-    - cron: 50 */1 * * * # every 1 hour (**:50)
-  workflow_dispatch:
-
-jobs:
-  sync-awf-latest:
-    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-branches
-        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          base-branch: awf-latest
-          sync-pr-branch: sync-awf-latest
-          sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
-          sync-target-branch: main
-          pr-title: "chore: sync awf-latest"
-          pr-labels: |
-            bot
-          auto-merge-method: merge
diff --git a/.github/workflows/sync-awf-upstream.yaml b/.github/workflows/sync-awf-upstream.yaml
deleted file mode 100644
index 3a8dd05797..0000000000
--- a/.github/workflows/sync-awf-upstream.yaml
+++ /dev/null
@@ -1,53 +0,0 @@
-name: sync-awf-upstream
-
-on:
-  workflow_dispatch:
-    inputs:
-      target_branch:
-        description: Target branch
-        required: true
-        type: string
-
-jobs:
-  sync-awf-upstream:
-    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: ${{ secrets.PRIVATE_KEY }}
-
-      - uses: actions/setup-node@v3
-        with:
-          node-version: 16
-
-      - run: npm install @holiday-jp/holiday_jp
-
-      - uses: actions/github-script@v6
-        id: is-holiday
-        with:
-          script: |
-            const holiday_jp = require(`${process.env.GITHUB_WORKSPACE}/node_modules/@holiday-jp/holiday_jp`)
-            core.setOutput('holiday', holiday_jp.isHoliday(new Date()));
-
-      - name: Print warning for invalid branch name
-        if: ${{ inputs.target_branch  == 'tier4/main' }}
-        run: |
-          echo This action cannot be performed on 'tier4/main' branch
-
-      - name: Run sync-branches
-        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
-        if: ${{ inputs.target_branch  != 'tier4/main' }}
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          base-branch: ${{ inputs.target_branch }}
-          sync-pr-branch: sync-awf-upstream
-          sync-target-repository: https://github.com/tier4/autoware_launch.git
-          sync-target-branch: awf-latest
-          pr-title: "chore: sync tier4/autoware_launch:awf-latest"
-          pr-labels: |
-            bot
-            sync-awf-upstream
-          auto-merge-method: merge
diff --git a/.github/workflows/sync-beta-upstream.yaml b/.github/workflows/sync-beta-upstream.yaml
deleted file mode 100644
index 25b83306ca..0000000000
--- a/.github/workflows/sync-beta-upstream.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-# This workflow is intended for the use in the repositories created by forking tier4/autoware_launch.
-name: sync-beta-upstream
-
-on:
-  schedule:
-    - cron: 0 20 * * *
-  workflow_dispatch:
-
-jobs:
-  sync-tier4-upstream:
-    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-branches
-        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          base-branch: beta/<version>
-          sync-pr-branch: sync-beta-upstream
-          sync-target-repository: https://github.com/tier4/autoware_launch.git
-          sync-target-branch: beta/<version>
-          pr-title: "chore: sync beta upstream"
-          pr-labels: |
-            bot
-            sync-tier4-upstream
-          auto-merge-method: merge
diff --git a/.github/workflows/sync-tier4-upstream-up-to-tag.yaml b/.github/workflows/sync-tier4-upstream-up-to-tag.yaml
deleted file mode 100644
index f85b58a2fa..0000000000
--- a/.github/workflows/sync-tier4-upstream-up-to-tag.yaml
+++ /dev/null
@@ -1,92 +0,0 @@
-# This workflow is intended for the use in the repositories created by forking tier4/autoware_launch.
-name: sync-tier4-upstream-up-to-tag
-
-on:
-  workflow_dispatch:
-    inputs:
-      sync-target-tag:
-        description: sync target tag like v0.24.0
-        required: true
-        type: string
-        default: ""
-
-jobs:
-  sync-tier4-upstream-up-to-tag:
-    runs-on: ubuntu-latest
-    env:
-      BASE_BRANCH: tier4/main
-      SYNC_TARGET_REPOSITORY: https://github.com/tier4/autoware_launch.git
-    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@v4
-        with:
-          ref: ${{ env.BASE_BRANCH }}
-          fetch-depth: 0
-
-      - name: Set git config
-        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-
-      - name: Sync tag
-        run: |
-          git remote add sync-target ${{ env.SYNC_TARGET_REPOSITORY }}
-          git fetch -pPtf --all
-          git reset --hard "${{ inputs.sync-target-tag }}"
-          git remote rm sync-target
-        shell: bash
-
-      - name: Generate changelog
-        id: generate-changelog
-        uses: autowarefoundation/autoware-github-actions/generate-changelog@v1
-        with:
-          git-cliff-args: origin/${{ env.BASE_BRANCH }}..HEAD
-
-      - name: Replace PR number to URL
-        id: replace-pr-number-to-url
-        run: |
-          # Output multiline strings: https://docs.github.com/en/actions/using-workflows/workflow-commands-for-github-actions#example-of-a-multiline-string
-          changelog=$(echo "$CHANGELOG" | sed -r "s|\(#([0-9]+)\)|("${REPO_URL%.git}"/pull/\1)|g")
-          EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
-          echo "changelog<<$EOF" >> $GITHUB_OUTPUT
-          echo "$changelog" >> $GITHUB_OUTPUT
-          echo "$EOF" >> $GITHUB_OUTPUT
-        env:
-          CHANGELOG: ${{ steps.generate-changelog.outputs.changelog }}
-          REPO_URL: ${{ env.SYNC_TARGET_REPOSITORY }}
-        shell: bash
-
-      - name: Create PR
-        id: create-pr
-        uses: peter-evans/create-pull-request@v6
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          base: ${{ env.BASE_BRANCH }}
-          branch: sync-tier4-upstream-${{ inputs.sync-target-tag }}
-          title: "chore: sync upstream up to ${{ inputs.sync-target-tag }}"
-          body: ${{ steps.replace-pr-number-to-url.outputs.changelog }}
-          labels: |
-            bot
-            sync-tier4-upstream
-          author: github-actions <github-actions@github.com>
-          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 }}"
-
-      - name: Enable auto-merge
-        if: ${{ steps.create-pr.outputs.pull-request-operation == 'created' }}
-        run: gh pr merge --merge --auto "${{ steps.create-pr.outputs.pull-request-number }}"
-        shell: bash
-        env:
-          GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}
diff --git a/.github/workflows/sync-tier4-upstream.yaml b/.github/workflows/sync-tier4-upstream.yaml
deleted file mode 100644
index b97a9bab28..0000000000
--- a/.github/workflows/sync-tier4-upstream.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-# This workflow is intended for the use in the repositories created by forking tier4/autoware_launch.
-name: sync-tier4-upstream
-
-on:
-  schedule:
-    - cron: 0 0 * * *
-  workflow_dispatch:
-
-jobs:
-  sync-tier4-upstream:
-    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-branches
-        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
-        with:
-          token: ${{ steps.generate-token.outputs.token }}
-          base-branch: tier4/main
-          sync-pr-branch: sync-tier4-upstream
-          sync-target-repository: https://github.com/tier4/autoware_launch.git
-          sync-target-branch: tier4/main
-          pr-title: "chore: sync upstream"
-          pr-labels: |
-            bot
-            sync-tier4-upstream
-          auto-merge-method: merge