diff --git a/.github/actions/docker-build/action.yaml b/.github/actions/docker-build/action.yaml
index 9a6a6e7e140..2dc427203bb 100644
--- a/.github/actions/docker-build/action.yaml
+++ b/.github/actions/docker-build/action.yaml
@@ -8,6 +8,10 @@ inputs:
   cache-tag-suffix:
     description: Suffix of the target cache tag.
     required: true
+  repos:
+    description: Target .repos file.
+    default: autoware.repos
+    required: true
   build-args:
     description: Additional build args.
     required: false
@@ -28,7 +32,7 @@ runs:
     - name: Run vcs import
       run: |
         mkdir src
-        vcs import src < autoware.repos
+        vcs import src < ${{ inputs.repos }}
       shell: bash
 
     - name: Cache ccache
diff --git a/.github/workflows/health-check-nightly.yaml b/.github/workflows/health-check-nightly.yaml
new file mode 100644
index 00000000000..a22c2c1b3d2
--- /dev/null
+++ b/.github/workflows/health-check-nightly.yaml
@@ -0,0 +1,58 @@
+name: health-check-nightly
+
+on:
+  pull_request:
+    types:
+      - opened
+      - synchronize
+      - reopened
+      - labeled
+  schedule:
+    - cron: 0 6 * * *
+  workflow_dispatch:
+
+jobs:
+  label-check:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
+    with:
+      label: tag:run-health-check
+
+  load-env:
+    needs: label-check
+    if: ${{ needs.label-check.outputs.result == 'true' ||
+      github.event_name == 'schedule' ||
+      github.event_name == 'workflow_dispatch' }}
+    uses: ./.github/workflows/load-env.yaml
+
+  docker-build-nightly:
+    needs: load-env
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set git config
+        uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Free disk space
+        uses: ./.github/actions/free-disk-space
+
+      - name: Build 'Autoware'
+        uses: ./.github/actions/docker-build
+        with:
+          platform: amd64
+          cache-tag-suffix: nightly
+          repos: autoware-nightly.repos
+          build-args: |
+            ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+            BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+            LIB_DIR=x86_64
+
+      - name: Show disk space
+        if: always()
+        run: |
+          df -h
diff --git a/autoware-nightly.repos b/autoware-nightly.repos
new file mode 100644
index 00000000000..55e313b2277
--- /dev/null
+++ b/autoware-nightly.repos
@@ -0,0 +1,140 @@
+repositories:
+  # core
+  core/autoware_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_msgs.git
+    version: main
+  core/autoware_adapi_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
+    version: main
+  core/autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: main
+  # TODO(youtalk): Remove autoware_common when https://github.com/autowarefoundation/autoware/issues/4911 is closed
+  core/autoware_common:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_common.git
+    version: remove-autoware-cmake-utils
+  core/autoware_cmake:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_cmake.git
+    version: main
+  core/autoware_utils:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_utils.git
+    version: main
+  core/autoware_lanelet2_extension:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
+    version: main
+  core/autoware.core:
+    type: git
+    url: https://github.com/autowarefoundation/autoware.core.git
+    version: main
+  # universe
+  universe/autoware.universe:
+    type: git
+    url: https://github.com/autowarefoundation/autoware.universe.git
+    version: main
+  universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API
+    type: git
+    url: https://github.com/tier4/tier4_ad_api_adaptor.git
+    version: tier4/universe
+  universe/external/tier4_autoware_msgs:
+    type: git
+    url: https://github.com/tier4/tier4_autoware_msgs.git
+    version: tier4/universe
+  # Fix the version not to merge https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs/pull/9
+  universe/external/morai_msgs:
+    type: git
+    url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
+    version: e2e75fc1603a9798773e467a679edf68b448e705
+  universe/external/muSSP:
+    type: git
+    url: https://github.com/tier4/muSSP.git
+    version: tier4/main
+  universe/external/pointcloud_to_laserscan:
+    type: git
+    url: https://github.com/tier4/pointcloud_to_laserscan.git
+    version: tier4/main
+  universe/external/eagleye:
+    type: git
+    url: https://github.com/MapIV/eagleye.git
+    version: autoware-main
+  universe/external/rtklib_ros_bridge:
+    type: git
+    url: https://github.com/MapIV/rtklib_ros_bridge.git
+    version: ros2-v0.1.0
+  universe/external/llh_converter:
+    type: git
+    url: https://github.com/MapIV/llh_converter.git
+    version: ros2
+  universe/external/glog:  # TODO(Horibe): to use isGoogleInitialized() API in v0.6.0. Remove when the rosdep glog version is updated to v0.6.0 (already updated in Ubuntu 24.04)
+    type: git
+    url: https://github.com/tier4/glog.git
+    version: v0.6.0_t4-ros
+  # launcher
+  launcher/autoware_launch:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_launch.git
+    version: main
+  # sensor_component
+  sensor_component/external/sensor_component_description:
+    type: git
+    url: https://github.com/tier4/sensor_component_description.git
+    version: main
+  sensor_component/external/tamagawa_imu_driver:
+    type: git
+    url: https://github.com/tier4/tamagawa_imu_driver.git
+    version: ros2
+  sensor_component/external/nebula:
+    type: git
+    url: https://github.com/tier4/nebula.git
+    version: main
+  # Fork of transport_drivers that enables reduction of copy operations
+  sensor_component/transport_drivers:
+    type: git
+    url: https://github.com/autowarefoundation/transport_drivers
+    version: main
+  # Continental compatible version of ROS 2 socket CAN
+  sensor_component/ros2_socketcan:
+    type: git
+    url: https://github.com/autowarefoundation/ros2_socketcan
+    version: main
+  # sensor_kit
+  sensor_kit/sample_sensor_kit_launch:
+    type: git
+    url: https://github.com/autowarefoundation/sample_sensor_kit_launch.git
+    version: main
+  sensor_kit/external/awsim_sensor_kit_launch: # TODO: Integrate into sample_sensor_kit_launch
+    type: git
+    url: https://github.com/tier4/awsim_sensor_kit_launch.git
+    version: main
+  sensor_kit/awsim_labs_sensor_kit_launch:
+    type: git
+    url: https://github.com/autowarefoundation/awsim_labs_sensor_kit_launch.git
+    version: main
+  sensor_kit/single_lidar_sensor_kit_launch:
+    type: git
+    url: https://github.com/autowarefoundation/single_lidar_sensor_kit_launch.git
+    version: main
+  # vehicle
+  vehicle/sample_vehicle_launch:
+    type: git
+    url: https://github.com/autowarefoundation/sample_vehicle_launch.git
+    version: main
+  vehicle/awsim_labs_vehicle_launch:
+    type: git
+    url: https://github.com/autowarefoundation/awsim_labs_vehicle_launch.git
+    version: main
+  vehicle/external/pacmod_interface:
+    type: git
+    url: https://github.com/tier4/pacmod_interface.git
+    version: main
+  # param
+  param/autoware_individual_params:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_individual_params.git
+    version: main