diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
index 9972c966ea..7299412a02 100644
--- a/.github/sync-files.yaml
+++ b/.github/sync-files.yaml
@@ -10,6 +10,7 @@
     - source: .github/ISSUE_TEMPLATE/task.yaml
     - source: .github/pull_request_template.md
     - source: .github/dependabot.yaml
+    - source: .github/workflows/backport.yaml
     - source: .github/stale.yml
     - source: .github/workflows/comment-on-pr.yaml
     - source: .github/workflows/github-release.yaml
diff --git a/.github/update-sync-param-files.py b/.github/update-sync-param-files.py
deleted file mode 100644
index 707909cdd1..0000000000
--- a/.github/update-sync-param-files.py
+++ /dev/null
@@ -1,80 +0,0 @@
-import argparse
-import dataclasses
-from pathlib import Path
-from typing import List
-from typing import Optional
-
-import git
-
-"""
-This module updates `sync-param-files.yaml` based on the launch parameter files in `autoware.universe`.
-"""
-
-REPO_NAME = "autowarefoundation/autoware.universe"
-REPO_URL = f"https://github.com/{REPO_NAME}.git"
-CLONE_PATH = Path("/tmp/autoware.universe")
-
-
-@dataclasses.dataclass
-class FileSyncConfig:
-    source: str
-    dest: str
-    replace: Optional[bool] = None
-    delete_orphaned: Optional[bool] = None
-    pre_commands: Optional[str] = None
-    post_commands: Optional[str] = None
-
-
-def create_tier4_launch_sync_configs(tier4_launch_package_path: Path) -> List[FileSyncConfig]:
-    launch_package_name = tier4_launch_package_path.name
-    launch_config_path = tier4_launch_package_path / "config"
-
-    sync_configs = []
-    for param_file_path in tier4_launch_package_path.glob("config/**/*.param.yaml"):
-        relative_param_file_path = param_file_path.relative_to(launch_config_path)
-
-        source = param_file_path.relative_to(CLONE_PATH)
-        dest = Path("autoware_launch/config") / launch_package_name / relative_param_file_path
-
-        sync_configs.append(FileSyncConfig(str(source), str(dest)))
-
-    return sync_configs
-
-
-def dump_sync_config(section_name: str, sync_configs: List[FileSyncConfig]) -> List[str]:
-    indent = 4 * " "
-    lines = [f"{indent}# {section_name}\n"]
-    for sync_config in sync_configs:
-        lines.append(f"{indent}- source: {sync_config.source}\n")
-        lines.append(f"{indent}  dest: {sync_config.dest}\n")
-    lines.append("\n")
-    return lines
-
-
-def main():
-    parser = argparse.ArgumentParser()
-    parser.add_argument("sync_param_files_path", type=Path, help="path to sync-param-files.yaml")
-    args = parser.parse_args()
-
-    # Clone Autoware
-    if not CLONE_PATH.exists():
-        git.Repo.clone_from(REPO_URL, CLONE_PATH)
-
-    # Create sync config for tier4_*_launch
-    tier4_launch_package_paths = sorted(
-        CLONE_PATH.glob("launch/tier4_*_launch"), key=lambda p: p.name
-    )
-    tier4_launch_sync_configs_map = {
-        p.name: create_tier4_launch_sync_configs(p) for p in tier4_launch_package_paths
-    }
-
-    # Create sync-param-files.yaml
-    with open(args.sync_param_files_path, "w") as f:
-        f.write(f"- repository: {REPO_NAME}\n")
-        f.write("  files:\n")
-        for section_name, sync_config in tier4_launch_sync_configs_map.items():
-            f.writelines(dump_sync_config(section_name, sync_config))
-
-
-if __name__ == "__main__":
-    main()
diff --git a/.github/workflows/backport.yaml b/.github/workflows/backport.yaml
new file mode 100644
index 0000000000..d79e709888
--- /dev/null
+++ b/.github/workflows/backport.yaml
@@ -0,0 +1,33 @@
+name: backport
+on:
+  pull_request_target:
+    types:
+      - closed
+      - labeled
+
+jobs:
+  backport:
+    runs-on: ubuntu-latest
+    # Only react to merged PRs for security reasons.
+    # See https://docs.github.com/en/actions/using-workflows/events-that-trigger-workflows#pull_request_target.
+    if: >
+      github.event.pull_request.merged
+      && (
+        github.event.action == 'closed'
+        || (
+          github.event.action == 'labeled'
+          && contains(github.event.label.name, 'backport')
+        )
+      )
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v2
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - uses: tibdex/backport@v2
+        with:
+          github_token: ${{ steps.generate-token.outputs.token }}
+          title_template: "<%= title %> (backport #<%= number %>)"
diff --git a/.github/workflows/beta-to-tier4-main-sync.yaml b/.github/workflows/beta-to-tier4-main-sync.yaml
new file mode 100644
index 0000000000..79bdb6f0bd
--- /dev/null
+++ b/.github/workflows/beta-to-tier4-main-sync.yaml
@@ -0,0 +1,34 @@
+name: beta-to-tier4-main-sync
+
+on:
+  workflow_dispatch:
+    inputs:
+      source_branch:
+        description: Source branch
+        required: true
+        type: string
+
+jobs:
+  sync-beta-branch:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: tier4/main
+          sync-pr-branch: beta-to-tier4-main-sync
+          sync-target-repository: https://github.com/tier4/autoware_launch.git
+          sync-target-branch: ${{ inputs.source_branch }}
+          pr-title: "chore: sync beta branch ${{ inputs.source_branch }} with tier4/main"
+          pr-labels: |
+            bot
+            sync-beta-branch
+          auto-merge-method: merge
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 0af7487814..67f152cbc8 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -33,6 +33,14 @@ jobs:
       - name: Show disk space before the tasks
         run: df -h
 
+      - name: Free disk space (Ubuntu)
+        uses: jlumbroso/free-disk-space@v1.3.1
+        with:
+          tool-cache: false
+          dotnet: false
+          swap-storage: false
+          large-packages: false
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml
deleted file mode 100644
index b2d14fa751..0000000000
--- a/.github/workflows/check-build-depends.yaml
+++ /dev/null
@@ -1,41 +0,0 @@
-name: check-build-depends
-
-on:
-  pull_request:
-    paths:
-      - build_depends*.repos
-
-jobs:
-  check-build-depends:
-    runs-on: ubuntu-22.04
-    container: ${{ matrix.container }}
-    strategy:
-      fail-fast: false
-      matrix:
-        rosdistro:
-          - galactic
-          - humble
-        include:
-          - rosdistro: galactic
-            container: ros:galactic
-            build-depends-repos: build_depends.repos
-          - rosdistro: humble
-            container: ros:humble
-            build-depends-repos: build_depends.repos
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v4
-
-      - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
-
-      - name: Get self packages
-        id: get-self-packages
-        uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
-
-      - name: Build
-        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
-        with:
-          rosdistro: ${{ matrix.rosdistro }}
-          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: ${{ matrix.build-depends-repos }}
diff --git a/.github/workflows/dispatch-release-note.yaml b/.github/workflows/dispatch-release-note.yaml
new file mode 100644
index 0000000000..89356b6abd
--- /dev/null
+++ b/.github/workflows/dispatch-release-note.yaml
@@ -0,0 +1,44 @@
+name: dispatch-release-note
+on:
+  push:
+    branches:
+      - beta/v*
+      - tier4/main
+    tags:
+      - v*
+  workflow_dispatch:
+    inputs:
+      beta-branch-or-tag-name:
+        description: The name of the beta branch or tag to write release note
+        type: string
+        required: true
+jobs:
+  dispatch-release-note:
+    runs-on: ubuntu-latest
+    name: release-repository-dispatch
+    steps:
+      - name: Set ref name
+        id: set-ref-name
+        run: |
+          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
+            REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}"
+          else
+            REF_NAME="${{ github.ref_name }}"
+          fi
+          echo ::set-output name=ref-name::"${{ github.repository }}/'$REF_NAME'"
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Repository dispatch for release note
+        run: |
+          curl \
+          -X POST \
+          -H "Accept: application/vnd.github+json" \
+          -H "Authorization: token ${{ steps.generate-token.outputs.token }}" \
+          -H "X-GitHub-Api-Version: 2022-11-28" \
+          "https://api.github.com/repos/tier4/update-release-notes/dispatches" \
+          -d '{"event_type":"${{ steps.set-ref-name.outputs.ref-name }}"}'
diff --git a/.github/workflows/sync-awf-latest.yaml b/.github/workflows/sync-awf-latest.yaml
new file mode 100644
index 0000000000..7a5f79acaa
--- /dev/null
+++ b/.github/workflows/sync-awf-latest.yaml
@@ -0,0 +1,30 @@
+name: sync-awf-latest
+
+on:
+  schedule:
+    - cron: 50 */1 * * * # every 1 hour (**:50)
+  workflow_dispatch:
+
+jobs:
+  sync-awf-latest:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: awf-latest
+          sync-pr-branch: sync-awf-latest
+          sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
+          sync-target-branch: main
+          pr-title: "chore: sync awf-latest"
+          pr-labels: |
+            bot
+          auto-merge-method: merge
diff --git a/.github/workflows/sync-awf-upstream.yaml b/.github/workflows/sync-awf-upstream.yaml
new file mode 100644
index 0000000000..3a8dd05797
--- /dev/null
+++ b/.github/workflows/sync-awf-upstream.yaml
@@ -0,0 +1,53 @@
+name: sync-awf-upstream
+
+on:
+  workflow_dispatch:
+    inputs:
+      target_branch:
+        description: Target branch
+        required: true
+        type: string
+
+jobs:
+  sync-awf-upstream:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - uses: actions/setup-node@v3
+        with:
+          node-version: 16
+
+      - run: npm install @holiday-jp/holiday_jp
+
+      - uses: actions/github-script@v6
+        id: is-holiday
+        with:
+          script: |
+            const holiday_jp = require(`${process.env.GITHUB_WORKSPACE}/node_modules/@holiday-jp/holiday_jp`)
+            core.setOutput('holiday', holiday_jp.isHoliday(new Date()));
+
+      - name: Print warning for invalid branch name
+        if: ${{ inputs.target_branch  == 'tier4/main' }}
+        run: |
+          echo This action cannot be performed on 'tier4/main' branch
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        if: ${{ inputs.target_branch  != 'tier4/main' }}
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: ${{ inputs.target_branch }}
+          sync-pr-branch: sync-awf-upstream
+          sync-target-repository: https://github.com/tier4/autoware_launch.git
+          sync-target-branch: awf-latest
+          pr-title: "chore: sync tier4/autoware_launch:awf-latest"
+          pr-labels: |
+            bot
+            sync-awf-upstream
+          auto-merge-method: merge
diff --git a/.github/workflows/sync-beta-upstream.yaml b/.github/workflows/sync-beta-upstream.yaml
new file mode 100644
index 0000000000..25b83306ca
--- /dev/null
+++ b/.github/workflows/sync-beta-upstream.yaml
@@ -0,0 +1,32 @@
+# This workflow is intended for the use in the repositories created by forking tier4/autoware_launch.
+name: sync-beta-upstream
+
+on:
+  schedule:
+    - cron: 0 20 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-tier4-upstream:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: beta/<version>
+          sync-pr-branch: sync-beta-upstream
+          sync-target-repository: https://github.com/tier4/autoware_launch.git
+          sync-target-branch: beta/<version>
+          pr-title: "chore: sync beta upstream"
+          pr-labels: |
+            bot
+            sync-tier4-upstream
+          auto-merge-method: merge
diff --git a/.github/workflows/sync-tier4-upstream-up-to-tag.yaml b/.github/workflows/sync-tier4-upstream-up-to-tag.yaml
new file mode 100644
index 0000000000..f85b58a2fa
--- /dev/null
+++ b/.github/workflows/sync-tier4-upstream-up-to-tag.yaml
@@ -0,0 +1,92 @@
+# This workflow is intended for the use in the repositories created by forking tier4/autoware_launch.
+name: sync-tier4-upstream-up-to-tag
+
+on:
+  workflow_dispatch:
+    inputs:
+      sync-target-tag:
+        description: sync target tag like v0.24.0
+        required: true
+        type: string
+        default: ""
+
+jobs:
+  sync-tier4-upstream-up-to-tag:
+    runs-on: ubuntu-latest
+    env:
+      BASE_BRANCH: tier4/main
+      SYNC_TARGET_REPOSITORY: https://github.com/tier4/autoware_launch.git
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ env.BASE_BRANCH }}
+          fetch-depth: 0
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+
+      - name: Sync tag
+        run: |
+          git remote add sync-target ${{ env.SYNC_TARGET_REPOSITORY }}
+          git fetch -pPtf --all
+          git reset --hard "${{ inputs.sync-target-tag }}"
+          git remote rm sync-target
+        shell: bash
+
+      - name: Generate changelog
+        id: generate-changelog
+        uses: autowarefoundation/autoware-github-actions/generate-changelog@v1
+        with:
+          git-cliff-args: origin/${{ env.BASE_BRANCH }}..HEAD
+
+      - name: Replace PR number to URL
+        id: replace-pr-number-to-url
+        run: |
+          # Output multiline strings: https://docs.github.com/en/actions/using-workflows/workflow-commands-for-github-actions#example-of-a-multiline-string
+          changelog=$(echo "$CHANGELOG" | sed -r "s|\(#([0-9]+)\)|("${REPO_URL%.git}"/pull/\1)|g")
+          EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
+          echo "changelog<<$EOF" >> $GITHUB_OUTPUT
+          echo "$changelog" >> $GITHUB_OUTPUT
+          echo "$EOF" >> $GITHUB_OUTPUT
+        env:
+          CHANGELOG: ${{ steps.generate-changelog.outputs.changelog }}
+          REPO_URL: ${{ env.SYNC_TARGET_REPOSITORY }}
+        shell: bash
+
+      - name: Create PR
+        id: create-pr
+        uses: peter-evans/create-pull-request@v6
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base: ${{ env.BASE_BRANCH }}
+          branch: sync-tier4-upstream-${{ inputs.sync-target-tag }}
+          title: "chore: sync upstream up to ${{ inputs.sync-target-tag }}"
+          body: ${{ steps.replace-pr-number-to-url.outputs.changelog }}
+          labels: |
+            bot
+            sync-tier4-upstream
+          author: github-actions <github-actions@github.com>
+          signoff: true
+          delete-branch: true
+
+      - name: Check outputs
+        run: |
+          echo "Pull Request Number - ${{ steps.create-pr.outputs.pull-request-number }}"
+          echo "Pull Request URL - ${{ steps.create-pr.outputs.pull-request-url }}"
+
+      - name: Enable auto-merge
+        if: ${{ steps.create-pr.outputs.pull-request-operation == 'created' }}
+        run: gh pr merge --merge --auto "${{ steps.create-pr.outputs.pull-request-number }}"
+        shell: bash
+        env:
+          GITHUB_TOKEN: ${{ steps.generate-token.outputs.token }}
diff --git a/.github/workflows/sync-tier4-upstream.yaml b/.github/workflows/sync-tier4-upstream.yaml
new file mode 100644
index 0000000000..b97a9bab28
--- /dev/null
+++ b/.github/workflows/sync-tier4-upstream.yaml
@@ -0,0 +1,32 @@
+# This workflow is intended for the use in the repositories created by forking tier4/autoware_launch.
+name: sync-tier4-upstream
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-tier4-upstream:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: tier4/main
+          sync-pr-branch: sync-tier4-upstream
+          sync-target-repository: https://github.com/tier4/autoware_launch.git
+          sync-target-branch: tier4/main
+          pr-title: "chore: sync upstream"
+          pr-labels: |
+            bot
+            sync-tier4-upstream
+          auto-merge-method: merge
diff --git a/NOTICE b/NOTICE
deleted file mode 100644
index 102575d7d8..0000000000
--- a/NOTICE
+++ /dev/null
@@ -1,8 +0,0 @@
-autowarefoundation/autoware_launch
-Copyright 2021 The Autoware Foundation
-
-This product includes software developed at
-The Autoware Foundation (https://www.autoware.org/).
-
-This product includes code developed by TIER IV.
-Copyright 2020 TIER IV, Inc.
diff --git a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
index e97df8f7b6..e0927116ff 100644
--- a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
+++ b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
@@ -2,7 +2,7 @@
   ros__parameters:
       devices: ["*"]
       monitor_program: "greengrass"
-      enable_traffic_monitor: true
+      enable_traffic_monitor: false
       crc_error_check_duration: 1
       crc_error_count_threshold: 1
       reassembles_failed_check_duration: 1