diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index 4e42577f96b..bcd59551fef 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -2,6 +2,12 @@ name: docker-build-and-push
 description: ""
 
 inputs:
+  name:
+    description: ""
+    required: true
+  platform:
+    description: ""
+    required: true
   bake-target:
     description: ""
     required: true
@@ -35,6 +41,28 @@ runs:
         vcs import src < autoware.repos
       shell: bash
 
+    - name: Setup Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Restore cache
+      uses: actions/cache/restore@v4
+      with:
+        path: |
+          root-ccache
+        key: cache-${{ inputs.platform }}-${{ inputs.name }}-${{ hashFiles('autoware.repos') }}
+        restore-keys: |
+          cache-${{ inputs.platform }}-${{ inputs.name }}-
+          cache-${{ inputs.platform }}-
+
+    - name: Inject cache into docker
+      uses: reproducible-containers/buildkit-cache-dance@v3.1.2
+      with:
+        cache-map: |
+          {
+            "root-ccache": "/root/.ccache"
+          }
+        skip-extraction: true
+
     - name: Set Docker tags
       id: set-docker-tags
       run: |
diff --git a/.github/workflows/docker-build-and-push-self-hosted.yaml b/.github/workflows/docker-build-and-push-self-hosted.yaml
index 3dc81ddda5a..e2a8a64ac26 100644
--- a/.github/workflows/docker-build-and-push-self-hosted.yaml
+++ b/.github/workflows/docker-build-and-push-self-hosted.yaml
@@ -56,9 +56,6 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Setup Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
         with:
@@ -67,28 +64,12 @@ jobs:
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
-      - name: Restore cache
-        uses: actions/cache/restore@v4
-        with:
-          path: |
-            root-ccache
-          key: cache-${{ matrix.platform }}-${{ matrix.name }}-${{ hashFiles('autoware.repos') }}
-          restore-keys: |
-            cache-${{ matrix.platform }}-${{ matrix.name }}-
-            cache-${{ matrix.platform }}-
-
-      - name: Inject cache into docker
-        uses: reproducible-containers/buildkit-cache-dance@v3.1.2
-        with:
-          cache-map: |
-            {
-              "root-ccache": "/root/.ccache"
-            }
-          skip-extraction: true
 
       - name: Build 'Autoware'
         uses: ./.github/actions/docker-build-and-push
         with:
+          name: ${{ matrix.name }}
+          platform: ${{ matrix.platform }}
           bake-target: autoware
           build-args: |
             *.platform=linux/${{ matrix.platform }}
diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
index cdaf99ec58f..cdf7f1e908b 100644
--- a/.github/workflows/docker-build-and-push.yaml
+++ b/.github/workflows/docker-build-and-push.yaml
@@ -51,39 +51,16 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Setup Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
       - 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: Restore cache
-        uses: actions/cache/restore@v4
-        with:
-          path: |
-            root-ccache
-          key: cache-${{ matrix.platform }}-${{ matrix.name }}-${{ hashFiles('autoware.repos') }}
-          restore-keys: |
-            cache-${{ matrix.platform }}-${{ matrix.name }}-
-            cache-${{ matrix.platform }}-
-
-      - name: Inject cache into docker
-        uses: reproducible-containers/buildkit-cache-dance@v3.1.2
-        with:
-          cache-map: |
-            {
-              "root-ccache": "/root/.ccache"
-            }
-          skip-extraction: true
-
       - name: Build 'Autoware'
         uses: ./.github/actions/docker-build-and-push
         with:
+          name: ${{ matrix.name }}
+          platform: ${{ matrix.platform }}
           bake-target: autoware
           build-args: |
             *.platform=linux/${{ matrix.platform }}