diff --git a/.github/CODEOWNERS b/.github/_CODEOWNERS
similarity index 100%
rename from .github/CODEOWNERS
rename to .github/_CODEOWNERS
diff --git a/.github/workflows/beta-to-tier4-main-sync.yaml b/.github/workflows/beta-to-tier4-main-sync.yaml
new file mode 100644
index 0000000000000..53f40f1e811ab
--- /dev/null
+++ b/.github/workflows/beta-to-tier4-main-sync.yaml
@@ -0,0 +1,34 @@
+name: beta-to-tier4-main-sync
+
+on:
+  workflow_dispatch:
+    inputs:
+      source_branch:
+        description: Source branch
+        required: true
+        type: string
+
+jobs:
+  sync-beta-branch:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: tier4/main
+          sync-pr-branch: beta-to-tier4-main-sync
+          sync-target-repository: https://github.com/tier4/autoware.universe.git
+          sync-target-branch: ${{ inputs.source_branch }}
+          pr-title: "chore: sync beta branch ${{ inputs.source_branch }} with tier4/main"
+          pr-labels: |
+            bot
+            sync-beta-branch
+          auto-merge-method: merge
diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml
index 0f2ecf519db11..3fba91f6ea3dc 100644
--- a/.github/workflows/comment-on-pr.yaml
+++ b/.github/workflows/comment-on-pr.yaml
@@ -3,8 +3,13 @@
 # To make changes, update the source repository and follow the guidelines in its README.
 
 name: comment-on-pr
+
 on:
-  pull_request_target:
+  pull_request:
+    types:
+      - opened
+    branches:
+      - beta/v0.[0-9]+.[1-9]+
 
 jobs:
   comment-on-pr:
@@ -12,18 +17,15 @@ jobs:
     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).
+      - name: Create comments
+        run: |
+          cat << EOF > comments
+          ### Merging guidelines for the beta branch
+          Please use `Squash and merge` as the default.
+          However, when incorporating multiple changes with cherry-pick, use a `Create a merge commit` to preserve the changes in the history.
+          EOF
+      - name: Post comments
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          URL: ${{ github.event.pull_request.html_url }}
+        run: gh pr comment -F ./comments "${URL}"
diff --git a/.github/workflows/dispatch-push-event.yaml b/.github/workflows/dispatch-push-event.yaml
new file mode 100644
index 0000000000000..492083c8038f6
--- /dev/null
+++ b/.github/workflows/dispatch-push-event.yaml
@@ -0,0 +1,45 @@
+name: dispatch-push-event
+on:
+  push:
+
+jobs:
+  search-dispatch-repo:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - { version: beta/v0.3.**, dispatch-repo: pilot-auto.x1.eve }
+    outputs:
+      dispatch-repo: ${{ steps.search-dispatch-repo.outputs.value }}
+    steps:
+      - name: Search dispatch repo
+        id: search-dispatch-repo
+        run: |
+          if [[ ${{ github.ref_name }} =~ ${{ matrix.version }} ]]; then
+            echo ::set-output name=value::"${{ matrix.dispatch-repo }}"
+            echo "Detected beta branch: ${{ github.ref_name }}"
+            echo "Dispatch repository: ${{ matrix.dispatch-repo }}"
+          fi
+
+  dispatch-push-event:
+    runs-on: ubuntu-latest
+    needs: search-dispatch-repo
+    if: ${{ needs.search-dispatch-repo.outputs.dispatch-repo != '' }}
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.INTERNAL_APP_ID }}
+          private_key: ${{ secrets.INTERNAL_PRIVATE_KEY }}
+
+      # 注意: workflow_dispatchで指定するブランチはmain固定となっているため、dispatch-repoのmainブランチにupdate-beta-branch.yamlが存在することが前提条件。
+      - name: Dispatch the update-beta-branch workflow
+        run: |
+          curl -L \
+          -X POST \
+          -H "Accept: application/vnd.github+json" \
+          -H "Authorization: Bearer ${{ steps.generate-token.outputs.token }}" \
+          -H "X-GitHub-Api-Version: 2022-11-28" \
+          https://api.github.com/repos/tier4/${{ needs.search-dispatch-repo.outputs.dispatch-repo }}/actions/workflows/update-beta-branch.yaml/dispatches \
+          -d '{"ref":"main"}'
diff --git a/.github/workflows/dispatch-release-note.yaml b/.github/workflows/dispatch-release-note.yaml
new file mode 100644
index 0000000000000..0245e2b929cd8
--- /dev/null
+++ b/.github/workflows/dispatch-release-note.yaml
@@ -0,0 +1,46 @@
+name: dispatch-release-note
+on:
+  push:
+    branches:
+      - beta/v*
+      - tier4/main
+    tags:
+      - v*
+  workflow_dispatch:
+    inputs:
+      beta-branch-or-tag-name:
+        description: The name of the beta branch or tag to write release note
+        type: string
+        required: true
+jobs:
+  dispatch-release-note:
+    runs-on: ubuntu-latest
+    name: release-repository-dispatch
+    steps:
+      - name: Set tag name
+        id: set-tag-name
+        run: |
+          if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then
+            REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}"
+          else
+            REF_NAME="${{ github.ref_name }}"
+          fi
+          echo ::set-output name=ref-name::"$REF_NAME"
+          echo ::set-output name=tag-name::"${REF_NAME#beta/}"
+
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Repository dispatch for release note
+        run: |
+          curl \
+          -X POST \
+          -H "Accept: application/vnd.github+json" \
+          -H "Authorization: token ${{ steps.generate-token.outputs.token }}" \
+          -H "X-GitHub-Api-Version: 2022-11-28" \
+          "https://api.github.com/repos/tier4/update-release-notes/dispatches" \
+          -d '{"event_type":"${{ steps.set-tag-name.outputs.ref-name }}"}'
diff --git a/.github/workflows/slack-send.yaml b/.github/workflows/slack-send.yaml
new file mode 100644
index 0000000000000..973b08674f7e8
--- /dev/null
+++ b/.github/workflows/slack-send.yaml
@@ -0,0 +1,25 @@
+name: slack-send
+on:
+  workflow_run:
+    workflows:
+      - build-and-test
+    types:
+      - completed
+
+jobs:
+  on-failure:
+    if: ${{ github.event.workflow_run.conclusion == 'failure' }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Send to Slack workflow
+        uses: slackapi/slack-github-action@v1
+        with:
+          payload: |
+            {
+              "workflow-url": "${{ github.event.workflow_run.html_url }}"
+            }
+        env:
+          SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WORKFLOW_WEBHOOK_URL }}
diff --git a/.github/workflows/sync-awf-latest.yaml b/.github/workflows/sync-awf-latest.yaml
new file mode 100644
index 0000000000000..8f52b297fce40
--- /dev/null
+++ b/.github/workflows/sync-awf-latest.yaml
@@ -0,0 +1,30 @@
+name: sync-awf-latest
+
+on:
+  schedule:
+    - cron: 50 */1 * * * # every 1 hour (**:50)
+  workflow_dispatch:
+
+jobs:
+  sync-awf-latest:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: awf-latest
+          sync-pr-branch: sync-awf-latest
+          sync-target-repository: https://github.com/autowarefoundation/autoware.universe.git
+          sync-target-branch: main
+          pr-title: "chore: sync awf-latest"
+          pr-labels: |
+            bot
+          auto-merge-method: merge
diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml
new file mode 100644
index 0000000000000..978ae00a06e20
--- /dev/null
+++ b/.github/workflows/sync-upstream.yaml
@@ -0,0 +1,49 @@
+name: sync-upstream
+
+on:
+  workflow_dispatch:
+    inputs:
+      target_branch:
+        description: Target branch
+        required: true
+        type: string
+
+jobs:
+  sync-upstream:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - uses: actions/setup-node@v3
+        with:
+          node-version: 16
+
+      - run: npm install @holiday-jp/holiday_jp
+
+      - uses: actions/github-script@v6
+        id: is-holiday
+        with:
+          script: |
+            const holiday_jp = require(`${process.env.GITHUB_WORKSPACE}/node_modules/@holiday-jp/holiday_jp`)
+            core.setOutput('holiday', holiday_jp.isHoliday(new Date()));
+      - name: Print warning for invalid branch name
+        if: ${{ inputs.target_branch  == 'tier4/main' }}
+        run: |
+          echo This action cannot be performed on 'tier4/main' branch
+
+      - name: Run sync-branches
+        if: ${{ inputs.target_branch  != 'tier4/main' }}
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: ${{ inputs.target_branch }}
+          sync-pr-branch: sync-upstream
+          sync-target-repository: https://github.com/tier4/autoware.universe.git
+          sync-target-branch: awf-latest
+          pr-title: "chore: sync tier4/autoware.universe:awf-latest"
+          auto-merge-method: merge
diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml
index f0b5bdba2d24d..2b16d4372c00f 100644
--- a/.pre-commit-config-optional.yaml
+++ b/.pre-commit-config-optional.yaml
@@ -11,7 +11,7 @@ ci:
 
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.12.2
+    rev: v3.13.6
     hooks:
       - id: markdown-link-check
         args: [--quiet, --config=.markdown-link-check.json]
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/config/traffic_light.param.yaml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/config/traffic_light.param.yaml
index 253fb69043f7c..3b7b2a0de790d 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/config/traffic_light.param.yaml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/config/traffic_light.param.yaml
@@ -8,3 +8,9 @@
       yellow_light_stop_velocity: 1.0 # Velocity threshold (m/s) below which the vehicle will always stop before the traffic light when the signal turns yellow, regardless of the pass_judge decision.
       enable_pass_judge: true
       enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
+
+      v2i:
+        use_rest_time: false
+        last_time_allowed_to_pass: 2.0 # relative time against at the time of turn to red
+        velocity_threshold: 0.5 # change the decision logic whether the current velocity is faster or not
+        required_time_to_departure: 3.0 # prevent low speed pass
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
index 0923e9645b53e..745c5d2a23b80 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/package.xml
@@ -31,6 +31,7 @@
   <depend>autoware_utils</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
+  <depend>jpn_signal_v2i_msgs</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>