diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index 8eeb1de069..ad9fc6620e 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@v35
+        uses: tj-actions/changed-files@v42
         with:
           files: |
             **/*.cpp
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 33096b753d..c34102cec0 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -25,7 +25,7 @@ jobs:
         uses: actions/checkout@v3
 
       - name: Free disk space (Ubuntu)
-        uses: jlumbroso/free-disk-space@v1.2.0
+        uses: jlumbroso/free-disk-space@v1.3.1
         with:
           tool-cache: false
           dotnet: false
diff --git a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml
index bc4b336a30..7ab78d105f 100644
--- a/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/1/lateral/mpc.param.yaml
@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
diff --git a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml
index bc4b336a30..7ab78d105f 100644
--- a/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/2/lateral/mpc.param.yaml
@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
diff --git a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml
index bc4b336a30..7ab78d105f 100644
--- a/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/3/lateral/mpc.param.yaml
@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
diff --git a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml
index d85c9ae81a..10f8001379 100644
--- a/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/4/lateral/mpc.param.yaml
@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
diff --git a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml
index 6fba1855b9..789dc6de4b 100644
--- a/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/5/lateral/mpc.param.yaml
@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
diff --git a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml
index bc4b336a30..7ab78d105f 100644
--- a/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/6/lateral/mpc.param.yaml
@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
diff --git a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml
index bc4b336a30..7ab78d105f 100644
--- a/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/7/lateral/mpc.param.yaml
@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
diff --git a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml
index bc4b336a30..7ab78d105f 100644
--- a/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/9/lateral/mpc.param.yaml
@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
diff --git a/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml
index bc4b336a30..7ab78d105f 100644
--- a/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/awsim_jpt/lateral/mpc.param.yaml
@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
diff --git a/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml
index ed67097364..2bbff7ff0e 100644
--- a/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml
+++ b/autoware_launch/config/control/trajectory_follower/default/lateral/mpc.param.yaml
@@ -74,3 +74,5 @@
       update_steer_threshold: 0.035
       average_num: 1000
       steering_offset_limit: 0.02
+
+    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
index 2a3489ee97..364c4a3d53 100644
--- a/autoware_launch/config/localization/ekf_localizer.param.yaml
+++ b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -4,6 +4,7 @@
     enable_yaw_bias_estimation: false
     predict_frequency: 50.0
     tf_rate: 50.0
+    publish_tf: true
     extend_state_step: 50
 
     # for Pose measurement
@@ -22,6 +23,10 @@
     proc_stddev_vx_c: 10.0
     proc_stddev_wz_c: 5.0
 
+    #Simple1DFilter parameters
+    z_filter_proc_dev: 1.0
+    roll_filter_proc_dev: 0.01
+    pitch_filter_proc_dev: 0.01
     # for diagnostics
     pose_no_update_count_threshold_warn: 50
     pose_no_update_count_threshold_error: 100
diff --git a/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml
index 6957040506..fac8687c5e 100644
--- a/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/detection_by_tracker/detection_by_tracker.param.yaml
@@ -1,11 +1,10 @@
 /**:
   ros__parameters:
-    tracker_ignore_label:
-      UNKNOWN : true
-      CAR : false
-      TRUCK : false
-      BUS : false
-      TRAILER : false
-      MOTORCYCLE : false
-      BICYCLE : false
-      PEDESTRIAN : false
+    tracker_ignore_label.UNKNOWN : true
+    tracker_ignore_label.CAR : false
+    tracker_ignore_label.TRUCK : false
+    tracker_ignore_label.BUS : false
+    tracker_ignore_label.TRAILER : false
+    tracker_ignore_label.MOTORCYCLE : false
+    tracker_ignore_label.BICYCLE : false
+    tracker_ignore_label.PEDESTRIAN : false
diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml
new file mode 100644
index 0000000000..016a133227
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml
@@ -0,0 +1,12 @@
+/**:
+  ros__parameters:
+    fusion_distance: 100.0
+    trust_object_distance: 100.0
+    trust_object_iou_mode: "iou"
+    non_trust_object_iou_mode: "iou_x"
+    use_cluster_semantic_type: false
+    only_allow_inside_cluster: true
+    roi_scale_factor: 1.1
+    iou_threshold: 0.65
+    unknown_iou_threshold: 0.1
+    remove_unknown: false
diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml
new file mode 100755
index 0000000000..bd49dc6574
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml
@@ -0,0 +1,19 @@
+/**:
+  ros__parameters:
+    # UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+    passthrough_lower_bound_probability_thresholds: [0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.50]
+    trust_distances: [50.0, 100.0, 100.0, 100.0, 100.0, 50.0, 50.0, 50.0]
+    min_iou_threshold: 0.5
+    use_roi_probability: false
+    roi_probability_threshold: 0.5
+
+    can_assign_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN <-roi_msg
+      [1,       0,   0,     0,   0,       0,         0,       0,         # UNKNOWN <-detected_objects
+       0,       1,   1,     1,   1,       0,         0,       0,         # CAR
+       0,       1,   1,     1,   1,       0,         0,       0,         # TRUCK
+       0,       1,   1,     1,   1,       0,         0,       0,         # BUS
+       0,       1,   1,     1,   1,       0,         0,       0,         # TRAILER
+       0,       0,   0,     0,   0,       1,         1,       1,         # MOTORBIKE
+       0,       0,   0,     0,   0,       1,         1,       1,         # BICYCLE
+       0,       0,   0,     0,   0,       1,         1,       1]         # PEDESTRIAN
diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml
new file mode 100644
index 0000000000..5b86b8e81d
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    fuse_unknown_only: true
+    min_cluster_size: 2
+    cluster_2d_tolerance: 0.5
diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
index 1309c65ab0..940846a6f4 100644
--- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml
@@ -16,6 +16,9 @@
     check_lateral_acceleration_constraints: true # whether to check if the predicted path complies with lateral acceleration constraints
     max_lateral_accel: 2.0 # [m/ss] max acceptable lateral acceleration for predicted vehicle paths
     min_acceleration_before_curve: -2.0 # [m/ss] min acceleration a vehicle might take to decelerate before a curve
+    use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not
+    speed_limit_multiplier: 1.5 # When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value
+    acceleration_exponential_half_life: 2.5 # [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds
     # parameter for shoulder lane prediction
     prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8
 
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index 3df13a108d..3512d722ec 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -112,7 +112,7 @@ launch:
 
   - arg:
       name: launch_surround_obstacle_checker
-      default: "true"
+      default: "false"
 
   # parking modules
   - arg:
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 48568b7992..5f8f3108c2 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
@@ -122,7 +122,8 @@
           motorcycle: true                               # [-]
           pedestrian: true                               # [-]
         # detection range
-        object_check_goal_distance: 20.0                # [m]
+        object_check_goal_distance: 20.0                 # [m]
+        object_check_return_pose_distance: 20.0          # [m]
         # filtering parking objects
         threshold_distance_object_is_on_center: 1.0     # [m]
         object_check_shiftable_ratio: 0.6               # [-]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
similarity index 100%
rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml
rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index 06fe74e3b7..d03efa405f 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -38,6 +38,7 @@
         object_recognition_collision_check_margin: 0.6 # this should be larger than `surround_check_distance` of surround_obstacle_checker
         object_recognition_collision_check_max_extra_stopping_margin: 1.0
         th_moving_object_velocity: 1.0
+        detection_bound_offset: 15.0
 
       # pull over
       pull_over:
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 0090a29926..9853e220bc 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
@@ -53,7 +53,7 @@
 
     goal_planner:
       enable_rtc: false
-      enable_simultaneous_execution_as_approved_module: false
+      enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       keep_last: true
       priority: 1
@@ -67,7 +67,7 @@
       priority: 4
       max_module_size: 1
 
-    avoidance_by_lc:
+    avoidance_by_lane_change:
       enable_rtc: false
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
index 592302ce5d..ddfc8fab52 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml
@@ -13,7 +13,7 @@
       center_line_path_interval: 1.0
       # shift pull out
       enable_shift_pull_out: true
-      check_shift_path_lane_departure: false
+      check_shift_path_lane_departure: true
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
       lateral_jerk: 0.5
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index 2156bfc492..0f4bc0bb88 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -16,7 +16,7 @@
         # For the case where the crosswalk width is very wide
         far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object).
         # For the case where the stop position is determined according to the object position.
-        stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
+        stop_distance_from_object: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
 
       # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false".
       slow_down:
@@ -38,7 +38,7 @@
       # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles
       pass_judge:
         ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
-        ego_pass_first_margin_y: [6.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+        ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
         ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering
         ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_margin_y: [10.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
@@ -62,7 +62,7 @@
 
       # param for target object filtering
       object_filtering:
-        crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
+        crosswalk_attention_range: 2.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
         vehicle_object_cross_angle_threshold: 0.5 # [rad] threshold judging object is crossing walkway as a pedestrian or passing over as a vehicle
         target_object:
           unknown: true # [-] whether to look and stop by UNKNOWN objects
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
index 685d5f9438..79f7f0ce10 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml
@@ -12,6 +12,7 @@
         max_accel: -2.8
         max_jerk: -5.0
         delay_response_time: 0.5
+        enable_pass_judge_before_default_stopline: false
 
       stuck_vehicle:
         turn_direction:
@@ -36,7 +37,6 @@
         consider_wrong_direction_vehicle: false
         collision_detection_hold_time: 0.5
         min_predicted_path_confidence: 0.05
-        keep_detection_velocity_threshold: 1.5
         velocity_profile:
           use_upstream: true
           minimum_upstream_velocity: 0.01
@@ -78,7 +78,6 @@
         temporal_stop_time_before_peeking: 0.1
         temporal_stop_before_attention_area: false
         creep_velocity_without_traffic_light: 1.388
-        attention_lane_curvature_calculation_ds: 0.6
         static_occlusion_with_traffic_light_timeout: 0.5
 
       debug:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
index 86bcf34382..196f7c6296 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml
@@ -3,7 +3,7 @@
     run_out:
       detection_method: "Object"  # [-] candidate: Object, ObjectWithoutPath, Points
       use_partition_lanelet: true # [-] whether to use partition lanelet map data
-      suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet:
+      suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet
       specify_decel_jerk: true    # [-] whether to specify jerk when ego decelerates
       stop_margin: 2.5            # [m] the vehicle decelerates to be able to stop with this margin
       passing_margin: 1.1         # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
@@ -12,15 +12,7 @@
       detection_span: 1.0         # [m] calculate collision with this span to reduce calculation time
       min_vel_ego_kmph: 3.6       # [km/h] min velocity to calculate time to collision
 
-      detection_area:
-        margin_behind: 0.5 # [m] ahead margin for detection area length
-        margin_ahead: 1.0  # [m] behind margin for detection area length
-
-      # This area uses points not filtered by vector map to ensure safety
-      mandatory_area:
-        decel_jerk: -1.2 # [m/s^3] deceleration jerk for obstacles in this area
-
-      # parameter to create abstracted dynamic obstacles
+      # Parameter to create abstracted dynamic obstacles
       dynamic_obstacle:
         use_mandatory_area: false # [-] whether to use mandatory detection area
         assume_fixed_velocity:
@@ -34,26 +26,42 @@
         time_step: 0.5            # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path
         points_interval: 0.1      # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method
 
-      # approach if ego has stopped in the front of the obstacle for a certain amount of time
-      approaching:
-        enable: false
-        margin: 0.0           # [m] distance on how close ego approaches the obstacle
-        limit_vel_kmph: 3.0   # [km/h] limit velocity for approaching after stopping
-
-      # parameters for the change of state. used only when approaching is enabled
-      state:
-        stop_thresh: 0.01           # [m/s] threshold to decide if ego is stopping
-        stop_time_thresh: 3.0       # [sec] threshold for stopping time to transit to approaching state
-        disable_approach_dist: 3.0  # [m] end the approaching state if distance to the obstacle is longer than this value
-        keep_approach_duration: 1.0 # [sec] keep approach state for this duration to avoid chattering of state transition
-
-      # parameter to avoid sudden stopping
+      # Parameter to prevent sudden stopping.
+      # If the deceleration jerk and acceleration exceed this value upon inserting a stop point,
+      # the deceleration will be moderated to stay under this value.
       slow_down_limit:
         enable: false
         max_jerk: -0.7  # [m/s^3] minimum jerk deceleration for safe brake.
         max_acc : -2.0  # [m/s^2] minimum accel deceleration for safe brake.
 
-      # prevent abrupt stops caused by false positives in perception
+      # Parameter to prevent abrupt stops caused by false positives in perception
       ignore_momentary_detection:
         enable: true
         time_threshold: 0.15  # [sec] ignores detections that persist for less than this duration
+
+      # Typically used when the "detection_method" is set to ObjectWithoutPath or Points
+      # Approach if the ego has stopped in front of the obstacle for a certain period
+      # This avoids the issue of the ego continuously stopping in front of the obstacle
+      approaching:
+        enable: false
+        margin: 0.0           # [m] distance on how close ego approaches the obstacle
+        limit_vel_kmph: 3.0   # [km/h] limit velocity for approaching after stopping
+      # Parameters for state change when "approaching" is enabled
+        state:
+          stop_thresh: 0.01           # [m/s] threshold to decide if ego is stopping
+          stop_time_thresh: 3.0       # [sec] threshold for stopping time to transit to approaching state
+          disable_approach_dist: 3.0  # [m] end the approaching state if distance to the obstacle is longer than this value
+          keep_approach_duration: 1.0 # [sec] keep approach state for this duration to avoid chattering of state transition
+
+      # Only used when "detection_method" is set to Points
+      # Filters points by the detection area polygon to reduce computational cost
+      # The detection area is calculated based on the current velocity and acceleration and deceleration jerk constraints
+      detection_area:
+        margin_behind: 0.5 # [m] ahead margin for detection area length
+        margin_ahead: 1.0  # [m] behind margin for detection area length
+
+      # Only used when "detection_method" is set to Points
+      # Points in this area are detected even if it is in the no obstacle segmentation area
+      # The mandatory area is calculated based on the current velocity and acceleration and "decel_jerk" constraints
+      mandatory_area:
+        decel_jerk: -1.2 # [m/s^3] deceleration jerk for obstacles in this area
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
index af7de475bd..17a044fb67 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml
@@ -31,7 +31,7 @@
       max_ego_moving_dist: 5.0                 # threshold of ego's moving distance for replan [m]
       # make max_goal_moving_dist long to keep start point fixed for pull over
       max_goal_moving_dist: 15.0               # threshold of goal's moving distance for replan [m]
-      max_delta_time_sec: 1.0                  # threshold of delta time for replan [second]
+      max_delta_time_sec: 0.0                  # threshold of delta time for replan [second]
 
     # mpt param
     mpt:
@@ -40,7 +40,7 @@
         steer_limit_constraint: false
         visualize_sampling_num: 1
         enable_manual_warm_start: false
-        enable_warm_start: true
+        enable_warm_start: false
         enable_optimization_validation: false
 
       common:
@@ -62,7 +62,7 @@
       # weight parameter for optimization
       weight:
         # collision free
-        soft_collision_free_weight: 1000.0        # soft weight for lateral error around the middle point
+        soft_collision_free_weight: 1.0        # soft weight for lateral error around the middle point
 
         # tracking error
         lat_error_weight: 1.0       # weight for lateral error
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
index c67d29c418..a9e71368e3 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml
@@ -44,4 +44,4 @@
       max_ego_moving_dist: 5.0                 # threshold of ego's moving distance for replan [m]
       # make max_goal_moving_dist long to keep start point fixed for pull over
       max_goal_moving_dist: 15.0               # threshold of goal's moving distance for replan [m]
-      max_delta_time_sec: 1.0                  # threshold of delta time for replan [second]
+      max_delta_time_sec: 0.0                  # threshold of delta time for replan [second]
diff --git a/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml
new file mode 100644
index 0000000000..f6676bdbe7
--- /dev/null
+++ b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml
@@ -0,0 +1,25 @@
+/**:
+  ros__parameters:
+    convert_accel_cmd: true
+    convert_brake_cmd: true
+    convert_steer_cmd: false
+    use_steer_ff: true
+    use_steer_fb: true
+    is_debugging: false
+    max_throttle: 0.4
+    max_brake: 0.8
+    max_steer: 10.0
+    min_steer: -10.0
+    steer_pid:
+      kp: 150.0
+      ki: 15.0
+      kd: 0.0
+      max: 8.0
+      min: -8.0
+      max_p: 8.0
+      min_p: -8.0
+      max_i: 8.0
+      min_i: -8.0
+      max_d: 0.0
+      min_d: 0.0
+      invalid_integration_decay: 0.97
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 169a7f15ff..41f6d6bdc3 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -75,6 +75,8 @@
     value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager_foa.param.yaml"
     if="$(var use_foa)"
   />
+  <!-- Auto mode setting-->
+  <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -100,6 +102,7 @@
       <arg name="vehicle_id" value="$(var vehicle_id)"/>
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <arg name="config_dir" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)"/>
+      <arg name="raw_vehicle_cmd_converter_param_path" value="$(find-pkg-share autoware_launch)/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml"/>
     </include>
   </group>
 
@@ -137,6 +140,7 @@
       <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
       <arg name="rtc_auto_mode_manager_param_path" value="$(var rtc_auto_mode_manager_param_path)"/>
       <arg name="scene_module_manager_param_path" value="$(var scene_module_manager_param_path)"/>
+      <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
     </include>
   </group>
 
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index a9f52a53b5..08a9d6def4 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -4,15 +4,23 @@
   <arg name="pose_source" default="ndt" description="select pose_estimator: ndt, yabloc, eagleye"/>
   <arg name="twist_source" default="gyro_odom" description="select twist_estimator. gyro_odom, eagleye"/>
   <arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg
+    name="lidar_container_name"
+    default="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"
+    description="The target container to which lidar preprocessing nodes in localization be attached"
+  />
 
   <group>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="/sensing/lidar/top/pointcloud_preprocessor/pointcloud_container"/>
       <arg name="pose_source" value="$(var pose_source)"/>
       <arg name="twist_source" value="$(var twist_source)"/>
       <arg name="system_run_mode" value="$(var system_run_mode)"/>
       <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
+      <arg name="lidar_container_name" value="$(var lidar_container_name)"/>
 
       <!-- parameter paths for common -->
       <arg name="crop_box_filter_measurement_range_param_path" value="$(var loc_config_path)/crop_box_filter_measurement_range.param.yaml"/>
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 489d328aa6..77ae8fa001 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -15,7 +15,6 @@
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <arg name="mode" value="$(var perception_mode)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
-    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
@@ -59,6 +58,18 @@
       name="object_recognition_detection_fusion_sync_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml"
     />
+    <arg
+      name="object_recognition_detection_roi_cluster_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_cluster_fusion.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_roi_pointcloud_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_roi_detected_object_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_detected_object_fusion.param.yaml"
+    />
     <arg
       name="object_recognition_detection_obstacle_pointcloud_based_validator_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml"
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 6f0557d23e..6df932d985 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -7,12 +7,14 @@
   <arg name="rtc_auto_mode_manager_param_path"/>
   <arg name="scene_module_manager_param_path"/>
   <arg name="module_preset" default="default"/>
+  <arg name="enable_all_modules_auto_mode" default="false"/>
   <include file="$(find-pkg-share autoware_launch)/config/planning/preset/$(var module_preset)_preset.yaml"/>
 
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
 
     <!-- common -->
     <arg name="common_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
@@ -29,7 +31,7 @@
     <arg name="behavior_path_planner_scene_module_manager_param_path" value="$(var scene_module_manager_param_path)"/>
     <arg name="behavior_path_planner_side_shift_module_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
     <arg name="behavior_path_planner_avoidance_module_param_path" value="$(var behavior_path_config_path)/avoidance/avoidance.param.yaml"/>
-    <arg name="behavior_path_planner_avoidance_by_lc_module_param_path" value="$(var behavior_path_config_path)/avoidance_by_lc/avoidance_by_lc.param.yaml"/>
+    <arg name="behavior_path_planner_avoidance_by_lc_module_param_path" value="$(var behavior_path_config_path)/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml"/>
     <arg name="behavior_path_planner_dynamic_avoidance_module_param_path" value="$(var behavior_path_config_path)/dynamic_avoidance/dynamic_avoidance.param.yaml"/>
     <arg name="behavior_path_planner_lane_change_module_param_path" value="$(var behavior_path_config_path)/lane_change/lane_change.param.yaml"/>
     <arg name="behavior_path_planner_goal_planner_module_param_path" value="$(var behavior_path_config_path)/goal_planner/goal_planner.param.yaml"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index f0d11d6f0c..f91dd602c3 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -37,6 +37,8 @@
 
   <let name="rviz_respawn" value="false" if="$(var scenario_simulation)"/>
   <let name="rviz_respawn" value="true" unless="$(var scenario_simulation)"/>
+  <!-- Auto mode setting-->
+  <arg name="enable_all_modules_auto_mode" default="$(var scenario_simulation)" description="enable all module's auto mode"/>
 
   <group scoped="false">
     <!-- Vehicle -->
@@ -74,6 +76,8 @@
       <!-- Others -->
       <arg name="use_foa" value="$(var use_foa)"/>
       <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
+      <!-- Auto mode setting-->
+      <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
     </include>
   </group>
 
diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py
index 87c46bce69..650e555e27 100644
--- a/autoware_launch/launch/pointcloud_container.launch.py
+++ b/autoware_launch/launch/pointcloud_container.launch.py
@@ -19,6 +19,7 @@
 from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
 
 
 def generate_launch_description():
@@ -37,13 +38,20 @@ def add_launch_arg(name: str, default_value=None):
         condition=IfCondition(LaunchConfiguration("use_multithread")),
     )
 
+    glog_component = ComposableNode(
+        package="glog_component",
+        plugin="GlogComponent",
+        name="glog_component",
+        namespace="pointcloud_container",
+    )
+
     pointcloud_container = ComposableNodeContainer(
         name=LaunchConfiguration("container_name"),
         namespace="/",
         package="rclcpp_components",
         executable=LaunchConfiguration("container_executable"),
-        composable_node_descriptions=[],
-        output="screen",
+        composable_node_descriptions=[glog_component],
+        output="both",
     )
 
     return LaunchDescription(
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index c65e935f4c..29a83837fb 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -3651,6 +3651,22 @@ Visualization Manager:
                   Value: true
               Enabled: true
               Name: Objects Of Interest
+            - Class: rviz_plugins/StringStampedOverlayDisplay
+              Enabled: true
+              Font Size: 15
+              Left: 1024
+              Max Letter Num: 100
+              Name: StringStampedOverlayDisplay
+              Text Color: 25; 255; 240
+              Top: 128
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Reliable
+                Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state
+              Value: true
+              Value height offset: 0
           Enabled: true
           Name: Planning
         - Class: rviz_common/Group