diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
new file mode 100644
index 0000000000..b9d67e0b94
--- /dev/null
+++ b/.github/CODEOWNERS
@@ -0,0 +1,26 @@
+### Automatically generated from package.xml ###
+autoware_launch/** mfc@leodrive.ai ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
+
+### Copied from .github/CODEOWNERS-manual ###
+# /**
+# .github/**
+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
+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
new file mode 100644
index 0000000000..cd10e1fbc4
--- /dev/null
+++ b/.github/CODEOWNERS-manual
@@ -0,0 +1,22 @@
+# /**
+# .github/**
+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
+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/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 c69af15bfb..c7a553bcdb 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
@@ -208,6 +206,10 @@
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
           max_deviation_from_lane: 0.2                  # [m]
+          # approve the next shift line after reaching this percentage of the current shift line length.
+          # this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear.
+          # this feature can be disabled by setting this parameter to 0.0.
+          ratio_for_return_shift_approval: 0.5          # [-]
         # avoidance distance parameters
         longitudinal:
           min_prepare_time: 1.0                         # [s]
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/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 57899fada8..a25234e100 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -103,6 +103,7 @@
         duration: 5.0                       # [s]
         max_lateral_jerk: 100.0             # [m/s3]
         overhang_tolerance: 0.0             # [m]
+        unsafe_hysteresis_threshold: 5      # [/]
 
       finish_judge_lateral_threshold: 0.2        # [m]
 
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 7fcda37bf7..529426d7fd 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
@@ -8,11 +8,21 @@
       collision_check_margins: [1.0, 0.5, 0.1]
       collision_check_margin_from_front_object: 5.0
       th_moving_object_velocity: 1.0
+      object_types_to_check_for_path_generation:
+        check_car: true
+        check_truck: true
+        check_bus: true
+        check_trailer: true
+        check_bicycle: true
+        check_motorcycle: true
+        check_pedestrian: true
+        check_unknown: true
       th_distance_to_middle_of_the_road: 0.5
       center_line_path_interval: 1.0
       # shift pull out
       enable_shift_pull_out: true
       check_shift_path_lane_departure: true
+      allow_check_shift_path_lane_departure_override: false
       shift_collision_check_distance_from_end: -10.0
       minimum_shift_pull_out_distance: 0.0
       deceleration_interval: 15.0
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 2b320d1058..d89b9c487c 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
@@ -68,3 +68,20 @@
           bicycle: true # [-] whether to look and stop by BICYCLE objects
           motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.)
           pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects
+
+      # param for occlusions
+      occlusion:
+        enable: true  # if true, ego will slowdown around crosswalks that are occluded
+        occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space
+        slow_down_velocity: 1.0  # [m/s]
+        time_buffer: 0.5  # [s] consecutive time with/without an occlusion to add/remove the slowdown
+        min_size: 0.5  # [m] minimum size of an occlusion (square side size)
+        free_space_max: 43  # [-] maximum value of a free space cell in the occupancy grid
+        occupied_min: 58    # [-] minimum value of an occupied cell in the occupancy grid
+        ignore_with_red_traffic_light: true  # [-] if true, occlusions at crosswalks with traffic lights are ignored
+        ignore_behind_predicted_objects: true  # [-] if true, occlusions behind predicted objects are ignored
+        ignore_velocity_thresholds:
+          default: 0.5  # [m/s] occlusions are only ignored behind objects with a higher or equal velocity
+          custom_labels: ["PEDESTRIAN"]  # labels for which to define a non-default velocity threshold (see autoware_auto_perception_msgs::msg::ObjectClassification for all the labels)
+          custom_thresholds: [0.0]  # velocities of the custom labels
+        extra_predicted_objects_size: 0.5  # [m] extra size added to the objects for masking the occlusions
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index d6b87a36b4..fe2183434f 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -64,6 +64,7 @@
   />
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
+  <arg name="is_simulation" default="false" description="Autoware's behavior will change depending on whether this is a simulation or not."/>
 
   <!-- Global parameters -->
   <group scoped="false">
@@ -125,6 +126,7 @@
       <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
       <arg name="scene_module_manager_param_path" value="$(var scene_module_manager_param_path)"/>
       <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+      <arg name="is_simulation" value="$(var is_simulation)"/>
     </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 3ccd98104d..b8387c1d25 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -3,12 +3,8 @@
   <let name="loc_config_path" value="$(find-pkg-share autoware_launch)/config/localization"/>
   <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"
-  />
+  <arg name="input_pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg name="localization_pointcloud_container_name" default="/pointcloud_container" description="The target container to which pointcloud preprocessing nodes in localization be attached"/>
 
   <group>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
@@ -16,7 +12,7 @@
       <arg name="twist_source" value="$(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="$(var lidar_container_name)"/>
+      <arg name="localization_pointcloud_container_name" value="$(var localization_pointcloud_container_name)"/>
 
       <!-- parameter paths for common -->
       <arg name="localization_error_monitor_param_path" value="$(var loc_config_path)/localization_error_monitor.param.yaml"/>
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index a4693179ca..6259de2b0e 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -7,12 +7,14 @@
   <arg name="scene_module_manager_param_path"/>
   <arg name="module_preset" default="default"/>
   <arg name="enable_all_modules_auto_mode" default="false"/>
+  <arg name="is_simulation" default="false"/>
   <include file="$(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 $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+    <arg name="is_simulation" value="$(var is_simulation)"/>
 
     <!-- common -->
     <arg name="common_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index e80396cf72..6f79c1475b 100755
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -1,6 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
   <!-- Essential parameters -->
+  <arg name="use_sim_time" default="true" description="use simulation time"/>
   <arg name="map_path" description="point cloud and lanelet2 map directory path"/>
   <arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
   <arg name="sensor_model" default="sample_sensor_kit" description="sensor model name"/>
@@ -78,7 +79,7 @@
       <arg name="launch_planning" value="$(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="$(var launch_vehicle_interface)"/>
       <!-- Map -->
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 19c6e35ca1..c2505ab723 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -78,6 +78,7 @@
       <arg name="rviz_respawn" value="$(var rviz_respawn)"/>
       <!-- Auto mode setting-->
       <arg name="enable_all_modules_auto_mode" value="$(var enable_all_modules_auto_mode)"/>
+      <arg name="is_simulation" value="true"/>
     </include>
   </group>
 
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>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 30350e1d8e..9f00d859dc 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -3615,7 +3615,7 @@ Visualization Manager:
       Name: Debug
   Enabled: true
   Global Options:
-    Background Color: 10; 10; 10
+    Background Color: 42; 42; 42
     Default Light: true
     Fixed Frame: map
     Frame Rate: 30