diff --git a/.github/ISSUE_TEMPLATE/bug.yaml b/.github/ISSUE_TEMPLATE/bug.yaml
index 12a857998a..5c74f7c5e4 100644
--- a/.github/ISSUE_TEMPLATE/bug.yaml
+++ b/.github/ISSUE_TEMPLATE/bug.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: Bug
 description: Report a bug
 body:
diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml
index 48765c24a7..deccbf336f 100644
--- a/.github/ISSUE_TEMPLATE/config.yml
+++ b/.github/ISSUE_TEMPLATE/config.yml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 blank_issues_enabled: false
 contact_links:
   - name: Question
diff --git a/.github/ISSUE_TEMPLATE/task.yaml b/.github/ISSUE_TEMPLATE/task.yaml
index cd8322f507..58307325ce 100644
--- a/.github/ISSUE_TEMPLATE/task.yaml
+++ b/.github/ISSUE_TEMPLATE/task.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: Task
 description: Plan a task
 body:
diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
deleted file mode 100644
index 97b0e95452..0000000000
--- a/.github/PULL_REQUEST_TEMPLATE.md
+++ /dev/null
@@ -1,8 +0,0 @@
-**Note**: Confirm the [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/) before submitting a pull request.
-
-Click the `Preview` tab and select a PR template:
-
-- [Standard change](?expand=1&template=standard-change.md)
-- [Small change](?expand=1&template=small-change.md)
-
-**Do NOT send a PR with this description.**
diff --git a/.github/PULL_REQUEST_TEMPLATE/small-change.md b/.github/PULL_REQUEST_TEMPLATE/small-change.md
deleted file mode 100644
index e15fdd992d..0000000000
--- a/.github/PULL_REQUEST_TEMPLATE/small-change.md
+++ /dev/null
@@ -1,44 +0,0 @@
-## Description
-
-<!-- Write a brief description of this PR. -->
-
-## Tests performed
-
-<!-- Describe how you have tested this PR. -->
-<!-- Although the default value is set to "Not Applicable.", please update this section if the type is either [feat, fix, perf], or if requested by the reviewers. -->
-
-Not applicable.
-
-## Effects on system behavior
-
-<!-- Describe how this PR affects the system behavior. -->
-
-Not applicable.
-
-## Interface changes
-
-<!-- Describe any changed interfaces, such as topics, services, or parameters, including debugging interfaces -->
-
-## Pre-review checklist for the PR author
-
-The PR author **must** check the checkboxes below when creating the PR.
-
-- [ ] I've confirmed the [contribution guidelines].
-- [ ] The PR follows the [pull request guidelines].
-
-## In-review checklist for the PR reviewers
-
-The PR reviewers **must** check the checkboxes below before approval.
-
-- [ ] The PR follows the [pull request guidelines].
-
-## Post-review checklist for the PR author
-
-The PR author **must** check the checkboxes below before merging.
-
-- [ ] There are no open discussions or they are tracked via tickets.
-
-After all checkboxes are checked, anyone who has write access can merge the PR.
-
-[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/
-[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/
diff --git a/.github/PULL_REQUEST_TEMPLATE/standard-change.md b/.github/PULL_REQUEST_TEMPLATE/standard-change.md
deleted file mode 100644
index 391af62975..0000000000
--- a/.github/PULL_REQUEST_TEMPLATE/standard-change.md
+++ /dev/null
@@ -1,63 +0,0 @@
-## Description
-
-<!-- Write a brief description of this PR. -->
-
-## Related links
-
-<!-- Write the links related to this PR. Private links should be clearly marked as private, for example, '[FOO COMPANY INTERNAL LINK](https://example.com)'. -->
-
-## Tests performed
-
-<!-- Describe how you have tested this PR. -->
-
-## Notes for reviewers
-
-<!-- Write additional information if necessary. It should be written if there are related PRs that should be merged at the same time. -->
-
-## Interface changes
-
-<!-- Describe any changed interfaces, such as topics, services, or parameters. -->
-
-### ROS Topic Changes
-
-<!-- | Topic Name       | Type                | Direction | Update Description                                            | -->
-<!-- | ---------------- | ------------------- | --------- | ------------------------------------------------------------- | -->
-<!-- | `/example_topic` | `std_msgs/String`   | Subscribe | Description of what the topic is used for in the system       | -->
-<!-- | `/another_topic` | `sensor_msgs/Image` | Publish   | Also explain if it is added / modified / deleted with the PR | -->
-
-### ROS Parameter Changes
-
-<!-- | Parameter Name       | Default Value | Update Description                                  | -->
-<!-- | -------------------- | ------------- | --------------------------------------------------- | -->
-<!-- | `example_parameters` | `1.0`         | Describe the parameter and also explain the updates | -->
-
-## Effects on system behavior
-
-<!-- Describe how this PR affects the system behavior. -->
-
-## Pre-review checklist for the PR author
-
-The PR author **must** check the checkboxes below when creating the PR.
-
-- [ ] I've confirmed the [contribution guidelines].
-- [ ] The PR follows the [pull request guidelines].
-
-## In-review checklist for the PR reviewers
-
-The PR reviewers **must** check the checkboxes below before approval.
-
-- [ ] The PR follows the [pull request guidelines].
-- [ ] The PR has been properly tested.
-- [ ] The PR has been reviewed by the code owners.
-
-## Post-review checklist for the PR author
-
-The PR author **must** check the checkboxes below before merging.
-
-- [ ] There are no open discussions or they are tracked via tickets.
-- [ ] The PR is ready for merge.
-
-After all checkboxes are checked, anyone who has write access can merge the PR.
-
-[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/
-[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/
diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml
index 0264c03535..8fd9b7f4ae 100644
--- a/.github/dependabot.yaml
+++ b/.github/dependabot.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 version: 2
 updates:
   - package-ecosystem: github-actions
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
new file mode 100644
index 0000000000..4c4081a67e
--- /dev/null
+++ b/.github/pull_request_template.md
@@ -0,0 +1,11 @@
+## Description
+
+## How was this PR tested?
+
+## Notes for reviewers
+
+None.
+
+## Effects on system behavior
+
+None.
diff --git a/.github/stale.yml b/.github/stale.yml
index bc99e4383c..ffce036c8d 100644
--- a/.github/stale.yml
+++ b/.github/stale.yml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 # Modified from https://github.com/probot/stale#usage
 
 # Number of days of inactivity before an Issue or Pull Request with the stale label is closed
diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
index 4deb334463..9972c966ea 100644
--- a/.github/sync-files.yaml
+++ b/.github/sync-files.yaml
@@ -1,4 +1,5 @@
-- repository: autowarefoundation/autoware
+- repository: autowarefoundation/sync-file-templates
+  source-dir: sources
   files:
     - source: CODE_OF_CONDUCT.md
     - source: CONTRIBUTING.md
@@ -7,27 +8,26 @@
     - source: .github/ISSUE_TEMPLATE/bug.yaml
     - source: .github/ISSUE_TEMPLATE/config.yml
     - source: .github/ISSUE_TEMPLATE/task.yaml
-    - source: .github/PULL_REQUEST_TEMPLATE.md
-    - source: .github/PULL_REQUEST_TEMPLATE/small-change.md
-    - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md
+    - source: .github/pull_request_template.md
     - source: .github/dependabot.yaml
     - source: .github/stale.yml
+    - source: .github/workflows/comment-on-pr.yaml
     - source: .github/workflows/github-release.yaml
     - source: .github/workflows/pre-commit.yaml
     - source: .github/workflows/pre-commit-optional.yaml
     - source: .github/workflows/semantic-pull-request.yaml
+    - source: .github/workflows/spell-check-daily.yaml
     - source: .github/workflows/spell-check-differential.yaml
     - source: .github/workflows/sync-files.yaml
     - source: .markdown-link-check.json
     - source: .markdownlint.yaml
     - source: .pre-commit-config-optional.yaml
     - source: .prettierignore
+      pre-commands: |
+        sd "rviz\n" "rviz\n**/diagnostic_graph_aggregator/\n" {source}
     - source: .prettierrc.yaml
     - source: .yamllint.yaml
     - source: setup.cfg
-
-- repository: autowarefoundation/autoware_common
-  files:
     - source: .github/workflows/build-and-test.yaml
     - source: .github/workflows/build-and-test-differential.yaml
     - source: .github/workflows/cancel-previous-workflows.yaml
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index 375e0cd5d6..0ebc08a92e 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: build-and-test-differential
 
 on:
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index fe0069d0a9..0af7487814 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: build-and-test
 
 on:
diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml
index bd2463d5a8..ee79ce0e4d 100644
--- a/.github/workflows/cancel-previous-workflows.yaml
+++ b/.github/workflows/cancel-previous-workflows.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: cancel-previous-workflows
 
 on:
diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml
new file mode 100644
index 0000000000..0f2ecf519d
--- /dev/null
+++ b/.github/workflows/comment-on-pr.yaml
@@ -0,0 +1,29 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+name: comment-on-pr
+on:
+  pull_request_target:
+
+jobs:
+  comment-on-pr:
+    runs-on: ubuntu-22.04
+    permissions:
+      pull-requests: write
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Initial PR comment
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          message: |
+            Thank you for contributing to the Autoware project!
+
+            🚧 If your pull request is in progress, [switch it to draft mode](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#converting-a-pull-request-to-a-draft).
+
+            Please ensure:
+            - You've checked our [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/).
+            - Your PR follows our [pull request guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/).
+            - All required CI checks pass before [marking the PR ready for review](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#marking-a-pull-request-as-ready-for-review).
diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml
index 4b1d7f47c6..bbe2ac512d 100644
--- a/.github/workflows/github-release.yaml
+++ b/.github/workflows/github-release.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: github-release
 
 on:
diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
index 12f536c551..3d0867028f 100644
--- a/.github/workflows/pre-commit-optional.yaml
+++ b/.github/workflows/pre-commit-optional.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: pre-commit-optional
 
 on:
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
index 4d005e849b..15c8e86c4f 100644
--- a/.github/workflows/pre-commit.yaml
+++ b/.github/workflows/pre-commit.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: pre-commit
 
 on:
diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml
index 71224c224e..b56040b084 100644
--- a/.github/workflows/semantic-pull-request.yaml
+++ b/.github/workflows/semantic-pull-request.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: semantic-pull-request
 
 on:
diff --git a/.github/workflows/spell-check-daily.yaml b/.github/workflows/spell-check-daily.yaml
new file mode 100644
index 0000000000..2ff647acf0
--- /dev/null
+++ b/.github/workflows/spell-check-daily.yaml
@@ -0,0 +1,26 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+name: spell-check-daily
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  spell-check-daily:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Run spell-check
+        uses: autowarefoundation/autoware-github-actions/spell-check@v1
+        with:
+          incremental-files-only: false
+          cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json
+          dict-packages: |
+            https://github.com/autowarefoundation/autoware-spell-check-dict
+            https://github.com/tier4/cspell-dicts
diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml
index f030a45251..e3af4327f2 100644
--- a/.github/workflows/spell-check-differential.yaml
+++ b/.github/workflows/spell-check-differential.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: spell-check-differential
 
 on:
@@ -13,4 +17,7 @@ jobs:
       - name: Run spell-check
         uses: autowarefoundation/autoware-github-actions/spell-check@v1
         with:
-          cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json
+          cspell-json-url: https://raw.githubusercontent.com/autowarefoundation/autoware-spell-check-dict/main/.cspell.json
+          dict-packages: |
+            https://github.com/autowarefoundation/autoware-spell-check-dict
+            https://github.com/tier4/cspell-dicts
diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml
index 0cffbcd2a2..9224c1503e 100644
--- a/.github/workflows/sync-files.yaml
+++ b/.github/workflows/sync-files.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: sync-files
 
 on:
diff --git a/.markdownlint.yaml b/.markdownlint.yaml
index 7b7359fe0c..584154b200 100644
--- a/.markdownlint.yaml
+++ b/.markdownlint.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 # See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules.
 default: true
 MD013: false
diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml
index 8c9345e15f..ff325af5e8 100644
--- a/.pre-commit-config-optional.yaml
+++ b/.pre-commit-config-optional.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 repos:
   - repo: https://github.com/tcort/markdown-link-check
     rev: v3.12.2
diff --git a/.prettierignore b/.prettierignore
index 313b8cf1f9..e7a5e761a0 100644
--- a/.prettierignore
+++ b/.prettierignore
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 *.param.yaml
 *.rviz
 **/diagnostic_graph_aggregator/
diff --git a/.prettierrc.yaml b/.prettierrc.yaml
index e29bf32762..fe476936f7 100644
--- a/.prettierrc.yaml
+++ b/.prettierrc.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 printWidth: 100
 tabWidth: 2
 overrides:
diff --git a/.yamllint.yaml b/.yamllint.yaml
index 2c7bd088e2..e0be62dbcb 100644
--- a/.yamllint.yaml
+++ b/.yamllint.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 extends: default
 
 ignore: |
diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
index 710001ec58..b23c3bbdd4 100644
--- a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
+++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -3,10 +3,13 @@
     # Ego path calculation
     use_predicted_trajectory: true
     use_imu_path: true
+    limit_imu_path_lat_dev: false
+    limit_imu_path_length: true
     use_pointcloud_data: true
     use_predicted_object_data: false
     use_object_velocity_calculation: true
     check_autoware_state: true
+    imu_path_lat_dev_threshold: 1.75
     min_generated_imu_path_length: 0.5
     max_generated_imu_path_length: 10.0
     imu_prediction_time_horizon: 1.5
@@ -37,7 +40,7 @@
     maximum_cluster_size: 10000
 
     # RSS distance collision check
-    longitudinal_offset: 1.0
+    longitudinal_offset_margin: 1.0
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0
diff --git a/autoware_launch/config/control/preset/default_preset.yaml b/autoware_launch/config/control/preset/default_preset.yaml
new file mode 100644
index 0000000000..74ba17b0a1
--- /dev/null
+++ b/autoware_launch/config/control/preset/default_preset.yaml
@@ -0,0 +1,39 @@
+launch:
+  # controller
+  - arg:
+      name: trajectory_follower_mode
+      default: trajectory_follower_node
+      # option: trajectory_follower_node
+      #         smart_mpc_trajectory_follower
+      #         none
+
+  # external_cmd selector/converter
+  - arg:
+      name: launch_external_cmd_selector
+      default: "true"
+  - arg:
+      name: launch_external_cmd_converter
+      default: "true"
+
+  # optional control checkers
+  - arg:
+      name: launch_lane_departure_checker
+      default: "true"
+  - arg:
+      name: launch_control_validator
+      default: "true"
+  - arg:
+      name: launch_autonomous_emergency_braking
+      default: "true"
+  - arg:
+      name: launch_collision_detector
+      default: "true"
+  - arg:
+      name: launch_obstacle_collision_checker
+      default: "false"
+  - arg:
+      name: launch_predicted_path_checker
+      default: "false"
+  - arg:
+      name: launch_control_evaluator
+      default: "true"
diff --git a/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml b/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml
new file mode 100644
index 0000000000..1ad7ce9ac9
--- /dev/null
+++ b/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml
@@ -0,0 +1,39 @@
+launch:
+  # controller
+  - arg:
+      name: trajectory_follower_mode
+      default: none
+      # option: trajectory_follower_node
+      #         smart_mpc_trajectory_follower
+      #         none
+
+  # external_cmd selector/converter
+  - arg:
+      name: launch_external_cmd_selector
+      default: "false"
+  - arg:
+      name: launch_external_cmd_converter
+      default: "false"
+
+  # optional control checkers
+  - arg:
+      name: launch_lane_departure_checker
+      default: "false"
+  - arg:
+      name: launch_control_validator
+      default: "true"
+  - arg:
+      name: launch_autonomous_emergency_braking
+      default: "false"
+  - arg:
+      name: launch_collision_detector
+      default: "false"
+  - arg:
+      name: launch_obstacle_collision_checker
+      default: "false"
+  - arg:
+      name: launch_predicted_path_checker
+      default: "false"
+  - arg:
+      name: launch_control_evaluator
+      default: "false"
diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
index 99050d9738..d15b2c81cf 100644
--- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml
@@ -19,3 +19,5 @@
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
+      debug: false
+      lanelet_extra_margin: 0.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
index fb6f1131e1..da9b694564 100644
--- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml
@@ -19,3 +19,5 @@
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
+      debug: false
+      lanelet_extra_margin: 0.0
diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
index 330a4605a1..a784fcb8c0 100644
--- a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml
@@ -19,3 +19,5 @@
         enabled: false
         velocity_yaw_threshold: 0.785398 # [rad] (45 deg)
         object_speed_threshold: 3.0 # [m/s]
+      debug: false
+      lanelet_extra_margin: 0.0
diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
index 006c179ae1..5a272a67e0 100644
--- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
@@ -13,6 +13,7 @@
     publish_rate: 10.0
     world_frame_id: map
     enable_delay_compensation: true
+    consider_odometry_uncertainty: false
 
     # debug parameters
     publish_processing_time: true
diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
index 0237671ccf..cc7c52ed47 100644
--- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
+++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
@@ -24,7 +24,7 @@
         use_virtual_ground_point: True
         split_height_distance: 0.2
         non_ground_height_threshold: 0.20
-        grid_size_m: 0.1
+        grid_size_m: 0.5
         grid_mode_switch_radius: 20.0
         gnd_grid_buffer_size: 4
         detection_range_z_max: 2.5
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
index aa1fdb3048..9bba8c52dc 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml
@@ -56,10 +56,10 @@
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]
 
-        lat_offset_from_obstacle: 1.0 # [m]
-        margin_distance_around_pedestrian: 2.0 # [m]
+        lat_offset_from_obstacle: 0.3 # [m]
+        margin_distance_around_pedestrian: 0.8 # [m]
         predicted_path:
-          end_time_to_consider: 2.0 # [s]
+          end_time_to_consider: 1.0 # [s]
           threshold_confidence: 0.0 # [] not probability
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
index 31e35dcad5..3480bb66e5 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
@@ -23,9 +23,9 @@
           th_moving_time: 2.0                           # [s]
           longitudinal_margin: 0.0                      # [m]
           lateral_margin:
-            soft_margin: 0.7                            # [m]
+            soft_margin: 0.5                            # [m]
             hard_margin: 0.2                            # [m]
-            hard_margin_for_parked_vehicle: 0.7         # [m]
+            hard_margin_for_parked_vehicle: 0.2         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
           envelope_buffer_margin: 0.1                   # [m] FOR DEVELOPER
           th_error_eclipse_long_radius : 0.6            # [m]
@@ -34,9 +34,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.7
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -45,9 +45,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.7
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -56,9 +56,9 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: 0.2
-            hard_margin_for_parked_vehicle: 0.7
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
           th_error_eclipse_long_radius : 0.6
@@ -67,7 +67,7 @@
           th_moving_time: 1.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: -0.2
             hard_margin_for_parked_vehicle: -0.2
           max_expand_ratio: 0.0
@@ -76,33 +76,33 @@
         bicycle:
           th_moving_speed: 0.28
           th_moving_time: 1.0
-          longitudinal_margin: 1.0
+          longitudinal_margin: 0.6
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.5
-            hard_margin_for_parked_vehicle: 0.5
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           th_error_eclipse_long_radius : 0.6
         motorcycle:
           th_moving_speed: 1.0
           th_moving_time: 1.0
-          longitudinal_margin: 1.0
+          longitudinal_margin: 0.6
           lateral_margin:
-            soft_margin: 0.7
+            soft_margin: 0.5
             hard_margin: 0.3
-            hard_margin_for_parked_vehicle: 0.3
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           th_error_eclipse_long_radius : 0.6
         pedestrian:
           th_moving_speed: 0.28
           th_moving_time: 1.0
-          longitudinal_margin: 1.0
+          longitudinal_margin: 0.6
           lateral_margin:
             soft_margin: 0.7
             hard_margin: 0.5
-            hard_margin_for_parked_vehicle: 0.5
+            hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.5
           th_error_eclipse_long_radius : 0.6
@@ -232,7 +232,7 @@
         # avoidance distance parameters
         longitudinal:
           min_prepare_time: 1.0                         # [s]
-          max_prepare_time: 3.0                         # [s]
+          max_prepare_time: 2.0                         # [s]
           min_prepare_distance: 1.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s] FOR DEVELOPER
@@ -294,7 +294,7 @@
           velocity: [1.39, 4.17, 11.1]                  # [m/s]
           max_accel_values: [0.5, 0.5, 0.5]             # [m/ss]
           min_jerk_values: [0.2, 0.2, 0.2]              # [m/sss]
-          max_jerk_values: [1.0, 1.0, 1.0]              # [m/sss]
+          max_jerk_values: [3.0, 3.0, 3.0]              # [m/sss]
 
         # longitudinal constraints
         longitudinal:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
index a20fae6e6a..723e34e61a 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml
@@ -139,13 +139,13 @@
           min_velocity: 1.0
           min_acceleration: 1.0
           max_velocity: 1.0
-          time_horizon_for_front_object: 10.0
-          time_horizon_for_rear_object: 10.0
+          time_horizon_for_front_object: 5.0
+          time_horizon_for_rear_object: 5.0
           time_resolution: 0.5
           delay_until_departure: 1.0
         # For target object filtering
         target_filtering:
-          safety_check_time_horizon: 10.0
+          safety_check_time_horizon: 5.0
           safety_check_time_resolution: 1.0
           # detection range
           object_check_forward_distance: 100.0
@@ -179,7 +179,7 @@
           # safety check configuration
           enable_safety_check: true
           method: "integral_predicted_polygon"
-          keep_unsafe_time: 3.0
+          keep_unsafe_time: 0.5
           # collision check parameters
           publish_debug_marker: false
           rss_params:
@@ -192,7 +192,7 @@
             forward_margin: 1.0
             backward_margin: 1.0
             lat_margin: 1.0
-            time_horizon: 10.0
+            time_horizon: 5.0
           # hysteresis factor to expand/shrink polygon with the value
           hysteresis_factor_expand_rate: 1.0
           collision_check_yaw_diff_threshold: 3.1416
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 380fe6281e..27349f077d 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -1,42 +1,40 @@
 /**:
   ros__parameters:
     lane_change:
-      backward_lane_length: 200.0 #[m]
-      prepare_duration: 4.0         # [s]
-
+      backward_lane_length: 200.0
       backward_length_buffer_for_end_of_lane: 3.0 # [m]
       backward_length_buffer_for_blocking_object: 3.0 # [m]
       backward_length_from_intersection: 5.0 # [m]
 
-      lane_changing_lateral_jerk: 0.5              # [m/s3]
-
-      minimum_lane_changing_velocity: 2.78        # [m/s]
-      prediction_time_resolution: 0.5           # [s]
-      longitudinal_acceleration_sampling_num: 5
-      lateral_acceleration_sampling_num: 3
-
-      # side walk parked vehicle
-      object_check_min_road_shoulder_width: 0.5  # [m]
-      object_shiftable_ratio_threshold: 0.6
-
       # turn signal
       min_length_for_turn_signal_activation: 10.0 # [m]
-      length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position)
-
-      # longitudinal acceleration
-      min_longitudinal_acc: -1.0
-      max_longitudinal_acc: 1.0
 
-      skip_process:
-        longitudinal_distance_diff_threshold:
-          prepare: 1.0
-          lane_changing: 1.0
+      # trajectory generation
+      trajectory:
+        max_prepare_duration: 4.0
+        min_prepare_duration: 2.0
+        lateral_jerk: 0.5
+        min_longitudinal_acc: -1.0
+        max_longitudinal_acc: 1.0
+        th_prepare_length_diff: 1.0
+        th_lane_changing_length_diff: 1.0
+        min_lane_changing_velocity: 2.78
+        lon_acc_sampling_num: 5
+        lat_acc_sampling_num: 3
+        lane_changing_decel_factor: 0.5
+
+      # delay lane change
+      delay_lane_change:
+        enable: true
+        check_only_parked_vehicle: false
+        min_road_shoulder_width: 0.5  # [m]
+        th_parked_vehicle_shift_ratio: 0.6
 
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true
         enable_target_lane_bound_check: true
-        collision_check_yaw_diff_threshold: 3.1416
+        stopped_object_velocity_threshold: 1.0 # [m/s]
         execution:
           expected_front_deceleration: -1.0
           expected_rear_deceleration: -1.0
@@ -93,14 +91,16 @@
         pedestrian: true
 
       # collision check
-      enable_collision_check_for_prepare_phase:
-        general_lanes: false
-        intersection: true
-        turns: true
-      stopped_object_velocity_threshold: 1.0 # [m/s]
-      check_objects_on_current_lanes: false
-      check_objects_on_other_lanes: false
-      use_all_predicted_path: false
+      collision_check:
+        enable_for_prepare_phase:
+          general_lanes: false
+          intersection: true
+          turns: true
+        prediction_time_resolution: 0.5
+        yaw_diff_threshold: 3.1416
+        check_current_lanes: false
+        check_other_lanes: false
+        use_all_predicted_paths: false
 
       # lane change regulations
       regulation:
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
index b31506918a..49749cd129 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -4,8 +4,3 @@
     backward_path_length: 5.0
     behavior_output_path_interval: 1.0
     stop_line_extend_length: 5.0
-    max_accel: -2.8
-    max_jerk: -5.0
-    system_delay: 0.5
-    delay_response_time: 0.5
-    is_publish_debug_path: false # publish all debug path with lane id in each module
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml
new file mode 100644
index 0000000000..aff2aec9cf
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    max_accel: -2.8
+    max_jerk: -5.0
+    system_delay: 0.5
+    delay_response_time: 0.5
+    is_publish_debug_path: false # publish all debug path with lane id in each module
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
index 5a0757401b..fe443ca476 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml
@@ -13,8 +13,6 @@
 
         # For the Lanelet2 map with no explicit stop lines
         stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk
-        # For the case where the crosswalk width is very wide
-        far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object).
         # For the case where the stop position is determined according to the object position.
         stop_distance_from_object_preferred: 3.0 # [m]
         stop_distance_from_object_limit: 3.0 # [m]
@@ -79,7 +77,7 @@
 
       # param for occlusions
       occlusion:
-        enable: true  # if true, ego will slowdown around crosswalks that are occluded
+        enable: false # if true, ego will slowdown around crosswalks that are occluded
         occluded_object_velocity: 2.0 # [m/s] assumed velocity of objects that may come out of the occluded space
         slow_down_velocity: 1.0  # [m/s]
         time_buffer: 0.5  # [s] consecutive time with/without an occlusion to add/remove the slowdown
diff --git a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
index d82a942035..1d7048ee39 100644
--- a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml
@@ -9,7 +9,7 @@
     th_stopped_velocity_mps: 0.01
     th_course_out_distance_m: 1.0
     th_obstacle_time_sec: 1.0
-    vehicle_shape_margin_m: 0.5
+    vehicle_shape_margin_m: 0.4
     replan_when_obstacle_found: true
     replan_when_course_out: true
 
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
deleted file mode 100644
index 937cfdeb65..0000000000
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
+++ /dev/null
@@ -1,5 +0,0 @@
-files:
-  - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml }
-
-edits:
-  - { type: remove, path: /autoware/system/duplicated_node_checker }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
deleted file mode 100644
index c96dd5ed46..0000000000
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-files:
-  - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
deleted file mode 100644
index 20c95af6e9..0000000000
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-files:
-  - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-psim.yaml }
diff --git a/autoware_launch/config/system/diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml
new file mode 100644
index 0000000000..4abae34a31
--- /dev/null
+++ b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml
@@ -0,0 +1,5 @@
+files:
+  - { path: $(dirname)/autoware-main.yaml }
+
+edits:
+  - { type: remove, path: /autoware/system/duplicated_node_checker }
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/diagnostics/autoware-main.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
rename to autoware_launch/config/system/diagnostics/autoware-main.yaml
index 30b6ce9bad..fbbfe384f2 100644
--- a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
+++ b/autoware_launch/config/system/diagnostics/autoware-main.yaml
@@ -1,27 +1,13 @@
 files:
-  - { path: $(dirname)/map.yaml }
+  - { path: $(dirname)/control.yaml }
   - { path: $(dirname)/localization.yaml }
-  - { path: $(dirname)/planning.yaml }
+  - { path: $(dirname)/map.yaml }
   - { path: $(dirname)/perception.yaml }
-  - { path: $(dirname)/control.yaml }
-  - { path: $(dirname)/vehicle.yaml }
+  - { path: $(dirname)/planning.yaml }
   - { path: $(dirname)/system.yaml }
+  - { path: $(dirname)/vehicle.yaml }
 
 units:
-  - path: /autoware/modes/stop
-    type: ok
-
-  - path: /autoware/modes/autonomous
-    type: and
-    list:
-      - { type: link, link: /autoware/map }
-      - { type: link, link: /autoware/localization }
-      - { type: link, link: /autoware/planning }
-      - { type: link, link: /autoware/perception }
-      - { type: link, link: /autoware/control }
-      - { type: link, link: /autoware/vehicle }
-      - { type: link, link: /autoware/system }
-
   - path: /autoware/modes/local
     type: and
     list:
@@ -36,13 +22,21 @@ units:
       - { type: link, link: /autoware/system }
       - { type: link, link: /autoware/control/remote }
 
-  - path: /autoware/modes/emergency_stop
+  - path: /autoware/modes/stop
+    type: ok
+
+  - path: /autoware/modes/autonomous
     type: and
     list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
       - { type: link, link: /autoware/vehicle }
       - { type: link, link: /autoware/system }
 
-  - path: /autoware/modes/comfortable_stop
+  - path: /autoware/modes/pull_over
     type: and
     list:
       - { type: link, link: /autoware/map }
@@ -53,7 +47,7 @@ units:
       - { type: link, link: /autoware/vehicle }
       - { type: link, link: /autoware/system }
 
-  - path: /autoware/modes/pull_over
+  - path: /autoware/modes/comfortable_stop
     type: and
     list:
       - { type: link, link: /autoware/map }
@@ -64,6 +58,12 @@ units:
       - { type: link, link: /autoware/vehicle }
       - { type: link, link: /autoware/system }
 
+  - path: /autoware/modes/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
   - path: /autoware/debug/tools
     type: and
     list:
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/diagnostics/control.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/control.yaml
rename to autoware_launch/config/system/diagnostics/control.yaml
diff --git a/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml
new file mode 100644
index 0000000000..0ed824d3c8
--- /dev/null
+++ b/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml
@@ -0,0 +1,36 @@
+# Description:
+#   required_diags:
+#     <name>: {is_active: <is_active>, status: <status>}
+#   name: diag name
+#   is_active: Force update or not
+#   status: diag status set by dummy diag publisher "OK, Warn, Error, Stale"
+#
+# Note:
+#
+# default values are:
+#   is_active: "true"
+#   status: "OK"
+---
+/**:
+  ros__parameters:
+    required_diags:
+      # map
+      ## /autoware/map/topic_rate_check/pointcloud_map
+      "topic_state_monitor_pointcloud_map: map_topic_status": default
+
+      # localization
+      ## /autoware/localization/scan_matching_status
+      "ndt_scan_matcher: scan_matching_status": default
+
+      ## /autoware/localization/accuracy
+      "localization_error_monitor: ellipse_error_status": default
+
+      ## /autoware/localization/sensor_fusion_status
+      "localization: ekf_localizer": default
+
+      ## /autoware/localization/topic_rate_check/pose_twist_fusion
+      "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
+
+      # perception
+      ## /autoware/perception/topic_rate_check/pointcloud
+      "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml b/autoware_launch/config/system/diagnostics/hardware.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml
rename to autoware_launch/config/system/diagnostics/hardware.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/diagnostics/localization.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/localization.yaml
rename to autoware_launch/config/system/diagnostics/localization.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/map.yaml b/autoware_launch/config/system/diagnostics/map.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/map.yaml
rename to autoware_launch/config/system/diagnostics/map.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/diagnostics/perception.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/perception.yaml
rename to autoware_launch/config/system/diagnostics/perception.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/diagnostics/planning.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/planning.yaml
rename to autoware_launch/config/system/diagnostics/planning.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/diagnostics/system.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/system.yaml
rename to autoware_launch/config/system/diagnostics/system.yaml
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml b/autoware_launch/config/system/diagnostics/vehicle.yaml
similarity index 100%
rename from autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml
rename to autoware_launch/config/system/diagnostics/vehicle.yaml
diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
deleted file mode 100644
index 43edd109b5..0000000000
--- a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-# Description:
-#   required_diags:
-#     <name>: {is_active: <is_active>, status: <status>}
-#   name: diag name
-#   is_active: Force update or not
-#   status: diag status set by dummy diag publisher "OK, Warn, Error, Stale"
-#
-# Note:
-#
-# default values are:
-#   is_active: "true"
-#   status: "OK"
----
-/**:
-  ros__parameters:
-    required_diags:
-      dummy_diag_empty: default
diff --git a/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml b/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml
index 033b20d234..526e413ea1 100644
--- a/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml
+++ b/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml
@@ -2,6 +2,7 @@
   ros__parameters:
     update_rate: 10.0
     processing_time_topic_name_list:
+      - /control/control_evaluator/debug/processing_time_ms
       - /control/control_validator/debug/processing_time_ms
       - /control/trajectory_follower/controller_node_exe/lateral/debug/processing_time_ms
       - /control/trajectory_follower/controller_node_exe/longitudinal/debug/processing_time_ms
@@ -9,6 +10,9 @@
       - /control/vehicle_cmd_gate/debug/processing_time_ms
       - /perception/object_recognition/prediction/map_based_prediction/debug/processing_time_ms
       - /perception/object_recognition/tracking/multi_object_tracker/debug/processing_time_ms
+      - /planning/mission_planning/mission_planner/debug/processing_time_ms
+      - /planning/mission_planning/route_selector/debug/processing_time_ms
+      - /planning/planning_evaluator/debug/processing_time_ms
       - /planning/planning_validator/debug/processing_time_ms
       - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_by_lane_change/processing_time_ms
       - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance/processing_time_ms
@@ -37,6 +41,7 @@
       - /planning/scenario_planning/lane_driving/motion_planning/path_optimizer/debug/processing_time_ms
       - /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/processing_time_ms
       - /planning/scenario_planning/parking/costmap_generator/debug/processing_time_ms
+      - /planning/scenario_planning/parking/freespace_planner/debug/processing_time_ms
       - /planning/scenario_planning/scenario_selector/debug/processing_time_ms
       - /planning/scenario_planning/velocity_smoother/debug/processing_time_ms
       - /simulation/shape_estimation/debug/processing_time_ms
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml
deleted file mode 100644
index fc17c74173..0000000000
--- a/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-files:
-  - { path: $(dirname)/autoware-main.yaml }
-
-edits:
-  - { type: remove, path: /autoware/map/topic_rate_check/pointcloud_map }
-  - { type: remove, path: /autoware/localization/scan_matching_status }
-  - { type: remove, path: /autoware/localization/accuracy }
-  - { type: remove, path: /autoware/localization/sensor_fusion_status }
-  - { type: remove, path: /autoware/localization/topic_rate_check/pose_twist_fusion }
-  - { type: remove, path: /autoware/perception/topic_rate_check/pointcloud }
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index 95f15f59fb..b125d23186 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -9,6 +9,7 @@
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
+  <arg name="control_module_preset" default="default" description="control module preset"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
@@ -36,7 +37,7 @@
   <arg name="system_run_mode" default="online" description="run mode in system"/>
   <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml" description="diagnostic graph config"/>
+  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
@@ -51,7 +52,7 @@
 
   <!-- Global parameters -->
   <group scoped="false">
-    <include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py">
+    <include file="$(find-pkg-share autoware_global_parameter_loader)/launch/global_params.launch.py">
       <arg name="use_sim_time" value="$(var use_sim_time)"/>
       <arg name="vehicle_model" value="$(var vehicle_model)"/>
     </include>
@@ -113,7 +114,9 @@
 
   <!-- Control -->
   <group if="$(var launch_control)">
-    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml"/>
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_control_component.launch.xml">
+      <arg name="module_preset" value="$(var control_module_preset)"/>
+    </include>
   </group>
 
   <!-- API -->
diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml
index d23a3c42c5..99cfe7484f 100644
--- a/autoware_launch/launch/components/tier4_control_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_control_component.launch.xml
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <launch>
   <!-- optional parameters are written here -->
+  <arg name="module_preset" default="default"/>
+  <include file="$(find-pkg-share autoware_launch)/config/control/preset/$(var module_preset)_preset.yaml"/>
+
   <arg name="lateral_controller_mode" default="mpc"/>
   <arg name="longitudinal_controller_mode" default="pid"/>
   <arg name="use_individual_control_param" default="false"/>
   <arg name="use_aeb_autoware_state_check" default="true"/>
-  <arg name="enable_autonomous_emergency_braking" default="true"/>
-  <arg name="enable_predicted_path_checker" default="false"/>
-  <arg name="enable_collision_detector" default="false"/>
 
   <let name="latlon_controller_param_path_dir" value="$(var vehicle_id)" if="$(var use_individual_control_param)"/>
   <let name="latlon_controller_param_path_dir" value="" unless="$(var use_individual_control_param)"/>
@@ -43,10 +43,7 @@
     <arg name="external_cmd_selector_param_path" value="$(find-pkg-share autoware_launch)/config/control/external_cmd_selector/external_cmd_selector.param.yaml"/>
     <arg name="aeb_param_path" value="$(find-pkg-share autoware_launch)/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml"/>
     <arg name="collision_detector_param_path" value="$(find-pkg-share autoware_launch)/config/control/autoware_collision_detector/collision_detector.param.yaml"/>
-    <arg name="enable_autonomous_emergency_braking" value="$(var enable_autonomous_emergency_braking)"/>
     <arg name="use_aeb_autoware_state_check" value="$(var use_aeb_autoware_state_check)"/>
-    <arg name="enable_predicted_path_checker" value="$(var enable_predicted_path_checker)"/>
-    <arg name="enable_collision_detector" value="$(var enable_collision_detector)"/>
     <arg name="predicted_path_checker_param_path" value="$(find-pkg-share autoware_launch)/config/control/predicted_path_checker/predicted_path_checker.param.yaml"/>
   </include>
 </launch>
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 1f929543d4..a01a5fca17 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -44,7 +44,8 @@
     <!-- behavior velocity planner -->
     <arg name="behavior_velocity_config_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"/>
     <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml"/>
-    <arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
+    <arg name="behavior_velocity_planner_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
+    <arg name="behavior_velocity_planner_common_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner_common.param.yaml"/>
     <arg name="behavior_velocity_planner_blind_spot_module_param_path" value="$(var behavior_velocity_config_path)/blind_spot.param.yaml"/>
     <arg name="behavior_velocity_planner_crosswalk_module_param_path" value="$(var behavior_velocity_config_path)/crosswalk.param.yaml"/>
     <arg name="behavior_velocity_planner_walkway_module_param_path" value="$(var behavior_velocity_config_path)/walkway.param.yaml"/>
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index 5bb8403dc2..31cc739683 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
-  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
+  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
 
   <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
     <arg name="run_mode" value="$(var system_run_mode)"/>
@@ -14,7 +14,7 @@
     <arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
     <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
     <arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
-    <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml"/>
+    <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/dummy_diag_publisher.param.yaml"/>
     <arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
     <arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
     <arg name="system_monitor_hdd_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/hdd_monitor.param.yaml"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index b1a5d6ee8b..c4fd15b41c 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -10,6 +10,7 @@
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
+  <arg name="control_module_preset" default="default" description="control module preset"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
@@ -51,6 +52,7 @@
       <arg name="data_path" value="$(var data_path)"/>
       <!-- launch module preset -->
       <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
+      <arg name="control_module_preset" value="$(var control_module_preset)"/>
       <!-- Modules to be launched -->
       <arg name="launch_vehicle" value="$(var vehicle)"/>
       <arg name="launch_map" value="$(var map)"/>
@@ -69,7 +71,7 @@
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-awsim.yaml"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
       <!-- Perception-->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 8780578a6e..123bd01ed3 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -9,6 +9,7 @@
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
+  <arg name="control_module_preset" default="default" description="control module preset"/>
 
   <!-- Optional parameters -->
   <!-- Modules to be launched -->
@@ -43,6 +44,7 @@
       <arg name="sensor_model" value="$(var sensor_model)"/>
       <!-- launch module preset -->
       <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
+      <arg name="control_module_preset" value="$(var control_module_preset)"/>
       <!-- Modules to be launched -->
       <arg name="launch_vehicle" value="$(var vehicle)"/>
       <arg name="launch_map" value="$(var map)"/>
@@ -63,7 +65,7 @@
       <arg name="system_run_mode" value="logging_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 798e6ec99b..3c56e11412 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -8,6 +8,7 @@
 
   <!-- launch module preset -->
   <arg name="planning_module_preset" default="default" description="planning module preset"/>
+  <arg name="control_module_preset" default="default" description="control module preset"/>
 
   <!-- Optional parameters -->
   <!-- Map -->
@@ -18,7 +19,7 @@
   <!-- System -->
   <arg name="launch_dummy_doors" default="true" description="launch dummy doors simulation"/>
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
-  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
+  <arg name="launch_dummy_diag_publisher" default="true" description="launch dummy diag publisher"/>
   <!-- Scenario simulation -->
   <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
   <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
@@ -58,6 +59,7 @@
       <arg name="data_path" value="$(var data_path)"/>
       <!-- launch module preset -->
       <arg name="planning_module_preset" value="$(var planning_module_preset)"/>
+      <arg name="control_module_preset" value="$(var control_module_preset)"/>
       <!-- Modules to be launched -->
       <arg name="launch_sensing" value="false"/>
       <arg name="launch_localization" value="false"/>
@@ -68,7 +70,7 @@
       <arg name="system_run_mode" value="planning_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-psim.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py
index 650e555e27..a71527611f 100644
--- a/autoware_launch/launch/pointcloud_container.launch.py
+++ b/autoware_launch/launch/pointcloud_container.launch.py
@@ -39,8 +39,8 @@ def add_launch_arg(name: str, default_value=None):
     )
 
     glog_component = ComposableNode(
-        package="glog_component",
-        plugin="GlogComponent",
+        package="autoware_glog_component",
+        plugin="autoware::glog_component::GlogComponent",
         name="glog_component",
         namespace="pointcloud_container",
     )
diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
index 90c5db7082..f767fafdd4 100644
--- a/autoware_launch/package.xml
+++ b/autoware_launch/package.xml
@@ -12,7 +12,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>ad_api_adaptors</exec_depend>
-  <exec_depend>global_parameter_loader</exec_depend>
+  <exec_depend>autoware_global_parameter_loader</exec_depend>
   <exec_depend>python3-bson</exec_depend>
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>rviz2</exec_depend>
diff --git a/autoware_launch/rviz/planning_bev.rviz b/autoware_launch/rviz/planning_bev.rviz
index 449bb4567a..533b601ccf 100644
--- a/autoware_launch/rviz/planning_bev.rviz
+++ b/autoware_launch/rviz/planning_bev.rviz
@@ -68,6 +68,8 @@ Panels:
     Name: LoggingLevelConfigureRvizPlugin
   - Class: rviz_plugins::RTCManagerPanel
     Name: RTCManagerPanel
+  - Class: rviz_plugins::VelocitySteeringFactorsPanel
+    Name: VelocitySteeringFactorsPanel
 Visualization Manager:
   Class: ""
   Displays:
@@ -116,7 +118,7 @@ Visualization Manager:
                 Depth: 5
                 Durability Policy: Volatile
                 History Policy: Keep Last
-                Reliability Policy: Best Effort
+                Reliability Policy: Reliable
                 Value: /robot_description
               Enabled: true
               Links:
diff --git a/autoware_launch/rviz/planning_tpv.rviz b/autoware_launch/rviz/planning_tpv.rviz
index 53f755cd62..6b11e3e570 100644
--- a/autoware_launch/rviz/planning_tpv.rviz
+++ b/autoware_launch/rviz/planning_tpv.rviz
@@ -67,6 +67,8 @@ Panels:
     Name: LoggingLevelConfigureRvizPlugin
   - Class: rviz_plugins::RTCManagerPanel
     Name: RTCManagerPanel
+  - Class: rviz_plugins::VelocitySteeringFactorsPanel
+    Name: VelocitySteeringFactorsPanel
 Visualization Manager:
   Class: ""
   Displays:
diff --git a/setup.cfg b/setup.cfg
index 5214751c7b..4d7d5e5b95 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 [flake8]
 # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini
 extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000