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 fe8915c784..27349f077d 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
@@ -11,7 +11,8 @@
 
       # trajectory generation
       trajectory:
-        prepare_duration: 4.0
+        max_prepare_duration: 4.0
+        min_prepare_duration: 2.0
         lateral_jerk: 0.5
         min_longitudinal_acc: -1.0
         max_longitudinal_acc: 1.0
@@ -20,6 +21,7 @@
         min_lane_changing_velocity: 2.78
         lon_acc_sampling_num: 5
         lat_acc_sampling_num: 3
+        lane_changing_decel_factor: 0.5
 
       # delay lane change
       delay_lane_change:
diff --git a/autoware_launch/config/system/diagnostics/control.yaml b/autoware_launch/config/system/diagnostics/control.yaml
index 6a04ed6714..5551ed4575 100644
--- a/autoware_launch/config/system/diagnostics/control.yaml
+++ b/autoware_launch/config/system/diagnostics/control.yaml
@@ -9,7 +9,6 @@ units:
       - { type: link, link: /autoware/control/performance_monitoring/lane_departure }
       - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
       - { type: link, link: /autoware/control/performance_monitoring/control_state }
-      - { type: link, link: /autoware/control/collision_detector }
 
   - path: /autoware/control/local
     type: and
@@ -67,8 +66,3 @@ units:
     type: diag
     node: external_cmd_converter
     name: remote_control_topic_status
-
-  - path: /autoware/control/collision_detector
-    type: diag
-    node: collision_detector
-    name: collision_detect
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index e22cd542f7..b125d23186 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -37,7 +37,7 @@
   <arg name="system_run_mode" default="online" description="run mode in system"/>
   <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
+  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
@@ -52,7 +52,7 @@
 
   <!-- Global parameters -->
   <group scoped="false">
-    <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
+    <include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py">
       <arg name="use_sim_time" value="$(var use_sim_time)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
     </include>
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index a94960d8bf..e729fef464 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
-  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
+  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
 
   <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
     <arg name="run_mode" value="$(var system_run_mode)"/>
@@ -14,7 +14,7 @@
     <arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
     <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
     <arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
-    <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml"/>
+    <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/dummy_diag_publisher.param.yaml"/>
     <arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
     <arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
     <arg name="system_monitor_hdd_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/hdd_monitor.param.yaml"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index 03044cf090..c4fd15b41c 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -71,7 +71,7 @@
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-awsim.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-awsim.yaml"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
       <!-- Perception-->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index ad11e90bdf..123bd01ed3 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -65,7 +65,7 @@
       <arg name="system_run_mode" value="logging_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 3e0ed8d20c..3c56e11412 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -70,7 +70,7 @@
       <arg name="system_run_mode" value="planning_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py
index 650e555e27..d7e31a3e9b 100644
--- a/autoware_launch/launch/pointcloud_container.launch.py
+++ b/autoware_launch/launch/pointcloud_container.launch.py
@@ -39,7 +39,7 @@ def add_launch_arg(name: str, default_value=None):
     )
 
     glog_component = ComposableNode(
-        package="glog_component",
+        package="autoware_glog_component",
         plugin="GlogComponent",
         name="glog_component",
         namespace="pointcloud_container",
diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
index 678c08d7b6..52101d1034 100644
--- a/autoware_launch/package.xml
+++ b/autoware_launch/package.xml
@@ -12,7 +12,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>ad_api_adaptors</exec_depend>
-  <exec_depend>global_parameter_loader</exec_depend>
+  <exec_depend>autoware_global_parameter_loader</exec_depend>
   <exec_depend>python3-bson</exec_depend>
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>rviz2</exec_depend>