diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml
index f9d0fdb12e5..ededd8635fa 100644
--- a/.github/workflows/BuildAndRun.yaml
+++ b/.github/workflows/BuildAndRun.yaml
@@ -6,14 +6,14 @@ on:
     - cron: 0 0 * * *
   pull_request:
     paths:
-      - "**"
-      - "!docs/**"
-      - "!README.md"
-      - "!.github/**"
-      - ".github/workflows/BuildAndRun.yaml"
-      - "!mkdocs.yml"
-      - "!pyproject.toml"
-      - "!poetry.lock"
+      - '**'
+      - '!docs/**'
+      - '!README.md'
+      - '!.github/**'
+      - '.github/workflows/BuildAndRun.yaml'
+      - '!mkdocs.yml'
+      - '!pyproject.toml'
+      - '!poetry.lock'
   push:
     branches:
       - master
@@ -31,20 +31,15 @@ jobs:
         rosdistro: [humble]
     steps:
       - name: Suppress warnings
-        run: git config --global --add safe.directory '*'
-
-      - name: Setup workspace
-        run: mkdir -p src/scenario_simulator_v2
+        run: |
+          git config --global --add safe.directory '*'
 
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v2-beta
         with:
           fetch-depth: 0
-          path: src/scenario_simulator_v2
+          token: ${{ secrets.GITHUB_TOKEN }}
 
-      - uses: actions/checkout@v4
-        with:
-          repository: RobotecAI/scenario_simulator_v2_scenarios
-          path: src/scenario_simulator_v2_scenarios
+      - run: git clone https://github.com/RobotecAI/scenario_simulator_v2_scenarios.git
 
       - name: Search packages in this repository
         id: list_packages
@@ -55,14 +50,22 @@ jobs:
         run: |
           echo "Target packages: ${{ steps.list_packages.outputs.package_list }}"
 
+      - name: Copy repository
+        run: |
+          mkdir -p ~/ros2_ws/src/scenario_simulator_v2
+          cp -rf . ~/ros2_ws/src/scenario_simulator_v2
+        shell: bash
+
       - name: Install dependencies
         run: |
+          cd ~/ros2_ws
           vcs import src < src/scenario_simulator_v2/dependency_${{ matrix.rosdistro }}.repos
 
       - name: Resolve rosdep
         run: |
-          apt-get update
-          apt-get install -y python3-pip
+          cd ~/ros2_ws
+          apt update
+          apt install -y python3-pip
           rosdep update --include-eol-distros
           rosdep install -iy --from-paths src --rosdistro ${{ matrix.rosdistro }}
         shell: bash
@@ -70,12 +73,14 @@ jobs:
       - name: Build packages
         run: |
           source /opt/ros/${{ matrix.rosdistro }}/setup.bash
+          cd ~/ros2_ws
           colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_CPP_MOCK_SCENARIOS=ON --packages-up-to ${{ steps.list_packages.outputs.package_list }}
         shell: bash
 
       - name: Colcon test
         run: |
           source /opt/ros/${{ matrix.rosdistro }}/setup.bash
+          cd ~/ros2_ws
           source install/local_setup.bash
           colcon test --packages-select ${{ steps.list_packages.outputs.package_list }}
         shell: bash
@@ -84,22 +89,23 @@ jobs:
         if: always()
         run: |
           source /opt/ros/${{ matrix.rosdistro }}/setup.bash
+          cd ~/ros2_ws
           source install/local_setup.bash
           colcon test-result --verbose
         shell: bash
 
       - name: Scenario test
         run: |
-          source install/setup.bash
-          source install/local_setup.bash
+          source ~/ros2_ws/install/setup.bash
+          source ~/ros2_ws/install/local_setup.bash
           ros2 launch scenario_test_runner scenario_test_runner.launch.py workflow:='$(find-pkg-share scenario_test_runner)/config/workflow_example.yaml' global_frame_rate:=20
           ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml
         shell: bash
 
       - name: Basic test
         run: |
-          source install/setup.bash
-          source install/local_setup.bash
+          source ~/ros2_ws/install/setup.bash
+          source ~/ros2_ws/install/local_setup.bash
           ros2 launch scenario_test_runner scenario_test_runner.launch.py workflow:='$(find-pkg-share scenario_simulator_v2_scenarios)/workflow/basic.yaml'
           ros2 run scenario_test_runner result_checker.py /tmp/scenario_test_runner/result.junit.xml
         shell: bash
diff --git a/.github/workflows/CheckBranchUpToDate.yaml b/.github/workflows/CheckBranchUpToDate.yaml
index 22fae54e25b..a161bf643d9 100644
--- a/.github/workflows/CheckBranchUpToDate.yaml
+++ b/.github/workflows/CheckBranchUpToDate.yaml
@@ -13,11 +13,10 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v2
         with:
           fetch-depth: 0
           fetch-tags: true
-
       - name: Check if branches are up to date
         shell: bash
         run: |
diff --git a/.github/workflows/Documentation.yaml b/.github/workflows/Documentation.yaml
index 083f5216f78..627f83143bd 100644
--- a/.github/workflows/Documentation.yaml
+++ b/.github/workflows/Documentation.yaml
@@ -16,36 +16,28 @@ jobs:
     name: Generate documentation
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v4
-
+      - uses: actions/checkout@v2-beta
       - name: Setup Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
+        uses: docker/setup-buildx-action@v2
       - name: run protoc-gen-doc
         run: docker run --rm -v $(pwd)/simulation/simulation_interface/proto/:/protos -v $(pwd)/docs/proto_doc:/out pseudomuto/protoc-gen-doc --doc_opt=markdown,protobuf.md
-
       - name: Set up Python
         uses: actions/setup-python@v4
         with:
           python-version: "3.10"
-
       - uses: abatilo/actions-poetry@v2
         with:
           poetry-version: "1.5.1"
-
       - name: install
         run: poetry install --no-interaction
-
       - name: Generate documentation
         run: poetry run mkdocs build
-
       - name: Upload Artifact
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v2
         with:
           name: site
           path: site
           retention-days: 1
-
       - name: Publish Documentation
         if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || github.event_name == 'workflow_dispatch'}}
         uses: peaceiris/actions-gh-pages@v3
@@ -54,26 +46,21 @@ jobs:
           publish_dir: site
           keep_files: false
           external_repository: tier4/scenario_simulator_v2-docs
-
-  generate_api_document:
+  generate_api_document: 
     name: Generate API documentation
     runs-on: ubuntu-22.04
     steps:
-      - uses: actions/checkout@v4
-
+      - uses: actions/checkout@v2-beta
       - name: Install doxygen
-        run: sudo apt-get install -y doxygen
-
+        run: sudo apt install -y doxygen
       - name: Build document
         run: doxygen Doxyfile
-
       - name: Upload Artifact
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v2
         with:
           name: api_documentation_site
           path: html
           retention-days: 1
-
       - name: Publish Documentation
         if: ${{ github.event_name == 'push' || github.event_name == 'schedule' || github.event_name == 'workflow_dispatch'}}
         uses: peaceiris/actions-gh-pages@v3
diff --git a/.github/workflows/DocumentationLinkCheck.yaml b/.github/workflows/DocumentationLinkCheck.yaml
index 0d76e93ebf7..9f3479424a8 100644
--- a/.github/workflows/DocumentationLinkCheck.yaml
+++ b/.github/workflows/DocumentationLinkCheck.yaml
@@ -11,7 +11,7 @@ jobs:
   linkChecker:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v3
 
       - name: Check documentation link
         id: lychee
diff --git a/.github/workflows/InterfaceUpdateNotification.yaml b/.github/workflows/InterfaceUpdateNotification.yaml
index a04927bf4ff..fcacbeb93dc 100644
--- a/.github/workflows/InterfaceUpdateNotification.yaml
+++ b/.github/workflows/InterfaceUpdateNotification.yaml
@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - name: Add label
diff --git a/.github/workflows/LineLint.yaml b/.github/workflows/LineLint.yaml
index 3889a70f4ab..e2b4c4b8187 100644
--- a/.github/workflows/LineLint.yaml
+++ b/.github/workflows/LineLint.yaml
@@ -1,5 +1,5 @@
 name: Line lint
-on:
+on: 
   workflow_dispatch:
   push:
 
@@ -8,5 +8,5 @@ jobs:
     runs-on: ubuntu-latest
     name: Check if all files end in newline
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v2
       - uses: fernandrone/linelint@0.0.4
diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml
index 26e1b7bd86f..baed581a687 100644
--- a/.github/workflows/Release.yaml
+++ b/.github/workflows/Release.yaml
@@ -5,6 +5,7 @@ on:
       - master
     types:
       - closed
+      - created
       - edited
       - labeled
       - opened
@@ -33,17 +34,14 @@ jobs:
     steps:
       - name: Restore branch
         uses: levonet/action-restore-branch@master
-
       - name: Install bloom
         run: apt update && apt install -y python3-bloom git
-
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v2
         with:
           ref: master
           fetch-depth: 0
           fetch-tags: true
-
       - name: Setup git
         run: |
           git config --global user.name  "Release Bot"
@@ -51,47 +49,39 @@ jobs:
           git config --global --add safe.directory /__w/scenario_simulator_v2/scenario_simulator_v2
           git config --global credential.helper ${{ secrets.GITHUB_TOKEN }}
           git config pull.rebase false
-
       - name: Get old version
         id: old_version
         run: |
           echo "old_version=$(catkin_package_version)" >> $GITHUB_OUTPUT
-
       - name: Merge branch
         run: git pull origin ${{ github.head_ref }}
-
       - name: Bump patch version
         if: (contains(github.event.pull_request.labels.*.name, 'bump patch'))
         run: |
           catkin_generate_changelog -y
           catkin_tag_changelog --bump patch
           catkin_package_version --bump patch
-
       - name: Bump minor version
         if: (contains(github.event.pull_request.labels.*.name, 'bump minor'))
         run: |
           catkin_generate_changelog -y
           catkin_tag_changelog --bump minor
           catkin_package_version --bump minor
-
       - name: Bump major version
         if: (contains(github.event.pull_request.labels.*.name, 'bump major'))
         run: |
           catkin_generate_changelog -y
           catkin_tag_changelog --bump major
           catkin_package_version --bump major
-
       - name: Get new version
         id: new_version
         run: |
           echo "new_version=$(catkin_package_version)" >> $GITHUB_OUTPUT
-
       - name: Commit changes
         if: github.event.pull_request.merged == true
         run: |
           git add .
           git commit -m "Bump version of scenario_simulator_v2 from version ${{ steps.old_version.outputs.old_version }} to version ${{ steps.new_version.outputs.new_version }}"
-
       - name: Pushing to the protected branch 'master'
         if: github.event.pull_request.merged == true
         uses: CasperWA/push-protected@v2
@@ -99,7 +89,6 @@ jobs:
           token: ${{ secrets.BLOOM_GITHUB_TOKEN }}
           branch: master
           force: true
-
       - name: Get linked issues
         id: linked_issues
         uses: hossainemruz/linked-issues@main
@@ -107,7 +96,6 @@ jobs:
           pr_url: ${{github.event.pull_request.html_url}}
           format: ExternalIssueRef
         continue-on-error: true
-
       - name: Update release description
         env:
           PULL_REQUEST_BODY: ${{ github.event.pull_request.body }}
@@ -116,13 +104,11 @@ jobs:
           echo "" >> release_description.txt
           echo "# Related Issues  " >> release_description.txt
           echo "${{ steps.linked_issues.outputs.issues }}" >> release_description.txt
-
       - name: Get release description
         id: get_release_description
         uses: mathiasvr/command-output@v2.0.0
         with:
           run: cat release_description.txt
-
       - name: Create a GitHub release
         if: github.event.pull_request.merged == true
         uses: ncipollo/release-action@v1
@@ -130,7 +116,6 @@ jobs:
           tag: ${{ steps.new_version.outputs.new_version }}
           name: ${{ steps.new_version.outputs.new_version }}
           body: ${{ steps.get_release_description.outputs.stdout }}
-
       - name: Delete branch
         if: github.event.pull_request.merged == true
         uses: SvanBoxel/delete-merged-branch@main
diff --git a/.github/workflows/SimModelUpdateNotification.yaml b/.github/workflows/SimModelUpdateNotification.yaml
index ee34a04c446..49dc7a0a4c4 100644
--- a/.github/workflows/SimModelUpdateNotification.yaml
+++ b/.github/workflows/SimModelUpdateNotification.yaml
@@ -9,6 +9,10 @@ jobs:
   notify:
     runs-on: ubuntu-latest
     steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
       - name: Add comment
         run: |
           gh pr comment  "$PR_NUMBER" --edit-last --body "This PR edits vehicle model that is copied from [simple_planning_simulator](https://github.com/autowarefoundation/autoware.universe/tree/main/simulator/simple_planning_simulator). Please consider making changes to the original code to avoid confusion or consult developers (@hakuturu583, @yamacir-kit and @HansRobo )." \
diff --git a/.github/workflows/SpellCheck.yaml b/.github/workflows/SpellCheck.yaml
index 29cd2a30942..612b3e54d61 100644
--- a/.github/workflows/SpellCheck.yaml
+++ b/.github/workflows/SpellCheck.yaml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v3
 
       - name: Run spell-check
         uses: autowarefoundation/autoware-github-actions/spell-check@v1
@@ -20,3 +20,4 @@ jobs:
           local-cspell-json: .github/workflows/custom_spell.json
           dict-packages: |
             https://github.com/tier4/cspell-dicts
+          verbose: true
diff --git a/.github/workflows/SpellCheckAll.yaml b/.github/workflows/SpellCheckAll.yaml
index bacef52f9be..c3c5633773b 100644
--- a/.github/workflows/SpellCheckAll.yaml
+++ b/.github/workflows/SpellCheckAll.yaml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v3
 
       - name: Run spell-check
         uses: autowarefoundation/autoware-github-actions/spell-check@v1
@@ -21,3 +21,4 @@ jobs:
           dict-packages: |
             https://github.com/tier4/cspell-dicts
           incremental-files-only: false
+          verbose: true