diff --git a/.github/workflows/docker-build-and-push-main-self-hosted.yaml b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
index 88a0679050c..10684147ef7 100644
--- a/.github/workflows/docker-build-and-push-main-self-hosted.yaml
+++ b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
@@ -23,7 +23,7 @@ jobs:
             base_image_env: base_image
             lib_dir: aarch64
             setup-args: --no-nvidia
-            additional-tag-suffix: -debug
+            additional-tag-suffix: ""
           - name: cuda
             base_image_env: base_image
             lib_dir: aarch64
diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
index 842b1925e47..950a5cc8d90 100644
--- a/.github/workflows/docker-build-and-push-main.yaml
+++ b/.github/workflows/docker-build-and-push-main.yaml
@@ -23,7 +23,7 @@ jobs:
             base_image_env: base_image
             lib_dir: x86_64
             setup-args: --no-nvidia
-            additional-tag-suffix: -debug
+            additional-tag-suffix: ""
           - name: cuda
             base_image_env: base_image
             lib_dir: x86_64
diff --git a/.github/workflows/setup-docker.yaml b/.github/workflows/setup-docker.yaml
index 515002da06a..caca7bcc9ce 100644
--- a/.github/workflows/setup-docker.yaml
+++ b/.github/workflows/setup-docker.yaml
@@ -4,13 +4,8 @@ on:
   pull_request:
 
 jobs:
-  load-env:
-    uses: ./.github/workflows/load-env.yaml
-
   setup-docker:
-    needs: load-env
     runs-on: ubuntu-latest
-    container: ${{ needs.load-env.outputs.base-image }}
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
diff --git a/.github/workflows/setup-universe.yaml b/.github/workflows/setup-universe.yaml
index 1750d34b913..5840c359d52 100644
--- a/.github/workflows/setup-universe.yaml
+++ b/.github/workflows/setup-universe.yaml
@@ -4,13 +4,8 @@ on:
   pull_request:
 
 jobs:
-  load-env:
-    uses: ./.github/workflows/load-env.yaml
-
   setup-universe:
-    needs: load-env
     runs-on: ubuntu-latest
-    container: ${{ needs.load-env.outputs.base-image }}
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
diff --git a/ansible/playbooks/openadk.yaml b/ansible/playbooks/openadk.yaml
index b0f821c8323..bdb52e31c11 100644
--- a/ansible/playbooks/openadk.yaml
+++ b/ansible/playbooks/openadk.yaml
@@ -43,4 +43,4 @@
 
     # ONNX files and other artifacts
     - role: autoware.dev_env.artifacts
-      when: module == 'dev-tools' or (module == 'all' and install_devel == 'false')
+      when: prompt_download_artifacts == 'y'
diff --git a/ansible/roles/cuda/tasks/main.yaml b/ansible/roles/cuda/tasks/main.yaml
index 656810b0e38..0a075de1cfb 100644
--- a/ansible/roles/cuda/tasks/main.yaml
+++ b/ansible/roles/cuda/tasks/main.yaml
@@ -83,61 +83,61 @@
 - name: Create Vulkan directory
   become: true
   ansible.builtin.file:
-    path: "/etc/vulkan/icd.d"
+    path: /etc/vulkan/icd.d
     state: directory
     mode: "0755"
 
 - name: Create OpenGL directory
   become: true
   ansible.builtin.file:
-    path: "/etc/glvnd/egl_vendor.d"
+    path: /etc/glvnd/egl_vendor.d
     state: directory
     mode: "0755"
 
 - name: Create OpenCL directory
   become: true
   ansible.builtin.file:
-    path: "/etc/OpenCL/vendors"
+    path: /etc/OpenCL/vendors
     state: directory
     mode: "0755"
 
 - name: Register Vulkan GPU vendors
   become: true
   ansible.builtin.get_url:
-    url: "https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json"
-    dest: "/etc/vulkan/icd.d/nvidia_icd.json"
+    url: https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json
+    dest: /etc/vulkan/icd.d/nvidia_icd.json
     mode: "0644"
 
 - name: Set permissions for Vulkan GPU vendors
   become: true
   ansible.builtin.file:
-    path: "/etc/vulkan/icd.d/nvidia_icd.json"
+    path: /etc/vulkan/icd.d/nvidia_icd.json
     mode: "0644"
 
 - name: Register OpenGL GPU vendors
   become: true
   ansible.builtin.get_url:
-    url: "https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json"
-    dest: "/etc/glvnd/egl_vendor.d/10_nvidia.json"
+    url: https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json
+    dest: /etc/glvnd/egl_vendor.d/10_nvidia.json
     mode: "0644"
 
 - name: Set permissions for OpenGL GPU vendors
   become: true
   ansible.builtin.file:
-    path: "/etc/glvnd/egl_vendor.d/10_nvidia.json"
+    path: /etc/glvnd/egl_vendor.d/10_nvidia.json
     mode: "0644"
 
 - name: Register OpenCL GPU vendors
   become: true
   ansible.builtin.file:
-    path: "/etc/OpenCL/vendors/nvidia.icd"
-    state: "touch"
+    path: /etc/OpenCL/vendors/nvidia.icd
+    state: touch
     mode: "0644"
 
 - name: Set permissions for OpenCL GPU vendors
   become: true
   ansible.builtin.lineinfile:
-    path: "/etc/OpenCL/vendors/nvidia.icd"
-    line: "libnvidia-opencl.so.1"
+    path: /etc/OpenCL/vendors/nvidia.icd
+    line: libnvidia-opencl.so.1
     create: true
     mode: "0644"
diff --git a/ansible/roles/geographiclib/defaults/main.yaml b/ansible/roles/geographiclib/defaults/main.yaml
index f2b553a52f4..e69de29bb2d 100644
--- a/ansible/roles/geographiclib/defaults/main.yaml
+++ b/ansible/roles/geographiclib/defaults/main.yaml
@@ -1 +0,0 @@
-module: dev-tools
diff --git a/ansible/roles/geographiclib/tasks/main.yaml b/ansible/roles/geographiclib/tasks/main.yaml
index e1337284104..c0c2a153eea 100644
--- a/ansible/roles/geographiclib/tasks/main.yaml
+++ b/ansible/roles/geographiclib/tasks/main.yaml
@@ -1,10 +1,3 @@
-- name: Install libqt5charts5-dev # remove this task after merging https://github.com/ros/rosdistro/pull/39705.
-  become: true
-  ansible.builtin.apt:
-    name: libqt5charts5-dev
-    state: latest
-    update_cache: true
-
 - name: Install geographiclib-tools
   become: true
   ansible.builtin.apt:
@@ -17,4 +10,4 @@
   ansible.builtin.command:
     cmd: geographiclib-get-geoids egm2008-1
     creates: /usr/share/GeographicLib/geoids/egm2008-1.pgm
-  when: module == 'dev-tools' or install_devel== 'false'
+  when: prompt_download_artifacts == 'y'
diff --git a/ansible/roles/nvidia_docker/tasks/main.yaml b/ansible/roles/nvidia_docker/tasks/main.yaml
index 4de0b4e30b3..b1197fd21cf 100644
--- a/ansible/roles/nvidia_docker/tasks/main.yaml
+++ b/ansible/roles/nvidia_docker/tasks/main.yaml
@@ -1,20 +1,17 @@
-# tasks file for nvidia-container-toolkit-installation
 - name: Add NVIDIA container toolkit GPG key
   become: true
-  ansible.builtin.shell: |
-    curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg
+  ansible.builtin.apt_key:
+    url: https://nvidia.github.io/libnvidia-container/gpgkey
+    state: present
+    keyring: /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg
 
 - name: Add NVIDIA container toolkit repository
   become: true
-  ansible.builtin.shell: |
-    curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
-    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
-    tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
-
-- name: Update apt cache
-  become: true
-  ansible.builtin.apt:
-    update_cache: yes
+  ansible.builtin.apt_repository:
+    repo: deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://nvidia.github.io/libnvidia-container/stable/deb/$(ARCH) /
+    state: present
+    filename: nvidia-container-toolkit
+    update_cache: true
 
 - name: Install NVIDIA Container Toolkit
   become: true
@@ -27,4 +24,11 @@
   become: true
   ansible.builtin.shell: |
     nvidia-ctk runtime configure --runtime=docker
+  changed_when: true
 
+- name: Restart docker daemon
+  become: true
+  ansible.builtin.systemd:
+    name: docker
+    state: restarted
+  changed_when: true
diff --git a/ansible/roles/tensorrt/defaults/main.yaml b/ansible/roles/tensorrt/defaults/main.yaml
index 8419eba6fa9..e69de29bb2d 100644
--- a/ansible/roles/tensorrt/defaults/main.yaml
+++ b/ansible/roles/tensorrt/defaults/main.yaml
@@ -1 +0,0 @@
-install_devel: true
diff --git a/ansible/roles/tensorrt/tasks/main.yaml b/ansible/roles/tensorrt/tasks/main.yaml
index 9e9d80d05c3..8e01abf1e8c 100644
--- a/ansible/roles/tensorrt/tasks/main.yaml
+++ b/ansible/roles/tensorrt/tasks/main.yaml
@@ -23,7 +23,7 @@
     allow_change_held_packages: true
     allow_downgrade: true
     update_cache: true
-  when: install_devel | bool
+  when: install_devel == 'true'
 
 # apt-mark hold
 - name: Prevent CUDA-related packages from upgrading
@@ -49,4 +49,4 @@
     - libnvinfer-plugin-dev
     - libnvparsers-dev
     - libnvonnxparsers-dev
-  when: install_devel | bool
+  when: install_devel == 'true'
diff --git a/docker/autoware-openadk/Dockerfile b/docker/autoware-openadk/Dockerfile
index 5af80b6fdd3..ac1cb2c6eb2 100644
--- a/docker/autoware-openadk/Dockerfile
+++ b/docker/autoware-openadk/Dockerfile
@@ -84,7 +84,7 @@ SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # Install development tools and artifacts
 RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y --module dev-tools openadk \
+  ./setup-dev-env.sh -y --module dev-tools --download-artifacts openadk \
   && pip uninstall -y ansible ansible-core \
   && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
@@ -108,10 +108,10 @@ ARG ROS_DISTRO
 ARG LIB_DIR
 ARG SETUP_ARGS
 
-# Set up runtime environment
+# Set up runtime environment and artifacts
 COPY autoware.repos /autoware/
 RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --no-cuda-drivers --runtime openadk \
+  ./setup-dev-env.sh -y --module all ${SETUP_ARGS} --download-artifacts --no-cuda-drivers --runtime openadk \
   && pip uninstall -y ansible ansible-core \
   && mkdir src \
   && vcs import src < autoware.repos \
diff --git a/docker/autoware-openadk/etc/.bash_aliases b/docker/autoware-openadk/etc/.bash_aliases
index 71b6ad2dcb3..f6200449b1c 100644
--- a/docker/autoware-openadk/etc/.bash_aliases
+++ b/docker/autoware-openadk/etc/.bash_aliases
@@ -1,3 +1,5 @@
+#!/bin/bash
+
 # planning simulation
 function download_planning_map() {
     if [ ! -f ~/autoware_map/sample-map-planning.zip ]; then
diff --git a/setup-dev-env.sh b/setup-dev-env.sh
index 0050d9c13fd..985e51b10dc 100755
--- a/setup-dev-env.sh
+++ b/setup-dev-env.sh
@@ -5,6 +5,24 @@
 
 set -e
 
+# Function to print help message
+print_help() {
+    echo "Usage: setup-dev-env.sh [OPTIONS]"
+    echo "Options:"
+    echo "  --help          Display this help message"
+    echo "  -h              Display this help message"
+    echo "  -y              Use non-interactive mode"
+    echo "  -v              Enable debug outputs"
+    echo "  --no-nvidia     Disable installation of the NVIDIA-related roles ('cuda' and 'tensorrt')"
+    echo "  --no-cuda-drivers Disable installation of 'cuda-drivers' in the role 'cuda'"
+    echo "  --runtime       Disable installation dev package of role 'cuda' and 'tensorrt'"
+    echo "  --data-dir      Set data directory (default: $HOME/autoware_data)"
+    echo "  --download-artifacts"
+    echo "                  Download artifacts"
+    echo "  --module        Specify the module (default: all)"
+    echo ""
+}
+
 SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
 
 # Parse arguments
@@ -13,6 +31,10 @@ option_data_dir="$HOME/autoware_data"
 
 while [ "$1" != "" ]; do
     case "$1" in
+    --help | -h)
+        print_help
+        exit 1
+        ;;
     -y)
         # Use non-interactive mode.
         option_yes=true
@@ -42,10 +64,6 @@ while [ "$1" != "" ]; do
         # Set download artifacts option
         option_download_artifacts=true
         ;;
-    --docker)
-        # Set download artifacts option
-        option_docker=true
-        ;;
     --module)
         option_module="$2"
         shift
@@ -60,12 +78,6 @@ done
 # Select installation type
 target_playbook="autoware.dev_env.universe" # default
 
-# Set-up docker environment
-if [ "$option_docker" = "true" ]; then
-    target_playbook="autoware.dev_env.docker"
-    ansible_args+=("--extra-vars" "cuda_install_drivers=true")
-fi
-
 if [ ${#args[@]} -ge 1 ]; then
     target_playbook="autoware.dev_env.${args[0]}"
 fi
@@ -115,7 +127,12 @@ else
 fi
 
 # Check downloading artifacts
-if [ "$option_yes" = "true" ] || [ "$option_download_artifacts" = "true" ]; then
+if [ "$target_playbook" = "autoware.dev_env.openadk" ]; then
+    if [ "$option_download_artifacts" = "true" ]; then
+        echo -e "\e[36mArtifacts will be downloaded to $option_data_dir\e[m"
+        ansible_args+=("--extra-vars" "prompt_download_artifacts=y")
+    fi
+elif [ "$option_yes" = "true" ] || [ "$option_download_artifacts" = "true" ]; then
     echo -e "\e[36mArtifacts will be downloaded to $option_data_dir\e[m"
     ansible_args+=("--extra-vars" "prompt_download_artifacts=y")
 fi