diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index bb407eb51b16e..9dbdf7b77f946 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -21,9 +21,6 @@ jobs:
             container: ros:humble
             build-depends-repos: build_depends.repos
     steps:
-      - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.10.0
-
       - name: Check out repository
         uses: actions/checkout@v3
         with:
diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml
new file mode 100644
index 0000000000000..d65abbb1ce4aa
--- /dev/null
+++ b/.github/workflows/cancel-previous-workflows.yaml
@@ -0,0 +1,14 @@
+name: cancel-previous-workflows
+
+on:
+  pull_request:
+
+jobs:
+  cancel-previous-workflows:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Cancel previous runs
+        uses: styfle/cancel-workflow-action@0.10.0
+        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 b6aec05a9b852..7075daaee294d 100644
--- a/.github/workflows/check-build-depends.yaml
+++ b/.github/workflows/check-build-depends.yaml
@@ -3,12 +3,25 @@ name: check-build-depends
 on:
   pull_request:
     paths:
-      - build_depends.repos
+      - build_depends*.repos
 
 jobs:
   check-build-depends:
     runs-on: ubuntu-latest
-    container: ros:galactic
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - rosdistro: galactic
+            container: ros:galactic
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ros:humble
+            build-depends-repos: build_depends.repos
     steps:
       - name: Cancel previous runs
         uses: styfle/cancel-workflow-action@0.10.0
@@ -26,6 +39,6 @@ jobs:
       - name: Build
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: build_depends.repos