diff --git a/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml b/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml
index 748d9f4e42..f2d628901a 100644
--- a/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml
+++ b/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml
@@ -25,16 +25,16 @@ units:
     list:
       # - { type: link, link: /sensing/imu/001-monitor-error }
       # - { type: link, link: /sensing/imu/002-connection }
-      # - { type: link, link: /sensing/lidar/pndr/001-connection }
-      # - { type: link, link: /sensing/lidar/pndr/002-temperature-error }
-      # - { type: link, link: /sensing/lidar/pndr/003-ptp }
+      - { type: link, link: /sensing/lidar/pndr/001-connection }
+      - { type: link, link: /sensing/lidar/pndr/002-temperature-error }
+      - { type: link, link: /sensing/lidar/pndr/003-ptp }
       - { type: link, link: /sensing/camera/001-connection }
       - { type: link, link: /sensing/radar/001-connection }
 
   - path: /sensing/pull_over
     type: and
     list:
-      # - { type: link, link: /sensing/lidar/pndr/002-temperature }
+      - { type: link, link: /sensing/lidar/pndr/002-temperature }
       - { type: link, link: /sensing/gnss/001-connection-error }
 
   - path: /sensing/comfortable_stop
@@ -47,10 +47,10 @@ units:
       - { type: link, link: /sensing/gnss/002-quality }
 
   # Intermediate paths
-  # - path: /sensing/lidar/pndr/002-temperature-error
-  #   type: warn-to-ok
-  #   list:
-  #     - { type: link, link: /sensing/lidar/pndr/002-temperature }
+  - path: /sensing/lidar/pndr/002-temperature-error
+    type: warn-to-ok
+    list:
+      - { type: link, link: /sensing/lidar/pndr/002-temperature }
 
   # - path: /sensing/imu/001-monitor-error
   #   type: warn-to-ok
@@ -64,41 +64,41 @@ units:
       type: link
       link: /sensing/gnss/001-connection
 
-  # - path: /sensing/lidar/pndr/001-connection
-  #   type: and
-  #   list:
-  #     - { type: link, link: /sensing/lidar/front_lower/connection }
-  #     - { type: link, link: /sensing/lidar/front_upper/connection }
-  #     - { type: link, link: /sensing/lidar/left_lower/connection }
-  #     - { type: link, link: /sensing/lidar/left_upper/connection }
-  #     - { type: link, link: /sensing/lidar/right_lower/connection }
-  #     - { type: link, link: /sensing/lidar/right_upper/connection }
-  #     - { type: link, link: /sensing/lidar/rear_lower/connection }
-  #     - { type: link, link: /sensing/lidar/rear_upper/connection }
+  - path: /sensing/lidar/pndr/001-connection
+    type: and
+    list:
+      - { type: link, link: /sensing/lidar/front_lower/connection }
+      - { type: link, link: /sensing/lidar/front_upper/connection }
+      - { type: link, link: /sensing/lidar/left_lower/connection }
+      - { type: link, link: /sensing/lidar/left_upper/connection }
+      - { type: link, link: /sensing/lidar/right_lower/connection }
+      - { type: link, link: /sensing/lidar/right_upper/connection }
+      - { type: link, link: /sensing/lidar/rear_lower/connection }
+      - { type: link, link: /sensing/lidar/rear_upper/connection }
 
-  # - path: /sensing/lidar/pndr/002-temperature
-  #   type: and
-  #   list:
-  #     - { type: link, link: /sensing/lidar/front_lower/temperature }
-  #     - { type: link, link: /sensing/lidar/front_upper/temperature }
-  #     - { type: link, link: /sensing/lidar/left_lower/temperature }
-  #     - { type: link, link: /sensing/lidar/left_upper/temperature }
-  #     - { type: link, link: /sensing/lidar/right_lower/temperature }
-  #     - { type: link, link: /sensing/lidar/right_upper/temperature }
-  #     - { type: link, link: /sensing/lidar/rear_lower/temperature }
-  #     - { type: link, link: /sensing/lidar/rear_upper/temperature }
+  - path: /sensing/lidar/pndr/002-temperature
+    type: and
+    list:
+      - { type: link, link: /sensing/lidar/front_lower/temperature }
+      - { type: link, link: /sensing/lidar/front_upper/temperature }
+      - { type: link, link: /sensing/lidar/left_lower/temperature }
+      - { type: link, link: /sensing/lidar/left_upper/temperature }
+      - { type: link, link: /sensing/lidar/right_lower/temperature }
+      - { type: link, link: /sensing/lidar/right_upper/temperature }
+      - { type: link, link: /sensing/lidar/rear_lower/temperature }
+      - { type: link, link: /sensing/lidar/rear_upper/temperature }
 
-  # - path: /sensing/lidar/pndr/003-ptp
-  #   type: and
-  #   list:
-  #     - { type: link, link: /sensing/lidar/front_lower/ptp }
-  #     - { type: link, link: /sensing/lidar/front_upper/ptp }
-  #     - { type: link, link: /sensing/lidar/left_lower/ptp }
-  #     - { type: link, link: /sensing/lidar/left_upper/ptp }
-  #     - { type: link, link: /sensing/lidar/right_lower/ptp }
-  #     - { type: link, link: /sensing/lidar/right_upper/ptp }
-  #     - { type: link, link: /sensing/lidar/rear_lower/ptp }
-  #     - { type: link, link: /sensing/lidar/rear_upper/ptp }
+  - path: /sensing/lidar/pndr/003-ptp
+    type: and
+    list:
+      - { type: link, link: /sensing/lidar/front_lower/ptp }
+      - { type: link, link: /sensing/lidar/front_upper/ptp }
+      - { type: link, link: /sensing/lidar/left_lower/ptp }
+      - { type: link, link: /sensing/lidar/left_upper/ptp }
+      - { type: link, link: /sensing/lidar/right_lower/ptp }
+      - { type: link, link: /sensing/lidar/right_upper/ptp }
+      - { type: link, link: /sensing/lidar/rear_lower/ptp }
+      - { type: link, link: /sensing/lidar/rear_upper/ptp }
 
   - path: /sensing/camera/001-connection
     type: and