diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 59cb84743d3..765564beaf4 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -1 +1,6 @@
 * ryohsuke.mitsudome@tier4.jp mfc@leodrive.ai
+
+.devcontainer/** oguzkaganozt@gmail.com yutaka.kondo@tier4.jp
+.github/** oguzkaganozt@gmail.com yutaka.kondo@tier4.jp
+ansible/** oguzkaganozt@gmail.com yutaka.kondo@tier4.jp
+docker/** oguzkaganozt@gmail.com yutaka.kondo@tier4.jp
diff --git a/.github/DISCUSSION_TEMPLATE/general.yaml b/.github/DISCUSSION_TEMPLATE/general.yaml
new file mode 100644
index 00000000000..65c1f894927
--- /dev/null
+++ b/.github/DISCUSSION_TEMPLATE/general.yaml
@@ -0,0 +1,13 @@
+body:
+  - type: checkboxes
+    attributes:
+      label: Code of Conduct
+      options:
+        - label: I have read [CODE OF CONDUCT](https://github.com/autowarefoundation/autoware/blob/main/CODE_OF_CONDUCT.md) and [Support Guidelines](https://autowarefoundation.github.io/autoware-documentation/main/support/support-guidelines/#github-discussions) before creating this Discussion post.
+          required: true
+  - type: textarea
+    attributes:
+      label: Contents
+      description: Write your contents here
+    validations:
+      required: true
diff --git a/.github/workflows/build-main-self-hosted.yaml b/.github/workflows/build-main-self-hosted.yaml
index 9e85f01bd3e..c0fbe3f21b6 100644
--- a/.github/workflows/build-main-self-hosted.yaml
+++ b/.github/workflows/build-main-self-hosted.yaml
@@ -44,9 +44,25 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
+      - name: Install vcstool
+        run: |
+          sudo apt-get -y update
+          sudo apt-get -y install python3-pip
+          pip install --no-cache-dir vcstool
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
+      - name: Run vcs import
+        run: |
+          mkdir src
+          vcs import src < autoware.repos
+
       - name: Build 'autoware-universe'
         uses: ./.github/actions/docker-build-and-push
         with:
diff --git a/.github/workflows/build-main.yaml b/.github/workflows/build-main.yaml
index 1c8123f360e..5beada55314 100644
--- a/.github/workflows/build-main.yaml
+++ b/.github/workflows/build-main.yaml
@@ -39,9 +39,25 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
+      - name: Install vcstool
+        run: |
+          sudo apt-get -y update
+          sudo apt-get -y install python3-pip
+          pip install --no-cache-dir vcstool
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
+      - name: Run vcs import
+        run: |
+          mkdir src
+          vcs import src < autoware.repos
+
       - name: Build 'autoware-universe'
         uses: ./.github/actions/docker-build-and-push
         with:
diff --git a/.pre-commit-config-ansible.yaml b/.pre-commit-config-ansible.yaml
index ab1f794f0ba..f3538d8674f 100644
--- a/.pre-commit-config-ansible.yaml
+++ b/.pre-commit-config-ansible.yaml
@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/ansible/ansible-lint.git
-    rev: v24.2.2
+    rev: v24.5.0
     hooks:
       - id: ansible-lint
         additional_dependencies:
diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml
index b2d8c5e8059..8c9345e15f0 100644
--- a/.pre-commit-config-optional.yaml
+++ b/.pre-commit-config-optional.yaml
@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.12.1
+    rev: v3.12.2
     hooks:
       - id: markdown-link-check
         args: [--quiet, --config=.markdown-link-check.json]
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 45fc38bf941..26c5585f4fc 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -17,7 +17,7 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.39.0
+    rev: v0.41.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
@@ -44,7 +44,7 @@ repos:
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/AleksaC/hadolint-py
-    rev: v2.12.1-beta
+    rev: v2.12.1b3
     hooks:
       - id: hadolint
 
diff --git a/ansible/roles/artifacts/tasks/main.yaml b/ansible/roles/artifacts/tasks/main.yaml
index 364a1a400bc..b4ba47e673e 100644
--- a/ansible/roles/artifacts/tasks/main.yaml
+++ b/ansible/roles/artifacts/tasks/main.yaml
@@ -213,6 +213,30 @@
     mode: "644"
     checksum: sha256:3540a365bfd6d8afb1b5d8df4ec47f82cb984760d3270c9b41dbbb3422d09a0c
 
+- name: Download tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx"
+    mode: "644"
+    checksum: sha256:73b3812432cedf65cebf02ca4cb630542fc3b1671c4c0fbf7cee50fa38e416a8
+
+- name: Download tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table
+    dest: "{{ data_dir }}/tensorrt_yolox/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table"
+    mode: "644"
+    checksum: sha256:28cd6524d4bcdb2809592a225d28330433e58dc02c92169ea555b44c1a51a584
+
+- name: Download tensorrt_yolox/semseg_color_map.csv
+  become: true
+  ansible.builtin.get_url:
+    url: https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/semseg_color_map.csv
+    dest: "{{ data_dir }}/tensorrt_yolox/semseg_color_map.csv"
+    mode: "644"
+    checksum: sha256:3d93ca05f31b63424d7d7246a01a2365953705a0ed3323ba5b6fddd744a4bfea
+
 # traffic_light_classifier
 - name: Create traffic_light_classifier directory inside {{ data_dir }}
   ansible.builtin.file:
diff --git a/ansible/roles/rmw_implementation/tasks/main.yaml b/ansible/roles/rmw_implementation/tasks/main.yaml
index bdbb7fa8a01..e37b94c3146 100644
--- a/ansible/roles/rmw_implementation/tasks/main.yaml
+++ b/ansible/roles/rmw_implementation/tasks/main.yaml
@@ -3,12 +3,25 @@
   register: rmw_implementation__dash_case_rmw_implementation
   changed_when: false
 
+- name: Hold check of ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}
+  ansible.builtin.command: apt-mark showhold
+  register: held_ros_packages
+  changed_when: false
+
 - name: Install ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}
   become: true
   ansible.builtin.apt:
     name: ros-{{ rosdistro }}-{{ rmw_implementation__dash_case_rmw_implementation.stdout }}
     state: latest
     update_cache: true
+  when: "'ros-' + rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout not in held_ros_packages.stdout"
+  register: install_result
+  failed_when: false
+
+- name: Display warning if ROS 2 RMW package is held
+  ansible.builtin.debug:
+    msg: ROS 2 RMW package 'ros-{{ rosdistro + '-' + rmw_implementation__dash_case_rmw_implementation.stdout }}' is apt-mark hold. Skipping installation.
+  when: not install_result.changed
 
 - name: Add RMW_IMPLEMENTATION to .bashrc
   ansible.builtin.lineinfile:
diff --git a/docker/run.sh b/docker/run.sh
index 9bc81ac4f34..e26bd5c4a37 100755
--- a/docker/run.sh
+++ b/docker/run.sh
@@ -101,7 +101,7 @@ set_variables() {
         exit 1
     fi
 
-    # Mount data path if provided
+    # Mount data path
     DATA="-v ${DATA_PATH}:/autoware_data:ro"
 
     # Mount map path if provided