diff --git a/docker/Dockerfile b/docker/Dockerfile
index f280039694..75448742df 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -21,6 +21,7 @@ COPY setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /auto
 COPY ansible/ /autoware/ansible/
 COPY docker/scripts/build_and_clean.sh /autoware/build_and_clean.sh
 RUN chmod +x /autoware/build_and_clean.sh
+COPY docker/scripts/cleanup_system.sh /autoware/cleanup_system.sh
 COPY docker/scripts/resolve_rosdep_keys.sh /autoware/resolve_rosdep_keys.sh
 RUN chmod +x /autoware/resolve_rosdep_keys.sh
 WORKDIR /autoware
@@ -423,15 +424,7 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && apt-get update \
   && cat /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
-  && apt-get autoremove -y && rm -rf "$HOME"/.cache \
-  && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
-  && find / -name "*.o" -type f -delete \
-  && find / -name "*.h" -type f -delete \
-  && find / -name "*.hpp" -type f -delete \
-  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
-    /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
-    /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
-    /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
 
 COPY --from=universe-sensing-perception-devel /opt/autoware /opt/autoware
 
@@ -456,15 +449,7 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && apt-get update \
   && cat /tmp/rosdep-universe-sensing-perception-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
-  && apt-get autoremove -y && rm -rf "$HOME"/.cache \
-  && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
-  && find / -name "*.o" -type f -delete \
-  && find / -name "*.h" -type f -delete \
-  && find / -name "*.hpp" -type f -delete \
-  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
-    /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
-    /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
-    /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
 
 COPY --from=universe-sensing-perception-devel-cuda /opt/autoware /opt/autoware
 
@@ -485,15 +470,7 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && apt-get update \
   && cat /tmp/rosdep-universe-localization-mapping-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
-  && apt-get autoremove -y && rm -rf "$HOME"/.cache \
-  && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
-  && find / -name "*.o" -type f -delete \
-  && find / -name "*.h" -type f -delete \
-  && find / -name "*.hpp" -type f -delete \
-  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
-    /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
-    /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
-    /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
 
 COPY --from=universe-localization-mapping-devel /opt/autoware /opt/autoware
 
@@ -518,15 +495,7 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && apt-get update \
   && cat /tmp/rosdep-universe-planning-control-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
-  && apt-get autoremove -y && rm -rf "$HOME"/.cache \
-  && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
-  && find / -name "*.o" -type f -delete \
-  && find / -name "*.h" -type f -delete \
-  && find / -name "*.hpp" -type f -delete \
-  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
-    /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
-    /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
-    /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
 
 COPY --from=universe-planning-control-devel /opt/autoware /opt/autoware
 
@@ -551,15 +520,7 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && apt-get update \
   && cat /tmp/rosdep-universe-vehicle-system-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
-  && apt-get autoremove -y && rm -rf "$HOME"/.cache \
-  && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
-  && find / -name "*.o" -type f -delete \
-  && find / -name "*.h" -type f -delete \
-  && find / -name "*.hpp" -type f -delete \
-  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
-    /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
-    /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
-    /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
 
 COPY --from=universe-vehicle-system-devel /opt/autoware /opt/autoware
 
@@ -584,15 +545,7 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && apt-get update \
   && cat /tmp/rosdep-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
-  && apt-get autoremove -y && rm -rf "$HOME"/.cache \
-  && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
-  && find / -name "*.o" -type f -delete \
-  && find / -name "*.h" -type f -delete \
-  && find / -name "*.hpp" -type f -delete \
-  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
-    /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
-    /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
-    /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
 
 COPY --from=universe-devel /opt/autoware /opt/autoware
 
@@ -617,15 +570,7 @@ RUN --mount=type=ssh \
   && pip uninstall -y ansible ansible-core \
   && apt-get update \
   && cat /tmp/rosdep-exec-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
-  && apt-get autoremove -y && rm -rf "$HOME"/.cache \
-  && find /usr/lib/$LIB_DIR-linux-gnu -name "*.a" -type f -delete \
-  && find / -name "*.o" -type f -delete \
-  && find / -name "*.h" -type f -delete \
-  && find / -name "*.hpp" -type f -delete \
-  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
-    /root/.local/pipx /opt/ros/"$ROS_DISTRO"/include /etc/apt/sources.list.d/cuda*.list \
-    /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
-    /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
+  && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
 
 COPY --from=universe-devel-cuda /opt/autoware /opt/autoware
 
diff --git a/docker/scripts/cleanup_system.sh b/docker/scripts/cleanup_system.sh
new file mode 100755
index 0000000000..ca25715ae1
--- /dev/null
+++ b/docker/scripts/cleanup_system.sh
@@ -0,0 +1,18 @@
+#!/bin/bash
+
+function cleanup_system() {
+  local lib_dir=$1
+  local ros_distro=$2
+
+  apt-get autoremove -y && rm -rf "$HOME"/.cache \
+  && find /usr/lib/$lib_dir-linux-gnu -name "*.a" -type f -delete \
+  && find / -name "*.o" -type f -delete \
+  && find / -name "*.h" -type f -delete \
+  && find / -name "*.hpp" -type f -delete \
+  && rm -rf /autoware/ansible /autoware/ansible-galaxy-requirements.yaml /autoware/setup-dev-env.sh /autoware/*.env \
+    /root/.local/pipx /opt/ros/"$ros_distro"/include /etc/apt/sources.list.d/cuda*.list \
+    /etc/apt/sources.list.d/docker.list /etc/apt/sources.list.d/nvidia-docker.list \
+    /usr/include /usr/share/doc /usr/lib/gcc /usr/lib/jvm /usr/lib/llvm*
+}
+
+cleanup_system "$@"