diff --git a/.github/actions/build-and-test/action.yaml b/.github/actions/build-and-test/action.yaml
new file mode 100644
index 0000000000000..5f77209da960c
--- /dev/null
+++ b/.github/actions/build-and-test/action.yaml
@@ -0,0 +1,53 @@
+name: build-and-test
+description: Reusable action for building and testing the repository
+inputs:
+  build-depends-repos:
+    description: Repositories for build dependencies
+    required: true
+  rosdistro:
+    description: ROS distribution
+    required: true
+
+runs:
+  using: composite
+  steps:
+    - name: Show disk space before the tasks
+      shell: bash
+      run: df -h
+
+    - 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
+      if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+      uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+      with:
+        rosdistro: ${{ inputs.rosdistro }}
+        target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+        build-depends-repos: ${{ inputs.build-depends-repos }}
+
+    - name: Test
+      if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+      id: test
+      uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+      with:
+        rosdistro: ${{ inputs.rosdistro }}
+        target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+        build-depends-repos: ${{ inputs.build-depends-repos }}
+
+    - name: Upload coverage to CodeCov
+      if: ${{ steps.test.outputs.coverage-report-files != '' }}
+      uses: codecov/codecov-action@v3
+      with:
+        files: ${{ steps.test.outputs.coverage-report-files }}
+        fail_ci_if_error: false
+        verbose: true
+        flags: total
+
+    - name: Show disk space after the tasks
+      shell: bash
+      run: df -h
diff --git a/.github/workflows/build-and-test-arm64.yaml b/.github/workflows/build-and-test-arm64.yaml
deleted file mode 100644
index c9a4b46874e18..0000000000000
--- a/.github/workflows/build-and-test-arm64.yaml
+++ /dev/null
@@ -1,55 +0,0 @@
-name: build-and-test-arm64
-
-on:
-  schedule:
-    - cron: 0 0 * * *
-  workflow_dispatch:
-
-jobs:
-  build-and-test-arm64:
-    runs-on: [self-hosted, linux, ARM64]
-    container: ${{ matrix.container }}${{ matrix.container-suffix }}
-    strategy:
-      fail-fast: false
-      matrix:
-        rosdistro:
-          - humble
-        container-suffix:
-          - ""
-          - -cuda
-        include:
-          - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
-            build-depends-repos: build_depends.repos
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v4
-
-      - name: Show disk space before the tasks
-        run: df -h
-
-      - 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
-        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
-        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 }}
-
-      - name: Test
-        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
-        with:
-          rosdistro: ${{ matrix.rosdistro }}
-          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: ${{ matrix.build-depends-repos }}
-
-      - name: Show disk space after the tasks
-        run: df -h
diff --git a/.github/workflows/build-and-test-cuda.yaml b/.github/workflows/build-and-test-cuda.yaml
new file mode 100644
index 0000000000000..8fe34b3ced52a
--- /dev/null
+++ b/.github/workflows/build-and-test-cuda.yaml
@@ -0,0 +1,33 @@
+name: build-and-test-cuda
+
+on:
+  pull_request:
+    types: [opened, labeled, unlabeled, synchronize]
+  push:
+    branches:
+      - main
+
+jobs:
+  build-and-test-cuda:
+    runs-on: [self-hosted, linux, X64]
+    container: ${{ matrix.container }}${{ matrix.container-suffix }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - humble
+        container-suffix:
+          - -cuda
+        include:
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
+            build-depends-repos: build_depends.repos
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Build and Test
+        uses: ./.github/actions/build-and-test
+        with:
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+          rosdistro: ${{ matrix.rosdistro }}
diff --git a/.github/workflows/build-and-test-daily-arm64.yaml b/.github/workflows/build-and-test-daily-arm64.yaml
new file mode 100644
index 0000000000000..e60e148ae3814
--- /dev/null
+++ b/.github/workflows/build-and-test-daily-arm64.yaml
@@ -0,0 +1,34 @@
+name: build-and-test-daily-arm64
+
+on:
+  pull_request:
+    types: [opened, labeled, unlabeled, synchronize]
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  build-and-test-daily-arm64:
+    runs-on: [self-hosted, linux, ARM64]
+    container: ${{ matrix.container }}${{ matrix.container-suffix }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - humble
+        container-suffix:
+          - ""
+          - -cuda
+        include:
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
+            build-depends-repos: build_depends.repos
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Build and Test
+        uses: ./.github/actions/build-and-test
+        with:
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+          rosdistro: ${{ matrix.rosdistro }}
diff --git a/.github/workflows/build-and-test-daily.yaml b/.github/workflows/build-and-test-daily.yaml
new file mode 100644
index 0000000000000..136368f5bee13
--- /dev/null
+++ b/.github/workflows/build-and-test-daily.yaml
@@ -0,0 +1,34 @@
+name: build-and-test-daily
+
+on:
+  pull_request:
+    types: [opened, labeled, unlabeled, synchronize]
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  build-and-test-daily:
+    runs-on: [self-hosted, linux, X64]
+    container: ${{ matrix.container }}${{ matrix.container-suffix }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - humble
+        container-suffix:
+          - ""
+          - -cuda
+        include:
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
+            build-depends-repos: build_depends.repos
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Build and Test
+        uses: ./.github/actions/build-and-test
+        with:
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+          rosdistro: ${{ matrix.rosdistro }}
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
deleted file mode 100644
index 85c531a02fca9..0000000000000
--- a/.github/workflows/build-and-test.yaml
+++ /dev/null
@@ -1,67 +0,0 @@
-name: build-and-test
-
-on:
-  push:
-  schedule:
-    - cron: 0 0 * * *
-  workflow_dispatch:
-
-jobs:
-  build-and-test:
-    if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
-    runs-on: [self-hosted, linux, X64]
-    container: ${{ matrix.container }}${{ matrix.container-suffix }}
-    strategy:
-      fail-fast: false
-      matrix:
-        rosdistro:
-          - humble
-        container-suffix:
-          - ""
-          - -cuda
-        include:
-          - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
-            build-depends-repos: build_depends.repos
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v4
-
-      - name: Show disk space before the tasks
-        run: df -h
-
-      - 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
-        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
-        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 }}
-
-      - name: Test
-        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
-        id: test
-        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
-        with:
-          rosdistro: ${{ matrix.rosdistro }}
-          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: ${{ matrix.build-depends-repos }}
-
-      - name: Upload coverage to CodeCov
-        if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v3
-        with:
-          files: ${{ steps.test.outputs.coverage-report-files }}
-          fail_ci_if_error: false
-          verbose: true
-          flags: total
-
-      - name: Show disk space after the tasks
-        run: df -h