diff --git a/.github/PULL_REQUEST_TEMPLATE/small-change.md b/.github/PULL_REQUEST_TEMPLATE/small-change.md
index 7120f521..2ff933c4 100644
--- a/.github/PULL_REQUEST_TEMPLATE/small-change.md
+++ b/.github/PULL_REQUEST_TEMPLATE/small-change.md
@@ -2,6 +2,19 @@
 
 <!-- Write a brief description of this PR. -->
 
+## Tests performed
+
+<!-- Describe how you have tested this PR. -->
+<!-- Although the default value is set to "Not Applicable.", please update this section if the type is either [feat, fix, perf], or if requested by the reviewers. -->
+
+Not applicable.
+
+## Effects on system behavior
+
+<!-- Describe how this PR affects the system behavior. -->
+
+Not applicable.
+
 ## 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 cfdf7101..7aedefd0 100644
--- a/.github/PULL_REQUEST_TEMPLATE/standard-change.md
+++ b/.github/PULL_REQUEST_TEMPLATE/standard-change.md
@@ -14,6 +14,14 @@
 
 <!-- Write additional information if necessary. It should be written if there are related PRs that should be merged at the same time. -->
 
+## Interface changes
+
+<!-- Describe any changed interfaces, such as topics, services, or parameters. -->
+
+## Effects on system behavior
+
+<!-- Describe how this PR affects the system behavior. -->
+
 ## Pre-review checklist for the PR author
 
 The PR author **must** check the checkboxes below when creating the PR.
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index 24b34530..8eeb1de0 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -74,7 +74,7 @@ jobs:
 
       - name: Get modified files
         id: get-modified-files
-        uses: tj-actions/changed-files@v34
+        uses: tj-actions/changed-files@v35
         with:
           files: |
             **/*.cpp
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 6459a980..33096b75 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -24,6 +24,14 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v3
 
+      - name: Free disk space (Ubuntu)
+        uses: jlumbroso/free-disk-space@v1.2.0
+        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/github-release.yaml b/.github/workflows/github-release.yaml
index 19e1e9c1..95ebb872 100644
--- a/.github/workflows/github-release.yaml
+++ b/.github/workflows/github-release.yaml
@@ -26,8 +26,8 @@ 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
@@ -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..e754ecab 100644
--- a/.github/workflows/pre-commit-optional.yaml
+++ b/.github/workflows/pre-commit-optional.yaml
@@ -9,8 +9,11 @@ jobs:
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
+        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..b231dbda 100644
--- a/.github/workflows/pre-commit.yaml
+++ b/.github/workflows/pre-commit.yaml
@@ -5,7 +5,7 @@ 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
@@ -20,11 +20,6 @@ jobs:
         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/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml
index e0019e10..3b43f9ae 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: v3.10.3
+    rev: v3.11.2
     hooks:
       - id: markdown-link-check
-        args: [--config=.markdown-link-check.json]
+        args: [--quiet, --config=.markdown-link-check.json]
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 2aa48be7..5ad60de0 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -18,18 +18,18 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.33.0
+    rev: v0.34.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
 
   - repo: https://github.com/pre-commit/mirrors-prettier
-    rev: v3.0.0-alpha.4
+    rev: v3.0.0-alpha.9-for-vscode
     hooks:
       - id: prettier
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.29.0
+    rev: v1.32.0
     hooks:
       - id: yamllint
 
@@ -44,12 +44,12 @@ repos:
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.9.0.2
+    rev: v0.9.0.5
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.6.0-1
+    rev: v3.6.0-2
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
@@ -60,7 +60,7 @@ repos:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 23.1.0
+    rev: 23.3.0
     hooks:
       - id: black
         args: [--line-length=100]
diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md
index c493cad4..8dbcfb85 100644
--- a/CODE_OF_CONDUCT.md
+++ b/CODE_OF_CONDUCT.md
@@ -60,7 +60,7 @@ representative at an online or offline event.
 
 Instances of abusive, harassing, or otherwise unacceptable behavior may be
 reported to the community leaders responsible for enforcement at
-conduct@autoware.org.
+<conduct@autoware.org>.
 All complaints will be reviewed and investigated promptly and fairly.
 
 All community leaders are obligated to respect the privacy and security of the