diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
index 21ba13787f..0e4c52ba92 100644
--- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
@@ -3,3 +3,9 @@
     input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
     timeout_ms: 70.0
     match_threshold_ms: 50.0
+    filter_scope_min_x: -100.0
+    filter_scope_min_y: -100.0
+    filter_scope_min_z: -100.0
+    filter_scope_max_x: 100.0
+    filter_scope_max_y: 100.0
+    filter_scope_max_z: 100.0
diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
index ae1e9d31e6..f58de8e615 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
@@ -15,4 +15,9 @@
     enable_delay_compensation: true
     pass_through_unknown_objects: false
     publish_untracked_objects: false
-    debug_flag: false
+
+    # debug parameters
+    publish_processing_time: false
+    publish_tentative_objects: false
+    diagnostic_warn_delay: 0.5      # [sec]
+    diagnostic_error_delay: 1.0     # [sec]
diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml
index fa4a2e4308..7bd3dd26b3 100644
--- a/autoware_launch/config/planning/preset/default_preset.yaml
+++ b/autoware_launch/config/planning/preset/default_preset.yaml
@@ -30,9 +30,6 @@ launch:
   - arg:
       name: launch_side_shift_module
       default: "true"
-  - arg:
-      name: use_experimental_lane_change_function
-      default: "true"
 
   # behavior velocity modules
   - arg:
diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
index 6bb130e805..03958fda9a 100644
--- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml
@@ -7,6 +7,10 @@
       min_jerk: -1.0        # min jerk [m/sss]
       max_jerk: 1.0         # max jerk [m/sss]
 
+    slow_down:
+      min_acc: -1.0         # min deceleration [m/ss]
+      min_jerk: -1.0        # min jerk [m/sss]
+
     # constraints to be observed
     limit:
       min_acc: -2.5         # min deceleration limit [m/ss]
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 c68c10f2a9..d50b1ad42c 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
@@ -216,7 +216,7 @@
         return_dead_line:
           goal:
             enable: true                                # [-]
-            buffer: 30.0                                # [m]
+            buffer: 25.0                                # [m]
           traffic_light:
             enable: true                                # [-]
             buffer: 3.0                                 # [m]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
index 0950ece4ae..7bd7d88230 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml
@@ -8,4 +8,5 @@
       max_future_movement_time: 10.0 # [second]
       threshold_yaw_diff: 0.523 # [rad]
       adjacent_extend_width: 1.5 # [m]
+      opposite_adjacent_extend_width: 1.5 # [m]
       enable_rtc: false # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc.
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 d9d2c407bb..e7bdda45de 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
@@ -9,7 +9,7 @@
 
       # param for stop position
       stop_position:
-        stop_position_threshold: 1.0 # [m] threshold to check whether the vehicle stops in front of crosswalk for yielding
+        stop_position_threshold: 1.0 # [m] If the ego vehicle has stopped near the stop line than this value, this module assumes itself to have achieved yielding.
 
         # For the Lanelet2 map with no explicit stop lines
         stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk
@@ -18,24 +18,24 @@
         # 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
 
-      # param for ego's slow down velocity
+      # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false".
       slow_down:
         min_slow_down_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph)
         max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake
         max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake
         no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph)
 
-      # param for stuck vehicles
+      # params to prevent stopping on crosswalks due to another vehicle ahead
       stuck_vehicle:
         enable_stuck_check_in_intersection: false # [-] flag to enable stuck vehicle checking for crosswalk which is in intersection
-        stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck
-        max_stuck_vehicle_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked
-        stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk
-        min_acc: -1.0   # min acceleration [m/ss]
-        min_jerk: -1.0  # min jerk [m/sss]
-        max_jerk: 1.0   # max jerk [m/sss]
+        stuck_vehicle_velocity: 1.0 # [m/s] threshold velocity whether other vehicles are assumed to be stuck or not.
+        max_stuck_vehicle_lateral_offset: 2.0 # [m] The feature does not handle the vehicles farther than this value to the ego's path.
+        stuck_vehicle_attention_range: 10.0 # [m] Ego does not enter the crosswalk area if a stuck vehicle exists within this distance from the end of the crosswalk on the ego's path.
+        min_acc: -1.0 # min acceleration [m/ss]
+        min_jerk: -1.0 # min jerk [m/sss]
+        max_jerk: 1.0 # max jerk [m/sss]
 
-      # param for pass judge logic
+      # 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)
@@ -44,25 +44,26 @@
         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)
         ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
 
-        no_stop_decision:
+        no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk
           max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
-          min_acc: -1.0   # min acceleration [m/ss]
-          min_jerk: -1.0  # min jerk [m/sss]
-          max_jerk: 1.0   # max jerk [m/sss]
+          min_acc: -1.0 # min acceleration [m/ss]
+          min_jerk: -1.0 # min jerk [m/sss]
+          max_jerk: 1.0 # max jerk [m/sss]
 
         stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
         min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
         ## param for yielding
-        disable_stop_for_yield_cancel: false # for the crosswalk where there is a traffic signal
-        disable_yield_for_new_stopped_object: false # for the crosswalk where there is a traffic signal
-        # if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
+        disable_stop_for_yield_cancel: false # for the crosswalks with traffic signal
+        disable_yield_for_new_stopped_object: false # for the crosswalks with traffic signal
+        # If the pedestrian does not move for X seconds after the ego has stopped in front the crosswalk, the module judge that the pedestrian has no intention to walk and allows the ego to proceed.
         distance_map_for_no_intention_to_walk: [1.0, 5.0] # [m] ascending order
         timeout_map_for_no_intention_to_walk: [3.0, 0.0] # [s]
-        timeout_ego_stop_for_yield: 3.0 # [s] the amount of time which ego should be stopping to query whether it yields or not
+        timeout_ego_stop_for_yield: 3.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough.
 
       # 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
+        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
           bicycle: true # [-] whether to look and stop by BICYCLE 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 1e6ce843de..997addd48d 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
@@ -29,9 +29,9 @@
       yield_stuck:
         turn_direction:
           left: true
-          right: false
+          right: true
           straight: false
-        distance_threshold: 1.0
+        distance_threshold: 5.0
 
       collision_detection:
         consider_wrong_direction_vehicle: false
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 f265594a38..ccd263bf3a 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
@@ -3,6 +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:
       specify_decel_jerk: false   # [-] 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
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
index a837ae1b46..23746a61b6 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml
@@ -3,6 +3,7 @@
     traffic_light:
       stop_margin: 0.0
       tl_state_timeout: 1.0
+      stop_time_hysteresis: 0.1
       yellow_lamp_period: 2.75
       enable_pass_judge: true
       enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml
index 5fe0d856d2..88b326b2f7 100644
--- a/autoware_launch/launch/components/tier4_localization_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml
@@ -3,7 +3,7 @@
   <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/outlier_filtered/pointcloud" description="The topic will be used in the localization util module"/>
+  <arg name="input_pointcloud" default="/sensing/lidar/top/pointcloud" description="The topic will be used in the localization util module"/>
 
   <group>
     <include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
index 02f9a8243c..a8503818cd 100644
--- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -39,6 +39,10 @@
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
     />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_node_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml"
+    />
     <arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml"/>
     <arg name="laserscan_based_occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 97dd22a13d..bc22eadb70 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -3451,7 +3451,179 @@ Visualization Manager:
           Enabled: true
           Name: Perception
         - Class: rviz_common/Group
-          Displays: ~
+          Displays:
+            - Class: rviz_common/Group
+              Displays:
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: LaneChangeLeft
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/lane_change_left
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: LaneChangeRight
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/lane_change_right
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: AvoidanceLeft
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/avoidance_left
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: AvoidanceRight
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/avoidance_right
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: AvoidanceByLCLeft
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/avoidance_by_lc_left
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: AvoidanceByLCRight
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/avoidance_by_lc_right
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: StartPlanner
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/start_planner
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: GoalPlanner
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/goal_planner
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: Crosswalk
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/crosswalk
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: Intersection
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/intersection
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: BlindSpot
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/blind_spot
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: TrafficLight
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/traffic_light
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: DetectionArea
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/detection_area
+                  Value: true
+                - Class: rviz_default_plugins/MarkerArray
+                  Enabled: true
+                  Name: NoStoppingArea
+                  Namespaces:
+                    {}
+                  Topic:
+                    Depth: 5
+                    Durability Policy: Volatile
+                    History Policy: Keep Last
+                    Reliability Policy: Reliable
+                    Value: /planning/debug/objects_of_interest/no_stopping_area
+                  Value: true
+              Enabled: true
+              Name: Objects Of Interest
           Enabled: true
           Name: Planning
         - Class: rviz_common/Group