diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index 65f8a74dafb..6ca62218712 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -101,7 +101,7 @@ runs:
         bake-target: docker-metadata-action-base
         flavor: |
           latest=false
-          suffix=-base
+          suffix=-base${{ inputs.tag-suffix }}
 
     - name: Docker meta for autoware-core
       id: meta-autoware-core
diff --git a/ansible/playbooks/openadkit.yaml b/ansible/playbooks/openadkit.yaml
index 46a8757229f..5cfa0408d58 100644
--- a/ansible/playbooks/openadkit.yaml
+++ b/ansible/playbooks/openadkit.yaml
@@ -26,16 +26,16 @@
       when: module == 'base'
     - role: autoware.dev_env.pacmod
       when: module == 'base'
+    - role: autoware.dev_env.cuda
+      when: module == 'base' and prompt_install_nvidia=='y'
+    - role: autoware.dev_env.tensorrt
+      when: module == 'base' and prompt_install_nvidia=='y'
     - role: autoware.dev_env.build_tools
       when: module == 'all' and install_devel=='y'
 
     # Module specific dependencies
     - role: autoware.dev_env.geographiclib
       when: module == 'perception-localization' or module == 'all'
-    - role: autoware.dev_env.cuda
-      when: (module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
-    - role: autoware.dev_env.tensorrt
-      when: (module == 'perception-localization' or module == 'all') and prompt_install_nvidia=='y'
 
     # Development environment
     - role: autoware.dev_env.dev_tools
diff --git a/ansible/roles/artifacts/tasks/main.yaml b/ansible/roles/artifacts/tasks/main.yaml
index 3356431e370..c46bf3aed2f 100644
--- a/ansible/roles/artifacts/tasks/main.yaml
+++ b/ansible/roles/artifacts/tasks/main.yaml
@@ -174,13 +174,13 @@
     mode: "644"
     checksum: sha256:ad66a061d61449af671bd0d14c2c407f0d749753f17f3165287857f686c4fd1a
 
-- name: Download lidar_transfusion/transfusion.param.yaml
+- name: Download lidar_transfusion/transfusion_ml_package.param.yaml
   become: true
   ansible.builtin.get_url:
-    url: https://awf.ml.dev.web.auto/perception/models/transfusion/t4xx1_90m/v2/transfusion.param.yaml
-    dest: "{{ data_dir }}/lidar_transfusion/transfusion.param.yaml"
+    url: https://awf.ml.dev.web.auto/perception/models/transfusion/t4xx1_90m/v2/transfusion_ml_package.param.yaml
+    dest: "{{ data_dir }}/lidar_transfusion/transfusion_ml_package.param.yaml"
     mode: "644"
-    checksum: sha256:fdd8dd21b7c1c0f9a15119fa6a79565f927ce8f6bac4ddf095cb7e27672cb3d8
+    checksum: sha256:476f7727adc17a823962f2e09ba23d40f3116c50be48361d98179d054cd131b6
 
 - name: Download lidar_transfusion/detection_class_remapper.param.yaml
   become: true
diff --git a/docker/Dockerfile b/docker/Dockerfile
index f6c7153e2a0..37546ea600f 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -4,6 +4,7 @@ ARG BASE_IMAGE
 FROM $BASE_IMAGE AS base
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
+ARG SETUP_ARGS
 
 # Install apt packages and add GitHub to known hosts for private repositories
 RUN rm -f /etc/apt/apt.conf.d/docker-clean \
@@ -24,7 +25,7 @@ WORKDIR /autoware
 # Set up base environment
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module base --runtime openadkit \
+  ./setup-dev-env.sh -y --module base ${SETUP_ARGS} --no-cuda-drivers --runtime openadkit \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache \
   && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
@@ -58,6 +59,18 @@ RUN rosdep update && rosdep keys --ignore-src --from-paths src \
     | sort \
     > /rosdep-core-depend-packages.txt \
     && cat /rosdep-core-depend-packages.txt
+COPY src/universe/external /autoware/src/universe/external
+COPY src/universe/autoware.universe/common /autoware/src/universe/autoware.universe/common
+# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8695 is resolved
+COPY src/universe/autoware.universe/simulator/dummy_perception_publisher /autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher
+COPY src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils /autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils
+RUN rosdep keys --ignore-src --from-paths src \
+    | xargs rosdep resolve --rosdistro ${ROS_DISTRO} \
+    | grep -v '^#' \
+    | sed 's/ \+/\n/g'\
+    | sort \
+    > /rosdep-universe-common-depend-packages.txt \
+    && cat /rosdep-universe-common-depend-packages.txt
 COPY src/launcher /autoware/src/launcher
 COPY src/param /autoware/src/param
 COPY src/sensor_component /autoware/src/sensor_component
@@ -82,13 +95,12 @@ RUN rosdep keys --dependency-types=exec --ignore-src --from-paths src \
 FROM base AS autoware-core
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
-ARG SETUP_ARGS
 ENV CCACHE_DIR="/root/.ccache"
 
 # Set up development environment
 RUN --mount=type=ssh \
   --mount=type=cache,target=/var/cache/apt,sharing=locked \
-  ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --no-cuda-drivers openadkit \
+  ./setup-dev-env.sh -y --module all openadkit \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && rm -rf "$HOME"/.cache
 
@@ -113,10 +125,41 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
   && du -sh ${CCACHE_DIR} && ccache -s \
   && rm -rf /autoware/build
 
-FROM autoware-core AS autoware-universe
+FROM autoware-core AS autoware-universe-common
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ENV CCACHE_DIR="/root/.ccache"
+
+# Install rosdep dependencies
+COPY --from=rosdep-depend /rosdep-universe-common-depend-packages.txt /tmp/rosdep-universe-common-depend-packages.txt
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+  apt-get update \
+  && cat /tmp/rosdep-universe-common-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8695 is resolved
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=${CCACHE_DIR} \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/common,target=/autoware/src/universe/autoware.universe/common \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher,target=/autoware/src/universe/autoware.universe/simulator/dummy_perception_publisher \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils,target=/autoware/src/universe/autoware.universe/vehicle/autoware_vehicle_info_utils \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/external,target=/autoware/src/universe/external \
+  source /opt/ros/"$ROS_DISTRO"/setup.bash \
+  && source /opt/autoware/setup.bash \
+  && du -sh ${CCACHE_DIR} && ccache -s \
+  && colcon build --cmake-args \
+    " -Wno-dev" \
+    " --no-warn-unused-cli" \
+    --merge-install \
+    --install-base /opt/autoware \
+    --mixin release compile-commands ccache \
+  && du -sh ${CCACHE_DIR} && ccache -s \
+  && rm -rf /autoware/build
+
+FROM autoware-universe-common AS autoware-universe
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 ARG ROS_DISTRO
-ARG SETUP_ARGS
 ENV CCACHE_DIR="/root/.ccache"
 
 # Install rosdep dependencies
@@ -127,14 +170,24 @@ RUN --mount=type=ssh \
   && cat /tmp/rosdep-universe-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
-# Build Autoware
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=${CCACHE_DIR} \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/launcher,target=/autoware/src/launcher \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/param,target=/autoware/src/param \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/sensor_component,target=/autoware/src/sensor_component \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/sensor_kit,target=/autoware/src/sensor_kit \
-  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe,target=/autoware/src/universe \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/evaluator,target=/autoware/src/universe/autoware.universe/evaluator \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/launch,target=/autoware/src/universe/autoware.universe/launch \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/localization,target=/autoware/src/universe/autoware.universe/localization \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/map,target=/autoware/src/universe/autoware.universe/map \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/perception,target=/autoware/src/universe/autoware.universe/perception \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/sensing,target=/autoware/src/universe/autoware.universe/sensing \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/simulator,target=/autoware/src/universe/autoware.universe/simulator \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/system,target=/autoware/src/universe/autoware.universe/system \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/tools,target=/autoware/src/universe/autoware.universe/tools \
+  --mount=type=bind,from=rosdep-depend,source=/autoware/src/universe/autoware.universe/vehicle,target=/autoware/src/universe/autoware.universe/vehicle \
   --mount=type=bind,from=rosdep-depend,source=/autoware/src/vehicle,target=/autoware/src/vehicle \
   source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && source /opt/autoware/setup.bash \