diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index 91f82916a91..40b9ee3f022 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -22,9 +22,6 @@ inputs:
 runs:
   using: composite
   steps:
-    - name: Setup Docker Buildx
-      uses: docker/setup-buildx-action@v2
-
     - name: Install jq and vcstool
       run: |
         sudo apt-get -y update
@@ -59,7 +56,7 @@ runs:
 
     - name: Docker meta for prebuilt
       id: meta-prebuilt
-      uses: docker/metadata-action@v4
+      uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
@@ -70,7 +67,7 @@ runs:
 
     - name: Docker meta for devel
       id: meta-devel
-      uses: docker/metadata-action@v4
+      uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
@@ -82,7 +79,7 @@ runs:
     - name: Docker meta for runtime
       if: ${{ github.event_name == 'workflow_dispatch' }} || ${{ (github.event_name == 'push' && github.ref_type == 'tag') }}
       id: meta-runtime
-      uses: docker/metadata-action@v4
+      uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
         tags: ${{ steps.set-docker-tags.outputs.tags }}
@@ -101,7 +98,7 @@ runs:
 
     - name: Build and Push to GitHub Container Registry
       if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || ( github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'registry') }}
-      uses: docker/bake-action@v3
+      uses: docker/bake-action@v4
       with:
         push: ${{ inputs.allow-push == 'true' }}
         files: |
@@ -115,7 +112,7 @@ runs:
 
     - name: Build only
       if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
-      uses: docker/bake-action@v3
+      uses: docker/bake-action@v4
       with:
         push: false
         files: |
diff --git a/.github/workflows/build-main-self-hosted.yaml b/.github/workflows/build-main-self-hosted.yaml
index 73354230d98..eb178be3c27 100644
--- a/.github/workflows/build-main-self-hosted.yaml
+++ b/.github/workflows/build-main-self-hosted.yaml
@@ -46,6 +46,9 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
+      - name: Setup Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
@@ -54,6 +57,25 @@ jobs:
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
+      - name: Cache
+        uses: actions/cache@v3
+        id: cache
+        with:
+          path: |
+            root-ccache
+          key: cache-${{ matrix.platform }}-${{ matrix.name }}-${{ hashFiles('autoware.repos') }}
+          restore-keys: |
+            cache-${{ matrix.platform }}-${{ matrix.name }}-
+            cache-${{ matrix.platform }}-
+      - name: inject cache into docker
+        uses: reproducible-containers/buildkit-cache-dance@v3.1.0
+        with:
+          cache-map: |
+            {
+              "root-ccache": "/root/.ccache"
+            }
+          skip-extraction: ${{ steps.cache.outputs.cache-hit }}
+
       - name: Build 'Autoware'
         uses: ./.github/actions/docker-build-and-push
         with:
diff --git a/.github/workflows/build-main.yaml b/.github/workflows/build-main.yaml
index 859c754c169..76bf9d5b9dc 100644
--- a/.github/workflows/build-main.yaml
+++ b/.github/workflows/build-main.yaml
@@ -41,6 +41,9 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
+      - name: Setup Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
@@ -49,6 +52,25 @@ jobs:
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
+      - name: Cache
+        uses: actions/cache@v3
+        id: cache
+        with:
+          path: |
+            root-ccache
+          key: cache-${{ matrix.platform }}-${{ matrix.name }}-${{ hashFiles('autoware.repos') }}
+          restore-keys: |
+            cache-${{ matrix.platform }}-${{ matrix.name }}-
+            cache-${{ matrix.platform }}-
+      - name: inject cache into docker
+        uses: reproducible-containers/buildkit-cache-dance@v3.1.0
+        with:
+          cache-map: |
+            {
+              "root-ccache": "/root/.ccache"
+            }
+          skip-extraction: ${{ steps.cache.outputs.cache-hit }}
+
       - name: Build 'Autoware'
         uses: ./.github/actions/docker-build-and-push
         with:
diff --git a/.github/workflows/docker-build-and-push-main-self-hosted.yaml b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
index 0d44a72ed30..6af6d592294 100644
--- a/.github/workflows/docker-build-and-push-main-self-hosted.yaml
+++ b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
@@ -58,6 +58,9 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
+      - name: Setup Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
@@ -66,6 +69,25 @@ jobs:
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
+      - name: Cache
+        uses: actions/cache@v3
+        id: cache
+        with:
+          path: |
+            root-ccache
+          key: cache-${{ matrix.platform }}-${{ matrix.name }}-${{ hashFiles('autoware.repos') }}
+          restore-keys: |
+            cache-${{ matrix.platform }}-${{ matrix.name }}-
+            cache-${{ matrix.platform }}-
+      - name: inject cache into docker
+        uses: reproducible-containers/buildkit-cache-dance@v3.1.0
+        with:
+          cache-map: |
+            {
+              "root-ccache": "/root/.ccache"
+            }
+          skip-extraction: ${{ steps.cache.outputs.cache-hit }}
+
       - name: Build 'Autoware'
         uses: ./.github/actions/docker-build-and-push
         with:
diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
index c0267f95ba4..0703ffc3daa 100644
--- a/.github/workflows/docker-build-and-push-main.yaml
+++ b/.github/workflows/docker-build-and-push-main.yaml
@@ -53,6 +53,9 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
+      - name: Setup Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
@@ -61,6 +64,25 @@ jobs:
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
+      - name: Cache
+        uses: actions/cache@v3
+        id: cache
+        with:
+          path: |
+            root-ccache
+          key: cache-${{ matrix.platform }}-${{ matrix.name }}-${{ hashFiles('autoware.repos') }}
+          restore-keys: |
+            cache-${{ matrix.platform }}-${{ matrix.name }}-
+            cache-${{ matrix.platform }}-
+      - name: inject cache into docker
+        uses: reproducible-containers/buildkit-cache-dance@v3.1.0
+        with:
+          cache-map: |
+            {
+              "root-ccache": "/root/.ccache"
+            }
+          skip-extraction: ${{ steps.cache.outputs.cache-hit }}
+
       - name: Build 'Autoware'
         uses: ./.github/actions/docker-build-and-push
         with:
diff --git a/docker/Dockerfile b/docker/Dockerfile
index d97b55c8cdd..89c41b96a90 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -66,8 +66,6 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
 ARG SETUP_ARGS
 ENV CCACHE_DIR="/var/tmp/ccache"
-ENV CC="/usr/lib/ccache/gcc"
-ENV CXX="/usr/lib/ccache/g++"
 
 # cspell: ignore libcu libnv
 # Set up development environment
@@ -90,13 +88,13 @@ RUN --mount=type=ssh \
 COPY --from=src-imported /autoware/src /autoware/src
 RUN --mount=type=cache,target=${CCACHE_DIR} \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \
+  && du -sh ${CCACHE_DIR} && ccache -s \
   && colcon build --cmake-args \
-    -DCMAKE_BUILD_TYPE=Release \
-    -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
     " -Wno-dev" \
     " --no-warn-unused-cli" \
+    --mixin release compile-commands ccache \
+  && du -sh ${CCACHE_DIR} && ccache -s \
   && find /autoware/install -type d -exec chmod 777 {} \; \
-  && chmod -R 777 /var/tmp/ccache \
   && rm -rf /autoware/build /autoware/src
 
 CMD ["/bin/bash"]