diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index 4cf51296cdd..471ba3e9519 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -20,10 +20,6 @@ inputs:
   tag-suffix:
     description: ""
     required: false
-  allow-push:
-    description: ""
-    default: "true"
-    required: false
 
 runs:
   using: composite
@@ -140,7 +136,6 @@ runs:
           suffix=-devel${{ inputs.tag-suffix }}
 
     - name: Docker meta for runtime
-      if: ${{ github.event_name == 'workflow_dispatch' || (github.event_name == 'push' && github.ref_type == 'tag') }}
       id: meta-runtime
       uses: docker/metadata-action@v5
       with:
@@ -148,11 +143,10 @@ runs:
         tags: ${{ steps.set-docker-tags.outputs.tags }}
         bake-target: docker-metadata-action-runtime
         flavor: |
-          latest=${{ github.event_name == 'push' && github.ref_type == 'tag' }}
+          latest=auto
           suffix=-runtime${{ inputs.tag-suffix }}
 
     - name: Login to GitHub Container Registry
-      if: ${{ github.event_name != 'pull_request' }}
       uses: docker/login-action@v3
       with:
         registry: ghcr.io
@@ -160,28 +154,9 @@ runs:
         password: ${{ github.token }}
 
     - name: Build and Push to GitHub Container Registry
-      if: ${{ github.event_name == 'push' ||
-        github.event_name == 'schedule' ||
-        (github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'registry') }}
-      uses: docker/bake-action@v5
-      with:
-        push: ${{ inputs.allow-push == 'true' }}
-        files: |
-          docker/docker-bake.hcl
-          ${{ steps.meta-base.outputs.bake-file }}
-          ${{ steps.meta-autoware-core.outputs.bake-file }}
-          ${{ steps.meta-autoware-universe.outputs.bake-file }}
-          ${{ steps.meta-devel.outputs.bake-file }}
-          ${{ steps.meta-runtime.outputs.bake-file }}
-        provenance: false
-        set: |
-          ${{ inputs.build-args }}
-
-    - name: Build only
-      if: ${{ github.event_name == 'workflow_dispatch' && github.event.inputs.artifacts-destination == 'tarball' }}
       uses: docker/bake-action@v5
       with:
-        push: false
+        push: true
         files: |
           docker/docker-bake.hcl
           ${{ steps.meta-base.outputs.bake-file }}
diff --git a/.github/workflows/docker-build-and-push-self-hosted.yaml b/.github/workflows/docker-build-and-push-self-hosted.yaml
index 9e675a8519b..36ced590d21 100644
--- a/.github/workflows/docker-build-and-push-self-hosted.yaml
+++ b/.github/workflows/docker-build-and-push-self-hosted.yaml
@@ -2,19 +2,10 @@ name: docker-build-and-push-self-hosted
 
 on:
   push:
+    branches:
+      - main
     tags:
-      - openadkit-v*.*.*
-  schedule:
-    - cron: 0 0 1,15 * *
   workflow_dispatch:
-    inputs:
-      artifacts-destination:
-        type: choice
-        description: Destination for the artifacts
-        options:
-          - registry
-          - tarball
-        default: tarball
 
 jobs:
   load-env:
@@ -58,7 +49,23 @@ jobs:
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
+      - name: Get changed files
+        id: changed-files
+        uses: tj-actions/changed-files@v44
+        with:
+          files: |
+            *.env
+            *.repos
+            .github/actions/docker-build-and-push/action.yaml
+            .github/workflows/docker-build-and-push*.yaml
+            ansible-galaxy-requirements.yaml
+            ansible/**
+            docker/**
+
       - name: Build 'Autoware'
+        if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
+          github.event_name == 'workflow_dispatch' ||
+          (github.event_name == 'push' && github.ref_type == 'tag') }}
         uses: ./.github/actions/docker-build-and-push
         with:
           name: ${{ matrix.name }}
@@ -75,7 +82,6 @@ jobs:
             *.cache-to=type=registry,ref=ghcr.io/${{ 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 }}
-          allow-push: true
 
       - name: Show disk space
         run: |
diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
index 728bcbde64d..4fe8759ba1a 100644
--- a/.github/workflows/docker-build-and-push.yaml
+++ b/.github/workflows/docker-build-and-push.yaml
@@ -2,19 +2,10 @@ name: docker-build-and-push
 
 on:
   push:
+    branches:
+      - main
     tags:
-      - openadkit-v*.*.*
-  schedule:
-    - cron: 0 0 1,15 * *
   workflow_dispatch:
-    inputs:
-      artifacts-destination:
-        type: choice
-        description: Destination for the artifacts
-        options:
-          - registry
-          - tarball
-        default: tarball
 
 jobs:
   load-env:
@@ -53,7 +44,23 @@ jobs:
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
 
+      - name: Get changed files
+        id: changed-files
+        uses: tj-actions/changed-files@v44
+        with:
+          files: |
+            *.env
+            *.repos
+            .github/actions/docker-build-and-push/action.yaml
+            .github/workflows/docker-build-and-push*.yaml
+            ansible-galaxy-requirements.yaml
+            ansible/**
+            docker/**
+
       - name: Build 'Autoware'
+        if: ${{ steps.changed-files.outputs.any_changed == 'true' ||
+          github.event_name == 'workflow_dispatch' ||
+          (github.event_name == 'push' && github.ref_type == 'tag') }}
         uses: ./.github/actions/docker-build-and-push
         with:
           name: ${{ matrix.name }}
@@ -70,7 +77,6 @@ jobs:
             *.cache-to=type=registry,ref=ghcr.io/${{ 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 }}
-          allow-push: true
 
       - name: Show disk space
         run: |