diff --git a/autoware.repos b/autoware.repos
index 11e67852466..b415964a90c 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -1,113 +1,105 @@
 repositories:
-  # core
   core/autoware_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
-    version: main
+    version: 62f341d97515c81236a9a6700f02ca4e8df02304
   core/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
-    version: main
+    version: ece03990f2285be372298e4bfec74a1f4ac3450e
   core/autoware_common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
-    version: main
+    version: c36061422faea19237c007010570a0a572a07054
   core/autoware.core:
     type: git
     url: https://github.com/autowarefoundation/autoware.core.git
-    version: main
-  core/external/autoware_auto_msgs: # TODO(mfc): Remove when autoware_msgs is merged
+    version: 99891401473b5740e640f5a0cc0412c0984b8e0b
+  core/external/autoware_auto_msgs:
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
-  # universe
+    version: 1e8b6d234e2690c9da386f006bb60835cdccddfd
   universe/autoware.universe:
     type: git
     url: https://github.com/autowarefoundation/autoware.universe.git
-    version: main
-  universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Improve design/code and transfer to AWF
+    version: 8d639b0e3f192f90f9cd4c1e0eaf5439a17e3de8
+  universe/external/tier4_ad_api_adaptor:
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
-    version: tier4/universe
+    version: a58468edcdaf8698153c85e93fe23807edcb8187
   universe/external/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
-    version: tier4/universe
+    version: b0a8b15fe28e1fcf94b068a182681db4442c0a2f
   universe/external/morai_msgs:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
-    version: main
+    version: 860aaadea5dcaabd5a2272c244eea51265363740
   universe/external/muSSP:
     type: git
     url: https://github.com/tier4/muSSP.git
-    version: tier4/main
+    version: c79e98fd5e658f4f90c06d93472faa977bc873b9
   universe/external/ndt_omp:
     type: git
     url: https://github.com/tier4/ndt_omp.git
-    version: tier4/main
+    version: 9a0877ac99cf873d9e984e4f1c485e537503fb7f
   universe/external/pointcloud_to_laserscan:
     type: git
     url: https://github.com/tier4/pointcloud_to_laserscan.git
-    version: tier4/main
+    version: 948a4fca35dcb03c6c8fbfa610a686f7c919fe0b
   universe/external/eagleye:
     type: git
     url: https://github.com/MapIV/eagleye.git
-    version: autoware-main
+    version: 30bae75dace6d9bfed0d67d51d6eec5928932509
   universe/external/rtklib_ros_bridge:
     type: git
     url: https://github.com/MapIV/rtklib_ros_bridge.git
-    version: ros2-v0.1.0
+    version: ef094407bba4f475a8032972e0c60cbb939b51b8
   universe/external/llh_converter:
     type: git
     url: https://github.com/MapIV/llh_converter.git
-    version: ros2
-  # launcher
+    version: 07ad112b4f6b83eccd3a5f777bbe40ff01c67382
   launcher/autoware_launch:
     type: git
     url: https://github.com/autowarefoundation/autoware_launch.git
-    version: main
-  # sensor_component
+    version: a576ad2ca3f77e3fd179f8d80fa295608bbd6f5f
   sensor_component/external/sensor_component_description:
     type: git
     url: https://github.com/tier4/sensor_component_description.git
-    version: main
+    version: a6a628186b124bc1af73c4f48a6dcd4b441391d3
   sensor_component/external/tamagawa_imu_driver:
     type: git
     url: https://github.com/tier4/tamagawa_imu_driver.git
-    version: ros2
+    version: de4bf6be79aa2968cf2f62e0ebe1ff8a5797e6ad
   sensor_component/external/nebula:
     type: git
     url: https://github.com/tier4/nebula.git
-    version: main
+    version: ea482a8061b6176d7ab0353514c1bb8204cd102c
   sensor_component/external/transport_drivers:
     type: git
     url: https://github.com/MapIV/transport_drivers.git
-    version: boost
-  # sensor_kit
+    version: 5b007e205b60ff3e3f340804dabaccea69f6a917
   sensor_kit/sample_sensor_kit_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
-    version: main
-  sensor_kit/external/awsim_sensor_kit_launch: # TODO: Integrate into sample_sensor_kit_launch
+    version: 417f7ceb5198ba531f0e94d3ae42c8372f5ddaeb
+  sensor_kit/external/awsim_sensor_kit_launch:
     type: git
     url: https://github.com/RobotecAI/awsim_sensor_kit_launch.git
-    version: main
-  # vehicle
+    version: a1f5993407ffeb4abcf97a49cd1b4034768d97b4
   vehicle/sample_vehicle_launch:
     type: git
     url: https://github.com/autowarefoundation/sample_vehicle_launch.git
-    version: main
+    version: 627068935b12ec6d6121e6a1b885e31d564b04c5
   vehicle/external/pacmod_interface:
     type: git
     url: https://github.com/tier4/pacmod_interface.git
-    version: main
-  # param
+    version: 664a58db456e092659e5b25954fbf525593bf10d
   param/autoware_individual_params:
     type: git
     url: https://github.com/autowarefoundation/autoware_individual_params.git
-    version: main
-  # middleware
+    version: bfc7e159cb040f2abcf39954ede326ecebd86749
   middleware/external/heaphook:
     type: git
     url: https://github.com/tier4/heaphook.git
-    version: main
+    version: 0c4836c3d1398ca898e5300cbf2270184148ae99
diff --git a/simulator.repos b/simulator.repos
index dd3551eb56b..98278985c85 100644
--- a/simulator.repos
+++ b/simulator.repos
@@ -2,4 +2,4 @@ repositories:
   simulator/scenario_simulator:
     type: git
     url: https://github.com/tier4/scenario_simulator_v2.git
-    version: master
+    version: b10ce5ae6761cb8ad538319057180665d2dce5e4