diff --git a/.clang-format b/.clang-format
index b41fae91..cd54eb45 100644
--- a/.clang-format
+++ b/.clang-format
@@ -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/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
 Language: Cpp
 BasedOnStyle: Google
diff --git a/.clang-tidy b/.clang-tidy
index f9210b66..de12fb60 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -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.
+
 Checks: "
   -*,
   boost-use-to-string,
@@ -41,6 +45,7 @@ Checks: "
   bugprone-terminating-continue,
   bugprone-throw-keyword-missing,
   bugprone-too-small-loop-variable,
+  bugprone-unchecked-optional-access,
   bugprone-undefined-memory-manipulation,
   bugprone-undelegated-constructor,
   bugprone-unhandled-self-assignment,
@@ -201,7 +206,8 @@ WarningsAsErrors: "
 
 HeaderFilterRegex: ^(?!\/usr)(?!\/opt)
 
-AnalyzeTemporaryDtors: false
+ExtraArgs:
+  - -std=c++17
 
 FormatStyle: none
 
diff --git a/.github/ISSUE_TEMPLATE/bug.yaml b/.github/ISSUE_TEMPLATE/bug.yaml
index 12a85799..5c74f7c5 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 48765c24..deccbf33 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 cd8322f5..58307325 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/dependabot.yaml b/.github/dependabot.yaml
index 3f3bf243..8fd9b7f4 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
@@ -6,5 +10,5 @@ updates:
       interval: daily
     open-pull-requests-limit: 1
     labels:
-      - bot
-      - github-actions
+      - tag:bot
+      - type:github-actions
diff --git a/.github/stale.yml b/.github/stale.yml
index 84928d1b..ffce036c 100644
--- a/.github/stale.yml
+++ b/.github/stale.yml
@@ -1,10 +1,14 @@
+# 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
 daysUntilClose: false
 
 # Label to use when marking as stale
-staleLabel: stale
+staleLabel: status:stale
 
 # Comment to post when marking as stale
 markComment: >
diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml
index f9c29b81..ee79ce0e 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:
@@ -5,10 +9,10 @@ on:
 
 jobs:
   cancel-previous-workflows:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.11.0
+        uses: styfle/cancel-workflow-action@0.12.1
         with:
           workflow_id: all
           all_but_latest: true
diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml
index c790c213..bb1d8985 100644
--- a/.github/workflows/check-build-depends.yaml
+++ b/.github/workflows/check-build-depends.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: check-build-depends
 
 on:
@@ -7,7 +11,7 @@ on:
 
 jobs:
   check-build-depends:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false
diff --git a/.github/workflows/clang-tidy-pr-comments-manually.yaml b/.github/workflows/clang-tidy-pr-comments-manually.yaml
new file mode 100644
index 00000000..747c62cd
--- /dev/null
+++ b/.github/workflows/clang-tidy-pr-comments-manually.yaml
@@ -0,0 +1,66 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+name: clang-tidy-pr-comments-manually
+
+on:
+  workflow_dispatch:
+    inputs:
+      workflow_run_id_or_url:
+        description: The target workflow run ID or URL of the build-and-test-differential workflow
+        required: true
+jobs:
+  clang-tidy-pr-comments-manually:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Download analysis results
+        run: |
+          workflow_run_id=$(echo "${{ inputs.workflow_run_id_or_url }}" | sed -e "s|.*runs/||" -e "s|/jobs.*||")
+          gh run download "$workflow_run_id" -D /tmp || true
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Check if the fixes.yaml file exists
+        id: check-fixes-yaml-existence
+        uses: autowarefoundation/autoware-github-actions/check-file-existence@v1
+        with:
+          files: /tmp/clang-tidy-result/fixes.yaml
+
+      - name: Set variables
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
+        id: set-variables
+        run: |
+          echo "pr-id=$(cat /tmp/clang-tidy-result/pr-id.txt)" >> $GITHUB_OUTPUT
+          echo "pr-head-repo=$(cat /tmp/clang-tidy-result/pr-head-repo.txt)" >> $GITHUB_OUTPUT
+          echo "pr-head-ref=$(cat /tmp/clang-tidy-result/pr-head-ref.txt)" >> $GITHUB_OUTPUT
+
+      - name: Check out PR head
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
+        uses: actions/checkout@v3
+        with:
+          repository: ${{ steps.set-variables.outputs.pr-head-repo }}
+          ref: ${{ steps.set-variables.outputs.pr-head-ref }}
+          persist-credentials: false
+
+      - name: Replace paths in fixes.yaml
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
+        run: |
+          sed -i -e "s|/__w/|/home/runner/work/|g" /tmp/clang-tidy-result/fixes.yaml
+          cat /tmp/clang-tidy-result/fixes.yaml
+
+      - name: Copy fixes.yaml to access from Docker Container Action
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
+        run: |
+          cp /tmp/clang-tidy-result/fixes.yaml fixes.yaml
+
+      - name: Run clang-tidy-pr-comments action
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
+        uses: platisd/clang-tidy-pr-comments@v1
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          clang_tidy_fixes: fixes.yaml
+          pull_request_id: ${{ steps.set-variables.outputs.pr-id }}
diff --git a/.github/workflows/clang-tidy-pr-comments.yaml b/.github/workflows/clang-tidy-pr-comments.yaml
index 0f6db69d..c8df6a62 100644
--- a/.github/workflows/clang-tidy-pr-comments.yaml
+++ b/.github/workflows/clang-tidy-pr-comments.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: clang-tidy-pr-comments
 
 on:
@@ -10,10 +14,10 @@ on:
 jobs:
   clang-tidy-pr-comments:
     if: ${{ github.event.workflow_run.event == 'pull_request' && contains(fromJson('["success", "failure"]'), github.event.workflow_run.conclusion) }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v3
 
       - name: Download analysis results
         run: |
@@ -37,7 +41,7 @@ jobs:
 
       - name: Check out PR head
         if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
-        uses: actions/checkout@v4
+        uses: actions/checkout@v3
         with:
           repository: ${{ steps.set-variables.outputs.pr-head-repo }}
           ref: ${{ steps.set-variables.outputs.pr-head-ref }}
diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml
index c80141dd..0f2ecf51 100644
--- a/.github/workflows/comment-on-pr.yaml
+++ b/.github/workflows/comment-on-pr.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: comment-on-pr
 on:
   pull_request_target:
diff --git a/.github/workflows/delete-closed-pr-docs.yaml b/.github/workflows/delete-closed-pr-docs.yaml
index eb211766..b8ff4f6d 100644
--- a/.github/workflows/delete-closed-pr-docs.yaml
+++ b/.github/workflows/delete-closed-pr-docs.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: delete-closed-pr-docs
 
 on:
@@ -7,10 +11,10 @@ on:
 
 jobs:
   delete-closed-pr-docs:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
diff --git a/.github/workflows/deploy-docs.yaml b/.github/workflows/deploy-docs.yaml
index be5c600d..d39e97e5 100644
--- a/.github/workflows/deploy-docs.yaml
+++ b/.github/workflows/deploy-docs.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: deploy-docs
 
 on:
@@ -22,15 +26,15 @@ jobs:
   prevent-no-label-execution:
     uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
     with:
-      label: deploy-docs
+      label: tag:deploy-docs
 
   deploy-docs:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
           ref: ${{ github.event.pull_request.head.sha }}
diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml
index b426d0cb..bbe2ac51 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:
@@ -15,7 +19,7 @@ on:
 
 jobs:
   github-release:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Set tag name
         id: set-tag-name
diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml
new file mode 100644
index 00000000..489e32a1
--- /dev/null
+++ b/.github/workflows/pre-commit-autoupdate.yaml
@@ -0,0 +1,41 @@
+# 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-autoupdate
+
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  check-secret:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1
+    secrets:
+      secret: ${{ secrets.APP_ID }}
+
+  pre-commit-autoupdate:
+    needs: check-secret
+    if: ${{ needs.check-secret.outputs.set == 'true' }}
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v2
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run pre-commit-autoupdate
+        uses: autowarefoundation/autoware-github-actions/pre-commit-autoupdate@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          pre-commit-config: .pre-commit-config.yaml
+          pr-labels: |
+            tag:bot
+            tag:pre-commit-autoupdate
+          pr-branch: pre-commit-autoupdate
+          pr-title: "ci(pre-commit): autoupdate"
+          pr-commit-message: "ci(pre-commit): autoupdate"
+          auto-merge-method: squash
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
index 33c00ee1..15c8e86c 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:
@@ -6,11 +10,11 @@ on:
 jobs:
   pre-commit:
     if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token
-        uses: tibdex/github-app-token@v1
+        uses: tibdex/github-app-token@v2
         with:
           app_id: ${{ secrets.APP_ID }}
           private_key: ${{ secrets.PRIVATE_KEY }}
diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml
index 71224c22..b56040b0 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 00000000..696963ff
--- /dev/null
+++ b/.github/workflows/spell-check-daily.yaml
@@ -0,0 +1,27 @@
+# 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:
+          local-cspell-json: .cspell.json
+          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 1fbf2ff4..81e33093 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:
@@ -5,7 +9,7 @@ on:
 
 jobs:
   spell-check-differential:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -13,4 +17,8 @@ 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
+          local-cspell-json: .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 b9dc5907..9224c150 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:
@@ -14,11 +18,11 @@ jobs:
   sync-files:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token
-        uses: tibdex/github-app-token@v1
+        uses: tibdex/github-app-token@v2
         with:
           app_id: ${{ secrets.APP_ID }}
           private_key: ${{ secrets.PRIVATE_KEY }}
@@ -28,6 +32,6 @@ jobs:
         with:
           token: ${{ steps.generate-token.outputs.token }}
           pr-labels: |
-            bot
-            sync-files
+            tag:bot
+            tag:sync-files
           auto-merge-method: squash
diff --git a/.github/workflows/update-codeowners-from-packages.yaml b/.github/workflows/update-codeowners-from-packages.yaml
index 7c4132ef..c9ecdb10 100644
--- a/.github/workflows/update-codeowners-from-packages.yaml
+++ b/.github/workflows/update-codeowners-from-packages.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: update-codeowners-from-packages
 
 on:
@@ -14,11 +18,11 @@ jobs:
   update-codeowners-from-packages:
     needs: check-secret
     if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token
-        uses: tibdex/github-app-token@v1
+        uses: tibdex/github-app-token@v2
         with:
           app_id: ${{ secrets.APP_ID }}
           private_key: ${{ secrets.PRIVATE_KEY }}
@@ -27,8 +31,7 @@ jobs:
         uses: autowarefoundation/autoware-github-actions/update-codeowners-from-packages@v1
         with:
           token: ${{ steps.generate-token.outputs.token }}
-          global-codeowners: "@autowarefoundation/autoware-global-codeowners"
           pr-labels: |
-            bot
-            update-codeowners-from-packages
+            tag:bot
+            tag:update-codeowners-from-packages
           auto-merge-method: squash
diff --git a/.markdownlint.yaml b/.markdownlint.yaml
index babaaa1f..584154b2 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
@@ -7,5 +11,6 @@ MD029:
   style: ordered
 MD033: false
 MD041: false
+MD045: false
 MD046: false
 MD049: false
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 140ea172..e6dcc3f4 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.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.
+
 ci:
   autofix_commit_msg: "style(pre-commit): autofix"
 
@@ -49,7 +53,7 @@ repos:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.8.0-1
+    rev: v3.9.0-1
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
@@ -60,7 +64,7 @@ repos:
       - id: isort
 
   - repo: https://github.com/psf/black
-    rev: 24.4.2
+    rev: 24.8.0
     hooks:
       - id: black
         args: [--line-length=100]
@@ -78,6 +82,12 @@ repos:
         args: [--quiet]
         exclude: .cu
 
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.29.2
+    hooks:
+      - id: check-metaschema
+        files: ^.+/schema/.*schema\.json$
+
   - repo: local
     hooks:
       - id: prettier-svg
@@ -87,3 +97,9 @@ repos:
         language: node
         files: .svg$
         additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"]
+
+  - repo: https://github.com/AleksaC/hadolint-py
+    rev: v2.12.1b3
+    hooks:
+      - id: hadolint
+        exclude: .svg$
diff --git a/.prettierignore b/.prettierignore
index a3c34d00..3e96aace 100644
--- a/.prettierignore
+++ b/.prettierignore
@@ -1,2 +1,6 @@
+# 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
diff --git a/.prettierrc.yaml b/.prettierrc.yaml
index e29bf327..fe476936 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 2c7bd088..e0be62db 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/CPPLINT.cfg b/CPPLINT.cfg
index ba6bdf08..81869c92 100644
--- a/CPPLINT.cfg
+++ b/CPPLINT.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.
+
 # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120
 set noparent
 linelength=100
diff --git a/codecov.yaml b/codecov.yaml
index 8ca21967..be19b8af 100644
--- a/codecov.yaml
+++ b/codecov.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.
+
 coverage:
   status:
     project:
diff --git a/mkdocs.yaml b/mkdocs.yaml
index 3ac602fb..3d4afa75 100644
--- a/mkdocs.yaml
+++ b/mkdocs.yaml
@@ -1,9 +1,13 @@
+# 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.
+
 site_name: Autoware Core Documentation
 site_url: https://autowarefoundation.github.io/autoware.core
 repo_url: https://github.com/autowarefoundation/autoware.core
-edit_uri: edit/main/
+edit_uri: https://github.com/autowarefoundation/autoware.core/edit/main/
 docs_dir: .
-copyright: Copyright © 2022 The Autoware Foundation
+copyright: Copyright © 2023 The Autoware Foundation
 
 theme:
   name: material
@@ -15,6 +19,7 @@ theme:
     - navigation.tabs
     - navigation.tabs.sticky
     - navigation.top
+    - navigation.footer
   favicon: docs/assets/images/autoware-foundation.png
   icon:
     logo: fontawesome/solid/car
@@ -44,34 +49,47 @@ extra_css:
   - https://use.fontawesome.com/releases/v5.15.4/css/all.css
 
 extra_javascript:
-  - https://cdn.jsdelivr.net/npm/mathjax@2/MathJax.js?config=TeX-AMS-MML_HTMLorMML
+  - docs/assets/js/mathjax.js
+  - https://polyfill.io/v3/polyfill.min.js?features=es6
+  - https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js
 
 plugins:
   - awesome-pages
   - exclude:
       regex:
-        - ^(?!(.*/)?assets/).*\.(?!(.*\.)?md|(.*\.)?svg|(.*\.)?png|(.*\.)?jpg).*$
+        - ^(?!(.*/)?assets/).*\.(?!(.*\.)?md|(.*\.)?svg|(.*\.)?png|(.*\.)?gif|(.*\.)?jpg).*$
         - ^(.*/)?[^.]*$
-  - macros
+  - macros:
+      module_name: mkdocs_macros
+  - mkdocs-video
   - same-dir
   - search
 
 markdown_extensions:
+  - abbr
   - admonition
   - attr_list
   - codehilite:
       guess_lang: false
   - fontawesome_markdown
   - footnotes
+  - md_in_html
   - mdx_math
   - mdx_truly_sane_lists:
       nested_indent: 2
-  - mdx_unimoji
   - plantuml_markdown:
       server: http://www.plantuml.com/plantuml
       format: svg
-  - pymdownx.arithmatex
+  - pymdownx.arithmatex:
+      generic: true
+  - pymdownx.details
+  - pymdownx.emoji:
+      emoji_index: !!python/name:materialx.emoji.twemoji
+      emoji_generator: !!python/name:materialx.emoji.to_svg
   - pymdownx.highlight
+  - pymdownx.snippets:
+      auto_append:
+        - includes/abbreviations.md
   - pymdownx.superfences:
       custom_fences:
         - name: mermaid
@@ -79,3 +97,4 @@ markdown_extensions:
           format: !!python/name:pymdownx.superfences.fence_code_format
   - toc:
       permalink: "#"
+      toc_depth: 3
diff --git a/setup.cfg b/setup.cfg
index 5214751c..4d7d5e5b 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