diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
index 8109be3d7aca6..e02422a0b6f61 100644
--- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
+++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
@@ -427,7 +427,7 @@ QVBoxLayout * AutowareStatePanel::makeVelocityLimitGroup()
   CustomSlider * pub_velocity_limit_slider_ = new CustomSlider(Qt::Horizontal);
   pub_velocity_limit_slider_->setRange(0, 100);
   pub_velocity_limit_slider_->setValue(0);
-  pub_velocity_limit_slider_->setMaximumWidth(300);
+  // pub_velocity_limit_slider_->setMaximumWidth(300);
 
   connect(pub_velocity_limit_slider_, &QSlider::sliderPressed, this, [this]() {
     sliderIsDragging = true;  // User starts dragging the handle
@@ -560,18 +560,26 @@ void AutowareStatePanel::onRoute(const RouteState::ConstSharedPtr msg)
 
   if (msg->state == RouteState::SET) {
     activateButton(clear_route_button_ptr_);
+    clear_route_button_ptr_->updateStyle(
+      "Clear Route",
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()));
   } else {
-    clear_route_button_ptr_->setStyleSheet(
-      QString("QPushButton {"
-              "background-color: %1;color: %2;"
-              "border: 2px solid %3;"
-              "font-weight: bold;"
-              "}")
-        .arg(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str())
-        .arg(autoware::state_rviz_plugin::colors::default_colors.outline.c_str())
-        .arg(
-          autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()));
     deactivateButton(clear_route_button_ptr_);
+    clear_route_button_ptr_->updateStyle(
+      "Clear Route",
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()));
   }
 }
 
@@ -608,6 +616,15 @@ void AutowareStatePanel::onLocalization(const LocalizationInitializationState::C
 
   localization_icon->updateStyle(state, bgColor);
   localization_label_ptr_->setText(localization_state);
+  init_by_gnss_button_ptr_->updateStyle(
+    "Initialize with GNSS",
+    QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()),
+    QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()),
+    QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
+    QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
+    QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
+    QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
+    QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()));
 }
 
 void AutowareStatePanel::onMotion(const MotionState::ConstSharedPtr msg)
@@ -646,8 +663,26 @@ void AutowareStatePanel::onMotion(const MotionState::ConstSharedPtr msg)
 
   if (msg->state == MotionState::STARTING) {
     activateButton(accept_start_button_ptr_);
+    accept_start_button_ptr_->updateStyle(
+      "Accept Start",
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()));
   } else {
     deactivateButton(accept_start_button_ptr_);
+    accept_start_button_ptr_->updateStyle(
+      "Accept Start",
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()));
   }
 }
 
@@ -748,14 +783,18 @@ void AutowareStatePanel::onEmergencyStatus(
       QColor(autoware::state_rviz_plugin::colors::default_colors.error_container.c_str()),
       QColor(autoware::state_rviz_plugin::colors::default_colors.on_error_container.c_str()),
       QColor(autoware::state_rviz_plugin::colors::default_colors.on_error.c_str()),
-      QColor(autoware::state_rviz_plugin::colors::default_colors.on_error_container.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.on_error.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.on_error.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.error_container.c_str()),
       QColor(autoware::state_rviz_plugin::colors::default_colors.error_container.c_str()));
   } else {
     emergency_button_ptr_->updateStyle(
       "Set Emergency", QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()),
       QColor(autoware::state_rviz_plugin::colors::default_colors.on_primary.c_str()),
-      QColor(autoware::state_rviz_plugin::colors::default_colors.on_primary_container.c_str()),
-      QColor(autoware::state_rviz_plugin::colors::default_colors.on_primary.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.hover_button_bg.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.pressed_button_bg.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.checked_button_bg.c_str()),
+      QColor(autoware::state_rviz_plugin::colors::default_colors.error_container.c_str()),
       QColor(autoware::state_rviz_plugin::colors::default_colors.surface_tint.c_str()));
   }
 }
diff --git a/common/tier4_state_rviz_plugin/src/custom_button.cpp b/common/tier4_state_rviz_plugin/src/custom_button.cpp
index 7ad43190b0f41..5e641c2a30c8c 100644
--- a/common/tier4_state_rviz_plugin/src/custom_button.cpp
+++ b/common/tier4_state_rviz_plugin/src/custom_button.cpp
@@ -17,11 +17,14 @@
 
 CustomElevatedButton::CustomElevatedButton(
   const QString & text, const QColor & bgColor, const QColor & textColor, const QColor & hoverColor,
-  const QColor & disabledBgColor, const QColor & disabledTextColor, QWidget * parent)
+  const QColor & pressedColor, const QColor & checkedColor, const QColor & disabledBgColor,
+  const QColor & disabledTextColor, QWidget * parent)
 : QPushButton(text, parent),
   backgroundColor(bgColor),
   textColor(textColor),
   hoverColor(hoverColor),
+  pressedColor(pressedColor),
+  checkedColor(checkedColor),
   disabledBgColor(disabledBgColor),
   disabledTextColor(disabledTextColor)
 {
@@ -63,12 +66,15 @@ QSize CustomElevatedButton::minimumSizeHint() const
 // cppcheck-suppress unusedFunction
 void CustomElevatedButton::updateStyle(
   const QString & text, const QColor & bgColor, const QColor & textColor, const QColor & hoverColor,
-  const QColor & disabledBgColor, const QColor & disabledTextColor)
+  const QColor & pressedColor, const QColor & checkedColor, const QColor & disabledBgColor,
+  const QColor & disabledTextColor)
 {
   setText(text);
   backgroundColor = bgColor;
   this->textColor = textColor;
   this->hoverColor = hoverColor;
+  this->pressedColor = pressedColor;
+  this->checkedColor = checkedColor;
   this->disabledBgColor = disabledBgColor;
   this->disabledTextColor = disabledTextColor;
   update();  // Force repaint
@@ -89,10 +95,16 @@ void CustomElevatedButton::paintEvent(QPaintEvent *)
   if (!isEnabled()) {
     buttonColor = disabledBgColor;
     currentTextColor = disabledTextColor;
-  } else if (isHovered) {
-    buttonColor = hoverColor;
   } else {
-    buttonColor = backgroundColor;
+    if (isPressed) {
+      buttonColor = pressedColor;
+    } else if (isChecked) {
+      buttonColor = checkedColor;
+    } else if (isHovered) {
+      buttonColor = hoverColor;
+    } else {
+      buttonColor = backgroundColor;
+    }
   }
 
   int cornerRadius = height() / 2;  // Making the corner radius proportional to the height
@@ -101,8 +113,7 @@ void CustomElevatedButton::paintEvent(QPaintEvent *)
   QPainterPath backgroundPath;
   backgroundPath.addRoundedRect(r, cornerRadius, cornerRadius);
   if (!isEnabled()) {
-    painter.setBrush(
-      QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()));
+    painter.setBrush(disabledBgColor);
     painter.setOpacity(0.12);
   } else {
     painter.setBrush(buttonColor);
@@ -131,3 +142,23 @@ void CustomElevatedButton::leaveEvent(QEvent * event)
   update();
   QPushButton::leaveEvent(event);
 }
+
+void CustomElevatedButton::mousePressEvent(QMouseEvent * event)
+{
+  isPressed = true;
+  update();
+  QPushButton::mousePressEvent(event);
+}
+
+void CustomElevatedButton::mouseReleaseEvent(QMouseEvent * event)
+{
+  isPressed = false;
+  update();
+  QPushButton::mouseReleaseEvent(event);
+}
+
+void CustomElevatedButton::setChecked(bool checked)
+{
+  isChecked = checked;
+  update();
+}
diff --git a/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp b/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp
index 70f21ca1fec84..10ae20ded5b83 100644
--- a/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp
+++ b/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp
@@ -92,6 +92,8 @@ void CustomSegmentedButtonItem::paintEvent(QPaintEvent *)
   QColor buttonColor;
   if (isDisabled) {
     buttonColor = disabledBgColor;
+  } else if (isPressed) {
+    buttonColor = pressedColor;
   } else if (isHovered && !isChecked() && isCheckable()) {
     buttonColor = hoverColor;
   } else if (isActivated) {
@@ -177,3 +179,21 @@ void CustomSegmentedButtonItem::leaveEvent(QEvent * event)
   }
   QPushButton::leaveEvent(event);
 }
+
+void CustomSegmentedButtonItem::mousePressEvent(QMouseEvent * event)
+{
+  if (event->button() == Qt::LeftButton && !isDisabled) {
+    isPressed = true;
+    update();
+  }
+  QPushButton::mousePressEvent(event);
+}
+
+void CustomSegmentedButtonItem::mouseReleaseEvent(QMouseEvent * event)
+{
+  if (event->button() == Qt::LeftButton && !isDisabled) {
+    isPressed = false;
+    update();
+  }
+  QPushButton::mouseReleaseEvent(event);
+}
diff --git a/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp b/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp
index 3b58ded626439..d4dafe2493918 100644
--- a/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp
+++ b/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp
@@ -44,14 +44,31 @@ void CustomToggleSwitch::paintEvent(QPaintEvent *)
     QColor(autoware::state_rviz_plugin::colors::default_colors.outline.c_str());
   QColor checkedIndicatorColor =
     QColor(autoware::state_rviz_plugin::colors::default_colors.on_primary.c_str());
-  QColor indicatorColor = isChecked ? checkedIndicatorColor : uncheckedIndicatorColor;
+
+  QColor uncheckedHoverIndicatorColor =
+    QColor(autoware::state_rviz_plugin::colors::default_colors.surface.c_str());
+  QColor checkedHoverIndicatorColor =
+    QColor(autoware::state_rviz_plugin::colors::default_colors.primary_container.c_str());
+
+  QColor indicatorColor = isChecked
+                            ? (isHovered ? checkedHoverIndicatorColor : checkedIndicatorColor)
+                            : (isHovered ? uncheckedHoverIndicatorColor : uncheckedIndicatorColor);
 
   QColor uncheckedBgColor =
     QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str());
   QColor checkedBgColor =
     QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str());
 
-  QColor bgColor = isChecked ? checkedBgColor : uncheckedBgColor;
+  QColor uncheckedHoverBgColor =
+    QColor(autoware::state_rviz_plugin::colors::default_colors.disabled_elevated_button_bg.c_str());
+
+  QColor bgColor =
+    isChecked ? checkedBgColor : (isHovered ? uncheckedHoverBgColor : uncheckedBgColor);
+
+  // Surface color with 12% opacity for the hover circle
+  QColor hoverCircleColor =
+    QColor(autoware::state_rviz_plugin::colors::default_colors.surface.c_str());
+  hoverCircleColor.setAlpha(255 * 0.12);  // 12% opacity
 
   QRect borderR = r.adjusted(-margin, -margin, margin, margin);
   p.setBrush(bgColor);
@@ -85,3 +102,17 @@ void CustomToggleSwitch::setCheckedState(bool state)
   blockSignalsGuard = false;
   update();  // Force repaint
 }
+
+void CustomToggleSwitch::enterEvent(QEvent * event)
+{
+  isHovered = true;
+  update();
+  QCheckBox::enterEvent(event);
+}
+
+void CustomToggleSwitch::leaveEvent(QEvent * event)
+{
+  isHovered = false;
+  update();
+  QCheckBox::leaveEvent(event);
+}
diff --git a/common/tier4_state_rviz_plugin/src/include/custom_button.hpp b/common/tier4_state_rviz_plugin/src/include/custom_button.hpp
index b10663ce09933..b37ac2fbd058c 100644
--- a/common/tier4_state_rviz_plugin/src/include/custom_button.hpp
+++ b/common/tier4_state_rviz_plugin/src/include/custom_button.hpp
@@ -37,6 +37,10 @@ class CustomElevatedButton : public QPushButton
       QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()),
     const QColor & hoverColor =
       QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
+    const QColor & pressedColor =
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
+    const QColor & checkedColor =
+      QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
     const QColor & disabledBgColor =
       QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
     const QColor & disabledTextColor =
@@ -44,26 +48,37 @@ class CustomElevatedButton : public QPushButton
     QWidget * parent = nullptr);
   void updateStyle(
     const QString & text, const QColor & bgColor, const QColor & textColor,
-    const QColor & hoverColor, const QColor & disabledBgColor, const QColor & disabledTextColor);
+    const QColor & hoverColor, const QColor & pressedColor, const QColor & checkedColor,
+    const QColor & disabledBgColor, const QColor & disabledTextColor);
 
 protected:
   void paintEvent(QPaintEvent * event) override;
   void enterEvent(QEvent * event) override;
   void leaveEvent(QEvent * event) override;
+  void mousePressEvent(QMouseEvent * event) override;
+  void mouseReleaseEvent(QMouseEvent * event) override;
   QSize sizeHint() const override;
   QSize minimumSizeHint() const override;
+  // set checked state
+  void setChecked(bool checked);
 
 private:
   QColor backgroundColor =
     QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str());
   QColor textColor = QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str());
   QColor hoverColor =
-    QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str());
+    QColor(autoware::state_rviz_plugin::colors::default_colors.hover_button_bg.c_str());
+  QColor pressedColor =
+    QColor(autoware::state_rviz_plugin::colors::default_colors.pressed_button_bg.c_str());
+  QColor checkedColor =
+    QColor(autoware::state_rviz_plugin::colors::default_colors.checked_button_bg.c_str());
   QColor disabledBgColor =
     QColor(autoware::state_rviz_plugin::colors::default_colors.disabled_elevated_button_bg.c_str());
   QColor disabledTextColor =
     QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str());
   bool isHovered = false;
+  bool isPressed = false;
+  bool isChecked = false;
 };
 
 #endif  // CUSTOM_BUTTON_HPP_
diff --git a/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp b/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp
index ee6f48e285975..09d595f14e191 100644
--- a/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp
+++ b/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp
@@ -18,6 +18,7 @@
 
 #include <QColor>
 #include <QHBoxLayout>
+#include <QMouseEvent>
 #include <QPainter>
 #include <QPainterPath>
 #include <QPushButton>
@@ -39,6 +40,8 @@ class CustomSegmentedButtonItem : public QPushButton
   void paintEvent(QPaintEvent * event) override;
   void enterEvent(QEvent * event) override;
   void leaveEvent(QEvent * event) override;
+  void mousePressEvent(QMouseEvent * event) override;
+  void mouseReleaseEvent(QMouseEvent * event) override;
 
 private:
   void updateCheckableState();
@@ -47,6 +50,8 @@ class CustomSegmentedButtonItem : public QPushButton
   QColor checkedBgColor;
   QColor hoverColor =
     QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str());
+  QColor pressedColor =
+    QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str());
   QColor inactiveTextColor;
   QColor activeTextColor;
   QColor disabledBgColor =
@@ -56,6 +61,7 @@ class CustomSegmentedButtonItem : public QPushButton
   bool isHovered = false;
   bool isActivated = false;
   bool isDisabled = false;
+  bool isPressed = false;
 };
 
 #endif  // CUSTOM_SEGMENTED_BUTTON_ITEM_HPP_
diff --git a/common/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp b/common/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp
index 107d45af8c3f3..39ed075cc5b32 100644
--- a/common/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp
+++ b/common/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp
@@ -32,9 +32,12 @@ class CustomToggleSwitch : public QCheckBox
 protected:
   void paintEvent(QPaintEvent * event) override;
   void mouseReleaseEvent(QMouseEvent * event) override;
+  void enterEvent(QEvent * event) override;
+  void leaveEvent(QEvent * event) override;
 
 private:
-  bool blockSignalsGuard = false;  // Guard variable to block signals during updates
+  bool blockSignalsGuard = false;
+  bool isHovered = false;
 };
 
 #endif  // CUSTOM_TOGGLE_SWITCH_HPP_
diff --git a/common/tier4_state_rviz_plugin/src/include/material_colors.hpp b/common/tier4_state_rviz_plugin/src/include/material_colors.hpp
index d146b599ab600..b5989ff17b530 100644
--- a/common/tier4_state_rviz_plugin/src/include/material_colors.hpp
+++ b/common/tier4_state_rviz_plugin/src/include/material_colors.hpp
@@ -78,6 +78,12 @@ struct MaterialColors
   std::string warning = "#EEF08B";
   std::string info = "#8BD0F0";
   std::string danger = "#F08B8B";
+
+  std::string enabled_button_bg = "#8BD0F0";
+  std::string hover_button_bg = "#84c2e6";
+  std::string pressed_button_bg = "#699BB8";
+  std::string checked_button_bg = "#699BB8";
+  std::string disabled_button_bg = "#292d30";
 };
 
 inline MaterialColors default_colors;