diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index 3eea64f185f..6389b4d8ceb 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -14,9 +14,6 @@ inputs:
   build-args:
     description: ""
     required: false
-  tag-prefix:
-    description: ""
-    required: false
   tag-suffix:
     description: ""
     required: false
@@ -70,22 +67,9 @@ runs:
           }
         skip-extraction: true
 
-    - name: Set Docker tags
-      id: set-docker-tags
-      run: |
-        tags=()
-        if [ "${{ github.event_name }}" == "push" ] && [ "${{ github.ref_type }}" == "tag" ]; then
-            tags+=("$(echo "${{ github.ref }}" | sed -E 's/.*([vV][0-9]+\.[0-9]+\.[0-9]+).*/\1/')")
-        fi
-
-        tags+=("{{date 'YYYYMMDD'}}")
-        tags+=("${{ inputs.tag-prefix }}")
-
-        # Output multiline strings: https://docs.github.com/en/actions/using-workflows/workflow-commands-for-github-actions#multiline-strings
-        EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64)
-        echo "tags<<$EOF" >> $GITHUB_OUTPUT
-        echo "$(printf "%s\n" "${tags[@]}")" >> $GITHUB_OUTPUT
-        echo "$EOF" >> $GITHUB_OUTPUT
+    - name: Get current date
+      id: date
+      run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
       shell: bash
 
     - name: Docker meta for autoware:base
@@ -93,110 +77,120 @@ runs:
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        tags: |
+          type=raw,value=base${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
+          type=raw,value=base${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
         bake-target: docker-metadata-action-base
         flavor: |
           latest=false
-          suffix=-base${{ inputs.tag-suffix }}
 
     - name: Docker meta for autoware:core-devel
       id: meta-core-devel
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        tags: |
+          type=raw,value=core-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
+          type=raw,value=core-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
         bake-target: docker-metadata-action-core-devel
         flavor: |
           latest=false
-          suffix=-core-devel${{ inputs.tag-suffix }}
 
     - name: Docker meta for autoware:universe-sensing-perception-devel
       id: meta-universe-sensing-perception-devel
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        tags: |
+          type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
+          type=raw,value=universe-sensing-perception-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
         bake-target: docker-metadata-action-universe-sensing-perception-devel
         flavor: |
           latest=false
-          suffix=-universe-sensing-perception-devel${{ inputs.tag-suffix }}
 
     - name: Docker meta for autoware:universe-sensing-perception
       id: meta-universe-sensing-perception
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        tags: |
+          type=raw,value=universe-sensing-perception${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
+          type=raw,value=universe-sensing-perception${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
         bake-target: docker-metadata-action-universe-sensing-perception
         flavor: |
           latest=false
-          suffix=-universe-sensing-perception${{ inputs.tag-suffix }}
 
     - name: Docker meta for autoware:universe-localization-mapping-devel
       id: meta-universe-localization-mapping-devel
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        tags: |
+          type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
+          type=raw,value=universe-localization-mapping-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
         bake-target: docker-metadata-action-universe-localization-mapping-devel
         flavor: |
           latest=false
-          suffix=-universe-localization-mapping-devel${{ inputs.tag-suffix }}
 
     - name: Docker meta for autoware:universe-localization-mapping
       id: meta-universe-localization-mapping
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        tags: |
+          type=raw,value=universe-localization-mapping${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
+          type=raw,value=universe-localization-mapping${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
         bake-target: docker-metadata-action-universe-localization-mapping
         flavor: |
           latest=false
-          suffix=-universe-localization-mapping${{ inputs.tag-suffix }}
 
     - name: Docker meta for autoware:universe-planning-control-devel
       id: meta-universe-planning-control-devel
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        tags: |
+          type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
+          type=raw,value=universe-planning-control-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
         bake-target: docker-metadata-action-universe-planning-control-devel
         flavor: |
           latest=false
-          suffix=-universe-planning-control-devel${{ inputs.tag-suffix }}
 
     - name: Docker meta for autoware:universe-planning-control
       id: meta-universe-planning-control
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        tags: |
+          type=raw,value=universe-planning-control${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
+          type=raw,value=universe-planning-control${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
         bake-target: docker-metadata-action-universe-planning-control
         flavor: |
           latest=false
-          suffix=-universe-planning-control${{ inputs.tag-suffix }}
 
     - name: Docker meta for autoware:universe-devel
       id: meta-universe-devel
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        tags: |
+          type=raw,value=universe-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
+          type=raw,value=universe-devel${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
         bake-target: docker-metadata-action-universe-devel
         flavor: |
           latest=false
-          suffix=-universe-devel${{ inputs.tag-suffix }}
 
     - name: Docker meta for autoware:universe
       id: meta-universe
       uses: docker/metadata-action@v5
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
+        tags: |
+          type=raw,value=universe${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}
+          type=raw,value=universe${{ inputs.tag-suffix && '-' }}${{ inputs.tag-suffix }}-${{ steps.date.outputs.date }}
         bake-target: docker-metadata-action-universe
         flavor: |
           latest=auto
-          suffix=-universe${{ inputs.tag-suffix }}
 
     - name: Login to GitHub Container Registry
       uses: docker/login-action@v3
diff --git a/.github/workflows/docker-build-and-push-arm64.yaml b/.github/workflows/docker-build-and-push-arm64.yaml
index 9a4dcc46950..245eb563951 100644
--- a/.github/workflows/docker-build-and-push-arm64.yaml
+++ b/.github/workflows/docker-build-and-push-arm64.yaml
@@ -31,7 +31,7 @@ jobs:
             platform: arm64
             base_image_env: base_image
             lib_dir: aarch64
-            additional-tag-suffix: -cuda
+            additional-tag-suffix: cuda
     steps:
       # https://github.com/actions/checkout/issues/211
       - name: Change permission of workspace
diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
index 9199634b8c2..1057b5d238a 100644
--- a/.github/workflows/docker-build-and-push.yaml
+++ b/.github/workflows/docker-build-and-push.yaml
@@ -31,7 +31,7 @@ jobs:
             platform: amd64
             base_image_env: base_image
             lib_dir: x86_64
-            additional-tag-suffix: -cuda
+            additional-tag-suffix: cuda
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -75,8 +75,7 @@ jobs:
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }}
             *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-main
             *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:${{ matrix.name }}-${{ matrix.platform }}-${{ github.ref_name }},mode=max
-          tag-suffix: ${{ matrix.additional-tag-suffix }}-${{ matrix.platform }}
-          tag-prefix: ${{ needs.load-env.outputs.rosdistro }}
+          tag-suffix: ${{ matrix.additional-tag-suffix }}
 
       - name: Show disk space
         run: |