diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
index 4ae5d6f62eec0..ebd79a1dd6d92 100644
--- a/.github/sync-files.yaml
+++ b/.github/sync-files.yaml
@@ -7,7 +7,7 @@
     - source: .github/dependabot.yaml
     - source: .github/workflows/pre-commit-optional.yaml
     - source: .github/workflows/semantic-pull-request.yaml
-    - source: .github/workflows/spell-check.yaml
+    - source: .github/workflows/spell-check-differential.yaml
     - source: .clang-format
     - source: .markdown-link-check.json
     - source: .markdownlint.yaml
@@ -20,10 +20,10 @@
 
 - repository: autowarefoundation/autoware_common
   files:
-    - source: .github/workflows/build-and-test-arm.yaml
-    - source: .github/workflows/build-and-test-arm-pr.yaml
     - source: .github/workflows/build-and-test.yaml
-    - source: .github/workflows/build-and-test-pr.yaml
+    - source: .github/workflows/build-and-test-differential.yaml
+    - source: .github/workflows/build-and-test-differential-self-hosted.yaml
+    - source: .github/workflows/build-and-test-self-hosted.yaml
     - source: .github/workflows/check-build-depends.yaml
     - source: .github/workflows/pre-commit.yaml
 
diff --git a/.github/workflows/build-and-test-arm-pr.yaml b/.github/workflows/build-and-test-arm-pr.yaml
deleted file mode 100644
index 41921ece018da..0000000000000
--- a/.github/workflows/build-and-test-arm-pr.yaml
+++ /dev/null
@@ -1,46 +0,0 @@
-name: build-and-test-arm-pr
-
-on:
-  pull_request:
-    types:
-      - opened
-      - synchronize
-      - labeled
-  workflow_dispatch:
-
-jobs:
-  prevent-no-label-execution:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@tier4/proposal
-    with:
-      label: ARM64
-
-  build-and-test-arm:
-    needs: prevent-no-label-execution
-    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
-    runs-on: [self-hosted, linux, ARM64]
-    container: ghcr.io/autowarefoundation/autoware-universe:latest
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
-
-      - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
-
-      - name: Register AutonomouStuff repository
-        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
-        with:
-          rosdistro: galactic
-
-      - name: Get modified packages
-        id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
-
-      - name: Build and test
-        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
-        with:
-          rosdistro: galactic
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
diff --git a/.github/workflows/build-and-test-arm.yaml b/.github/workflows/build-and-test-arm.yaml
deleted file mode 100644
index f326e57760a09..0000000000000
--- a/.github/workflows/build-and-test-arm.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-name: build-and-test-arm
-
-on:
-  schedule:
-    - cron: 0 19 * * * # run at 4 AM JST
-  workflow_dispatch:
-
-jobs:
-  build-and-test-arm:
-    runs-on: ARM64
-    container: ghcr.io/autowarefoundation/autoware-universe:latest
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v2
-
-      - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
-
-      - name: Register AutonomouStuff repository
-        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
-        with:
-          rosdistro: galactic
-
-      - name: Get self packages
-        id: get-self-packages
-        uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal
-
-      - name: Build and test
-        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
-        with:
-          rosdistro: galactic
-          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: build_depends.repos
diff --git a/.github/workflows/build-and-test-pr.yaml b/.github/workflows/build-and-test-pr.yaml
deleted file mode 100644
index de3fc25e6f09e..0000000000000
--- a/.github/workflows/build-and-test-pr.yaml
+++ /dev/null
@@ -1,85 +0,0 @@
-name: build-and-test-pr
-
-on:
-  pull_request:
-
-jobs:
-  build-and-test:
-    runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-universe:latest
-    steps:
-      - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.9.1
-
-      - name: Check out repository
-        uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
-
-      - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
-
-      - name: Register AutonomouStuff repository
-        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
-        with:
-          rosdistro: galactic
-
-      - name: Get modified packages
-        id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
-
-      - name: Build and test
-        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
-        with:
-          rosdistro: galactic
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
-
-      - name: Check the existence of coverage files
-        id: check-file-existence
-        uses: autowarefoundation/autoware-github-actions/check-file-existence@tier4/proposal
-        with:
-          files: |
-            lcov/total_coverage.info
-            coveragepy/.coverage
-          condition: or
-
-      - name: Upload coverage to CodeCov
-        if: ${{ steps.check-file-existence.outputs.exists == 'true' }}
-        uses: codecov/codecov-action@v2
-        with:
-          files: lcov/total_coverage.info,coveragepy/.coverage
-          fail_ci_if_error: true
-          verbose: true
-
-  clang-tidy:
-    runs-on: ubuntu-latest
-    container: ros:galactic
-    needs: build-and-test
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
-
-      - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
-
-      - name: Register AutonomouStuff repository
-        uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@tier4/proposal
-        with:
-          rosdistro: galactic
-
-      - name: Get modified packages
-        id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
-
-      - name: Run clang-tidy
-        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@tier4/proposal
-        with:
-          rosdistro: galactic
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/tier4/proposal/.clang-tidy
-          build-depends-repos: build_depends.repos
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 5331dd336e009..a9ee40cb8e09f 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -2,15 +2,13 @@ name: build-and-test
 
 on:
   push:
-    branches:
-      - main
-      - tier4/proposal
   schedule:
     - cron: 0 19 * * * # run at 4 AM JST
   workflow_dispatch:
 
 jobs:
   build-and-test:
+    if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
     runs-on: ubuntu-latest
     container: ghcr.io/autowarefoundation/autoware-universe:latest
     steps:
@@ -50,5 +48,5 @@ jobs:
         uses: codecov/codecov-action@v2
         with:
           files: lcov/total_coverage.info,coveragepy/.coverage
-          fail_ci_if_error: true
+          fail_ci_if_error: false
           verbose: true
diff --git a/.github/workflows/spell-check.yaml b/.github/workflows/spell-check.yaml
deleted file mode 100644
index 43a75891a303e..0000000000000
--- a/.github/workflows/spell-check.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-name: spell-check
-
-on:
-  pull_request:
-
-jobs:
-  spell-check:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v2
-
-      - name: Run spell-check
-        uses: autowarefoundation/autoware-github-actions/spell-check@tier4/proposal
-        with:
-          cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/cspell/.cspell.json