diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml
index 9ce677b2c2..c51cbafba2 100644
--- a/autoware_launch/config/control/control_validator/control_validator.param.yaml
+++ b/autoware_launch/config/control/control_validator/control_validator.param.yaml
@@ -1,14 +1,14 @@
 /**:
   ros__parameters:
 
-    publish_diag: true  # if true, diagnostic msg is published
+    publish_diag: false  # if true, diagnostic msg is published
 
     # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
     # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if
     #  the next predicted_path is valid.)
     diag_error_count_threshold: 0
 
-    display_on_terminal: true # show error msg on terminal
+    display_on_terminal: false # show error msg on terminal
 
     thresholds:
       max_distance_deviation: 1.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
index 65582656b9..a3c0194d03 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -8,6 +8,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 7
       max_module_size: 1
 
@@ -16,6 +17,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 7
       max_module_size: 1
 
@@ -24,6 +26,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 6
       max_module_size: 1
 
@@ -32,6 +35,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 6
       max_module_size: 1
 
@@ -40,6 +44,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 0
       max_module_size: 1
 
@@ -48,6 +53,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 2
       max_module_size: 1
 
@@ -56,6 +62,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: true
       priority: 1
       max_module_size: 1
 
@@ -64,6 +71,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 5
       max_module_size: 1
 
@@ -72,6 +80,7 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
+      keep_last: false
       priority: 4
       max_module_size: 1
 
@@ -80,5 +89,6 @@
       enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
+      keep_last: false
       priority: 3
       max_module_size: 1
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
index 65ca416834..18a91ebaee 100644
--- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
+++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -37,7 +37,7 @@
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default
-        /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
 
         /autoware/vehicle/node_alive_monitoring: default
 
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 3c0f48c160..f64598913a 100755
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -39,7 +39,7 @@
   <node pkg="tf2_ros" exec="static_transform_publisher" name="traffic_light_transform_publisher" args="--frame-id $(var traffic_light_original_id) --child-frame-id $(var traffic_light_topic_id)"/>
 
   <!-- dummy topic publisher (camera0 ~ camera6)-->
-  <!-- temporary until AWSIM supports object recoginition camera -->
+  <!-- temporary until AWSIM supports object recognition camera -->
   <arg name="camera0_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera0/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
   <arg name="camera1_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera1/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
   <arg name="camera2_pub" default="ros2 topic pub --rate 10 /sensing/camera/camera2/camera_info sensor_msgs/msg/CameraInfo '{}'"/>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 92faf33d3a..52a0188976 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2420,6 +2420,136 @@ Visualization Manager:
           Value: false
       Enabled: true
       Name: Control
+    - Class: rviz_common/Group
+      Displays:
+        - Class: rviz_common/Group
+          Displays: ~
+          Enabled: true
+          Name: Map
+        - Class: rviz_common/Group
+          Displays: ~
+          Enabled: true
+          Name: Sensing
+        - Class: rviz_common/Group
+          Enabled: true
+          Name: Localization
+          Displays:
+            - Alpha: 0.9990000128746033
+              Autocompute Intensity Bounds: true
+              Autocompute Value Bounds:
+                Max Value: 10
+                Min Value: -10
+                Value: true
+              Axis: Z
+              Channel Name: intensity
+              Class: rviz_default_plugins/PointCloud2
+              Color: 85; 255; 0
+              Color Transformer: FlatColor
+              Decay Time: 0
+              Enabled: true
+              Invert Rainbow: false
+              Max Color: 85; 255; 127
+              Max Intensity: 0
+              Min Color: 0; 0; 0
+              Min Intensity: 0
+              Name: NDT pointclouds
+              Position Transformer: XYZ
+              Selectable: false
+              Size (Pixels): 10
+              Size (m): 0.5
+              Style: Squares
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                Filter size: 10
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /localization/pose_estimator/points_aligned
+              Use Fixed Frame: true
+              Use rainbow: true
+              Value: true
+            - Alpha: 1
+              Autocompute Intensity Bounds: true
+              Autocompute Value Bounds:
+                Max Value: 10
+                Min Value: -10
+                Value: true
+              Axis: Z
+              Channel Name: intensity
+              Class: rviz_default_plugins/PointCloud2
+              Color: 255; 255; 255
+              Color Transformer: ""
+              Decay Time: 0
+              Enabled: true
+              Invert Rainbow: false
+              Max Color: 255; 255; 255
+              Max Intensity: 4096
+              Min Color: 0; 0; 0
+              Min Intensity: 0
+              Name: NDTLoadedPCDMap
+              Position Transformer: ""
+              Selectable: true
+              Size (Pixels): 3
+              Size (m): 0.1
+              Style: Flat Squares
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                Filter size: 10
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /localization/pose_estimator/debug/loaded_pointcloud_map
+              Use Fixed Frame: true
+              Use rainbow: true
+              Value: true
+            - Buffer Size: 200
+              Class: rviz_plugins::PoseHistory
+              Enabled: true
+              Line:
+                Alpha: 0.9990000128746033
+                Color: 170; 255; 127
+                Value: true
+                Width: 0.10000000149011612
+              Name: NDTPoseHistory
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                Filter size: 10
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /localization/pose_estimator/pose
+              Value: true
+            - Buffer Size: 1000
+              Class: rviz_plugins::PoseHistory
+              Enabled: true
+              Line:
+                Alpha: 0.9990000128746033
+                Color: 0; 255; 255
+                Value: true
+                Width: 0.10000000149011612
+              Name: EKFPoseHistory
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                Filter size: 10
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /localization/pose_twist_fusion_filter/pose
+              Value: true
+        - Class: rviz_common/Group
+          Displays: ~
+          Enabled: true
+          Name: Perception
+        - Class: rviz_common/Group
+          Displays: ~
+          Enabled: true
+          Name: Planning
+        - Class: rviz_common/Group
+          Displays: ~
+          Enabled: true
+          Name: Control
+      Enabled: false
+      Name: Debug
   Enabled: true
   Global Options:
     Background Color: 10; 10; 10