diff --git a/.clang-format b/.clang-format
index 82c94e66..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
@@ -45,6 +49,3 @@ IncludeCategories:
   - Regex: '".*"'
     Priority: 1
     CaseSensitive: true
----
-Language: Json
-BasedOnStyle: llvm
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/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index 625b62bd..74242fea 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -2,9 +2,21 @@ name: build-and-test-differential
 
 on:
   pull_request:
+    types:
+      - opened
+      - synchronize
+      - reopened
+      - labeled
 
 jobs:
+  make-sure-label-is-present:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
+    with:
+      label: tag:run-build-and-test-differential
+
   build-and-test-differential:
+    needs: make-sure-label-is-present
+    if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
     runs-on: ubuntu-latest
     container: ${{ matrix.container }}
     strategy:
@@ -17,10 +29,17 @@ jobs:
             container: ros:humble
             build-depends-repos: build_depends.repos
     steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
+      - name: Checkout PR branch and all PR commits
+        uses: actions/checkout@v4
         with:
-          fetch-depth: 0
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+      - name: Show disk space before the tasks
+        run: df -h
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
@@ -51,7 +70,9 @@ jobs:
         uses: codecov/codecov-action@v4
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
-          token: ${{ secrets.CODECOV_TOKEN }}
           fail_ci_if_error: false
           verbose: true
           flags: differential
+
+      - name: Show disk space after the tasks
+        run: df -h
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index b0b500da..5a227b52 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -22,15 +22,12 @@ jobs:
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
-
-      - name: Free disk space (Ubuntu)
-        uses: jlumbroso/free-disk-space@v1.2.0
+        uses: actions/checkout@v4
         with:
-          tool-cache: false
-          dotnet: false
-          swap-storage: false
-          large-packages: false
+          fetch-depth: 1
+
+      - name: Show disk space before the tasks
+        run: df -h
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
@@ -61,7 +58,9 @@ jobs:
         uses: codecov/codecov-action@v4
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
-          token: ${{ secrets.CODECOV_TOKEN }}
           fail_ci_if_error: false
           verbose: true
           flags: total
+
+      - name: Show disk space after the tasks
+        run: df -h
diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml
index f9c29b81..44983f7d 100644
--- a/.github/workflows/cancel-previous-workflows.yaml
+++ b/.github/workflows/cancel-previous-workflows.yaml
@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     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/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
index e754ecab..3d086702 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:
@@ -5,10 +9,10 @@ on:
 
 jobs:
   pre-commit-optional:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
index b231dbda..4d005e84 100644
--- a/.github/workflows/pre-commit.yaml
+++ b/.github/workflows/pre-commit.yaml
@@ -6,17 +6,17 @@ 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 }}
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ github.event.pull_request.head.ref }}
 
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-differential.yaml b/.github/workflows/spell-check-differential.yaml
index eb18ccdb..e3af4327 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:
@@ -5,12 +9,15 @@ on:
 
 jobs:
   spell-check-differential:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - 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 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/.markdown-link-check.json b/.markdown-link-check.json
index 03b97774..c71a3e42 100644
--- a/.markdown-link-check.json
+++ b/.markdown-link-check.json
@@ -1,9 +1,5 @@
 {
-  "aliveStatusCodes": [
-    200,
-    206,
-    403
-  ],
+  "aliveStatusCodes": [200, 206, 403],
   "ignorePatterns": [
     {
       "pattern": "^http://localhost"
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-optional.yaml b/.pre-commit-config-optional.yaml
index 3b43f9ae..ff325af5 100644
--- a/.pre-commit-config-optional.yaml
+++ b/.pre-commit-config-optional.yaml
@@ -1,6 +1,10 @@
+# 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: v3.11.2
+    rev: v3.12.2
     hooks:
       - id: markdown-link-check
         args: [--quiet, --config=.markdown-link-check.json]
diff --git a/.prettierignore b/.prettierignore
index 21c2dd9f..3e96aace 100644
--- a/.prettierignore
+++ b/.prettierignore
@@ -1,3 +1,6 @@
-*.yaml
+# 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
-*.json
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 7837bfe0..e0be62db 100644
--- a/.yamllint.yaml
+++ b/.yamllint.yaml
@@ -1,5 +1,12 @@
+# 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: |
+  *.param.yaml
+
 rules:
   braces:
     level: error
@@ -10,8 +17,6 @@ rules:
   document-start:
     level: error
     present: false # Don't need document start markers
-    ignore:
-      - .clang-format # Needs '---' between languages
   line-length: disable # Delegate to Prettier
   truthy:
     level: error
@@ -19,7 +24,3 @@ rules:
   quoted-strings:
     level: error
     required: only-when-needed # To keep consistent style
-  indentation:
-    spaces: consistent
-    indent-sequences: true
-    check-multi-line-strings: false
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/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