diff --git a/autoware.repos b/autoware.repos
index 5911d8c321..fbb3d33201 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -41,7 +41,7 @@ repositories:
   universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
-    version: 3de19bc5b554d4cecef2240da3c33434379ccb54
+    version: 5effcb893e13be37fa813a03db6bb59e4e62d1d5
   universe/external/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git