diff --git a/.clang-format b/.clang-format
index 82c94e66..b41fae91 100644
--- a/.clang-format
+++ b/.clang-format
@@ -45,6 +45,3 @@ IncludeCategories:
   - Regex: '".*"'
     Priority: 1
     CaseSensitive: true
----
-Language: Json
-BasedOnStyle: llvm
diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml
index 3f3bf243..0264c035 100644
--- a/.github/dependabot.yaml
+++ b/.github/dependabot.yaml
@@ -6,5 +6,5 @@ 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 cdd07d2e..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
@@ -48,9 +67,12 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v3
+        uses: codecov/codecov-action@v4
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           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 33096b75..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
@@ -58,9 +55,12 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v3
+        uses: codecov/codecov-action@v4
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           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..38738196 100644
--- a/.github/workflows/pre-commit-optional.yaml
+++ b/.github/workflows/pre-commit-optional.yaml
@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     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..c724885f 100644
--- a/.github/workflows/pre-commit.yaml
+++ b/.github/workflows/pre-commit.yaml
@@ -10,13 +10,13 @@ jobs:
     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/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml
index eb18ccdb..1fbf2ff4 100644
--- a/.github/workflows/spell-check-differential.yaml
+++ b/.github/workflows/spell-check-differential.yaml
@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     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
diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml
index b9dc5907..51e523b8 100644
--- a/.github/workflows/sync-files.yaml
+++ b/.github/workflows/sync-files.yaml
@@ -18,7 +18,7 @@ jobs:
     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 +28,6 @@ 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..7b7359fe 100644
--- a/.markdownlint.yaml
+++ b/.markdownlint.yaml
@@ -7,5 +7,6 @@ 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..8c9345e1 100644
--- a/.pre-commit-config-optional.yaml
+++ b/.pre-commit-config-optional.yaml
@@ -1,6 +1,6 @@
 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..a3c34d00 100644
--- a/.prettierignore
+++ b/.prettierignore
@@ -1,3 +1,2 @@
-*.yaml
+*.param.yaml
 *.rviz
-*.json
diff --git a/.yamllint.yaml b/.yamllint.yaml
index 7837bfe0..2c7bd088 100644
--- a/.yamllint.yaml
+++ b/.yamllint.yaml
@@ -1,5 +1,8 @@
 extends: default
 
+ignore: |
+  *.param.yaml
+
 rules:
   braces:
     level: error
@@ -10,8 +13,6 @@ 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 +20,3 @@ rules:
   quoted-strings:
     level: error
     required: only-when-needed # To keep consistent style
-  indentation:
-    spaces: consistent
-    indent-sequences: true
-    check-multi-line-strings: false