diff --git a/ansible/roles/tensorrt/README.md b/ansible/roles/tensorrt/README.md
index 0b938ad03a5..a7e22feedaf 100644
--- a/ansible/roles/tensorrt/README.md
+++ b/ansible/roles/tensorrt/README.md
@@ -11,17 +11,36 @@ This role installs TensorRT and cuDNN following [this page](https://docs.nvidia.
 
 ## Manual Installation
 
-For Universe, the `cudnn_version` and `tensorrt_version` variables should be copied from
-[amd64.env](../../../amd64.env) or [arm64.env](../../../arm64.env) depending on the architecture used.
-
 ```bash
 wget -O /tmp/amd64.env https://raw.githubusercontent.com/autowarefoundation/autoware/main/amd64.env && source /tmp/amd64.env
 
-# Taken from: https://docs.nvidia.com/deeplearning/tensorrt/install-guide/index.html#installing
-
-sudo apt-get install libcudnn8=${cudnn_version} libcudnn8-dev=${cudnn_version}
-sudo apt-mark hold libcudnn8 libcudnn8-dev
-
-sudo apt-get install libnvinfer8=${tensorrt_version} libnvonnxparsers8=${tensorrt_version} libnvparsers8=${tensorrt_version} libnvinfer-plugin8=${tensorrt_version} libnvinfer-dev=${tensorrt_version} libnvonnxparsers-dev=${tensorrt_version} libnvparsers-dev=${tensorrt_version} libnvinfer-plugin-dev=${tensorrt_version}
-sudo apt-mark hold libnvinfer8 libnvonnxparsers8 libnvparsers8 libnvinfer-plugin8 libnvinfer-dev libnvonnxparsers-dev libnvparsers-dev libnvinfer-plugin-dev
+# Can also be found at: https://docs.nvidia.com/deeplearning/tensorrt/install-guide/index.html#installing
+
+sudo apt-get install -y \
+libcudnn8=${cudnn_version} \
+libnvinfer8=${tensorrt_version} \
+libnvinfer-plugin8=${tensorrt_version} \
+libnvparsers8=${tensorrt_version} \
+libnvonnxparsers8=${tensorrt_version} \
+
+sudo apt-mark hold \
+libcudnn8 \
+libnvinfer8 \
+libnvinfer-plugin8 \
+libnvparsers8 \
+libnvonnxparsers8
+
+sudo apt-get install -y \
+libcudnn8-dev=${cudnn_version} \
+libnvinfer-dev=${tensorrt_version} \
+libnvinfer-plugin-dev=${tensorrt_version} \
+libnvparsers-dev=${tensorrt_version} \
+libnvonnxparsers-dev=${tensorrt_version}
+
+sudo apt-mark hold \
+libcudnn8-dev \
+libnvinfer-dev \
+libnvinfer-plugin-dev \
+libnvparsers-dev \
+libnvonnxparsers-dev
 ```