diff --git a/.github/workflows/build-main-self-hosted.yaml b/.github/workflows/build-main-self-hosted.yaml
index eba73bae2f8..3f0fdb23b13 100644
--- a/.github/workflows/build-main-self-hosted.yaml
+++ b/.github/workflows/build-main-self-hosted.yaml
@@ -7,26 +7,7 @@ on:
 
 jobs:
   load-env:
-    runs-on: ubuntu-latest
-    outputs:
-      base-image: ${{ steps.set-env.outputs.base-image }}
-      rosdistro: ${{ steps.set-env.outputs.rosdistro }}
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Load env
-        run: |
-          cat amd64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          if [ "$(uname -m)" = "aarch64" ]; then
-            cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          fi
-
-      - name: Set env
-        id: set-env
-        run: |
-          echo "base-image=${{ env.base_image }}" >> $GITHUB_OUTPUT
-          echo "rosdistro=${{ env.rosdistro }}" >> $GITHUB_OUTPUT
+    uses: ./.github/workflows/load-env.yaml
 
   build-main-self-hosted:
     needs: load-env
diff --git a/.github/workflows/build-main.yaml b/.github/workflows/build-main.yaml
index ca1dafb4728..a57934080b0 100644
--- a/.github/workflows/build-main.yaml
+++ b/.github/workflows/build-main.yaml
@@ -7,26 +7,7 @@ on:
 
 jobs:
   load-env:
-    runs-on: ubuntu-latest
-    outputs:
-      base-image: ${{ steps.set-env.outputs.base-image }}
-      rosdistro: ${{ steps.set-env.outputs.rosdistro }}
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Load env
-        run: |
-          cat amd64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          if [ "$(uname -m)" = "aarch64" ]; then
-            cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
-          fi
-
-      - name: Set env
-        id: set-env
-        run: |
-          echo "base-image=${{ env.base_image }}" >> $GITHUB_OUTPUT
-          echo "rosdistro=${{ env.rosdistro }}" >> $GITHUB_OUTPUT
+    uses: ./.github/workflows/load-env.yaml
 
   build-main:
     needs: load-env
diff --git a/.github/workflows/load-env.yaml b/.github/workflows/load-env.yaml
new file mode 100644
index 00000000000..1e86a6d0bba
--- /dev/null
+++ b/.github/workflows/load-env.yaml
@@ -0,0 +1,32 @@
+name: load-env
+
+on:
+  workflow_call:
+    outputs:
+      base-image:
+        value: ${{ jobs.load-env.outputs.base-image }}
+      rosdistro:
+        value: ${{ jobs.load-env.outputs.rosdistro }}
+
+jobs:
+  load-env:
+    runs-on: ubuntu-latest
+    outputs:
+      base-image: ${{ steps.set-env.outputs.base-image }}
+      rosdistro: ${{ steps.set-env.outputs.rosdistro }}
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Load env
+        run: |
+          cat amd64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
+          if [ "$(uname -m)" = "aarch64" ]; then
+            cat arm64.env | sed -e "s/^\s*//" -e "/^#/d" >> $GITHUB_ENV
+          fi
+
+      - name: Set env
+        id: set-env
+        run: |
+          echo "base-image=${{ env.base_image }}" >> $GITHUB_OUTPUT
+          echo "rosdistro=${{ env.rosdistro }}" >> $GITHUB_OUTPUT
diff --git a/.github/workflows/setup-docker.yaml b/.github/workflows/setup-docker.yaml
index b55a2df8d38..9e3fee08f8c 100644
--- a/.github/workflows/setup-docker.yaml
+++ b/.github/workflows/setup-docker.yaml
@@ -4,9 +4,13 @@ on:
   pull_request:
 
 jobs:
+  load-env:
+    uses: ./.github/workflows/load-env.yaml
+
   setup-docker:
+    needs: load-env
     runs-on: ubuntu-latest
-    container: ubuntu:20.04
+    container: ${{ needs.load-env.outputs.base-image }}
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
diff --git a/.github/workflows/setup-universe.yaml b/.github/workflows/setup-universe.yaml
index 0081abd5d63..5735967e674 100644
--- a/.github/workflows/setup-universe.yaml
+++ b/.github/workflows/setup-universe.yaml
@@ -4,9 +4,13 @@ on:
   pull_request:
 
 jobs:
+  load-env:
+    uses: ./.github/workflows/load-env.yaml
+
   setup-universe:
+    needs: load-env
     runs-on: ubuntu-latest
-    container: ubuntu:20.04
+    container: ${{ needs.load-env.outputs.base-image }}
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
diff --git a/.github/workflows/update-docker-manifest.yaml b/.github/workflows/update-docker-manifest.yaml
index b92c9403b48..26cda041fc9 100644
--- a/.github/workflows/update-docker-manifest.yaml
+++ b/.github/workflows/update-docker-manifest.yaml
@@ -6,7 +6,11 @@ on:
   workflow_dispatch:
 
 jobs:
+  load-env:
+    uses: ./.github/workflows/load-env.yaml
+
   update-docker-manifest:
+    needs: load-env
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
@@ -21,26 +25,26 @@ jobs:
         uses: ./.github/actions/create-main-distro-alias
         with:
           package-name: autoware-universe
-          rosdistro: galactic
+          rosdistro: ${{ needs.load-env.outputs.rosdistro }}
           tag-name: latest
 
       - name: Create alias from 'autoware-universe:{rosdistro}-latest-prebuilt' to 'autoware-universe:latest-prebuilt'
         uses: ./.github/actions/create-main-distro-alias
         with:
           package-name: autoware-universe
-          rosdistro: galactic
+          rosdistro: ${{ needs.load-env.outputs.rosdistro }}
           tag-name: latest-prebuilt
 
       - name: Create alias from 'autoware-universe:{rosdistro}-latest-cuda' to 'autoware-universe:latest-cuda'
         uses: ./.github/actions/create-main-distro-alias
         with:
           package-name: autoware-universe
-          rosdistro: galactic
+          rosdistro: ${{ needs.load-env.outputs.rosdistro }}
           tag-name: latest-cuda
 
       - name: Create alias from 'autoware-universe:{rosdistro}-latest-prebuilt-cuda' to 'autoware-universe:latest-prebuilt-cuda'
         uses: ./.github/actions/create-main-distro-alias
         with:
           package-name: autoware-universe
-          rosdistro: galactic
+          rosdistro: ${{ needs.load-env.outputs.rosdistro }}
           tag-name: latest-prebuilt-cuda
diff --git a/.github/workflows/vcs-import.yaml b/.github/workflows/vcs-import.yaml
index c77020ab184..829c1c81e29 100644
--- a/.github/workflows/vcs-import.yaml
+++ b/.github/workflows/vcs-import.yaml
@@ -5,9 +5,13 @@ on:
   workflow_dispatch:
 
 jobs:
+  load-env:
+    uses: ./.github/workflows/load-env.yaml
+
   vcs-import:
+    needs: load-env
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ros:${{ needs.load-env.outputs.rosdistro }}
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -20,7 +24,7 @@ jobs:
       - name: Register AutonomouStuff repository
         uses: autowarefoundation/autoware-github-actions/register-autonomoustuff-repository@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ needs.load-env.outputs.rosdistro }}
 
       - name: Set git config
         uses: autowarefoundation/autoware-github-actions/set-git-config@v1
@@ -40,4 +44,4 @@ jobs:
         run: |
           sudo apt-get -y update
           rosdep update
-          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro galactic
+          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths src --ignore-src --rosdistro ${{ needs.load-env.outputs.rosdistro }}