diff --git a/autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml
new file mode 100644
index 0000000000..21ba13787f
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/roi_sync.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
+    timeout_ms: 70.0
+    match_threshold_ms: 50.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
index 43944607b1..4085b23981 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml
@@ -50,5 +50,7 @@
       aborting_time: 5.0                        # [s]
       abort_max_lateral_jerk: 100.0             # [m/s3]
 
+      finish_judge_lateral_threshold: 0.2        # [m]
+
       # debug
       publish_debug_marker: false
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
index 68000747b7..bd1ccd2065 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml
@@ -4,15 +4,16 @@
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
+      th_blinker_on_lateral_offset: 1.0
       collision_check_margin: 1.0
       collision_check_distance_from_end: 1.0
       # shift pull out
       enable_shift_pull_out: true
       shift_pull_out_velocity: 2.0
       pull_out_sampling_num: 4
-      minimum_shift_pull_out_distance: 20.0
+      minimum_shift_pull_out_distance: 0.0
       maximum_lateral_jerk: 2.0
-      minimum_lateral_jerk: 0.5
+      minimum_lateral_jerk: 0.1
       deceleration_interval: 15.0
       # geometric pull out
       enable_geometric_pull_out: true
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
index b01ec733cb..ba55882578 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml
@@ -12,6 +12,7 @@
     launch_run_out: false
     launch_speed_bump: false
     launch_out_of_lane: false
+    launch_no_drivable_lane: false
     forward_path_length: 1000.0
     backward_path_length: 5.0
     stop_line_extend_length: 5.0
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml
new file mode 100644
index 0000000000..d75acfc0b6
--- /dev/null
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_drivable_lane.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    no_drivable_lane:
+      stop_margin: 1.5 # Stop margin before the no drivable lane [m]
+      print_debug_info: false
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index aa9a345e18..ade287c358 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -28,6 +28,7 @@
       name="object_recognition_detection_pointcloud_map_filter_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml"
     />
+    <arg name="object_recognition_detection_fusion_sync_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/roi_sync.param.yaml"/>
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml
index 1d84e408cf..3c127d21e4 100644
--- a/autoware_launch/launch/components/tier4_planning_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml
@@ -10,6 +10,13 @@
   <arg name="use_surround_obstacle_check" default="false"/>
   <arg name="smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
 
+  <!-- variables -->
+  <arg name="behavior_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning"/>
+  <arg name="behavior_path_config_path" default="$(var behavior_config_path)/behavior_path_planner"/>
+  <arg name="behavior_velocity_config_path" default="$(var behavior_config_path)/behavior_velocity_planner"/>
+  <arg name="motion_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning"/>
+  <arg name="common_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common"/>
+
   <include file="$(find-pkg-share tier4_planning_launch)/launch/planning.launch.xml">
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
@@ -17,8 +24,8 @@
     <arg name="smoother_type" value="$(var smoother_type)"/>
 
     <!-- common -->
-    <arg name="common_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/common.param.yaml"/>
-    <arg name="nearest_search_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/nearest_search.param.yaml"/>
+    <arg name="common_param_path" value="$(var common_config_path)/common.param.yaml"/>
+    <arg name="nearest_search_param_path" value="$(var common_config_path)/nearest_search.param.yaml"/>
 
     <!-- rtc -->
     <arg name="rtc_auto_mode_manager_param_path" value="$(var rtc_auto_mode_manager_param_path)"/>
@@ -27,112 +34,56 @@
     <arg name="mission_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/mission_planning/mission_planner/mission_planner.param.yaml"/>
 
     <!-- behavior path planner -->
-    <arg
-      name="side_shift_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml"
-    />
-    <arg name="avoidance_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml"/>
-    <arg
-      name="avoidance_by_lc_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lc/avoidance_by_lc.param.yaml"
-    />
-    <arg
-      name="dynamic_avoidance_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml"
-    />
-    <arg
-      name="lane_change_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml"
-    />
-    <arg
-      name="goal_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml"
-    />
-    <arg name="pull_out_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_out/pull_out.param.yaml"/>
-    <arg
-      name="drivable_area_expansion_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml"
-    />
+    <arg name="side_shift_param_path" value="$(var behavior_path_config_path)/side_shift/side_shift.param.yaml"/>
+    <arg name="avoidance_param_path" value="$(var behavior_path_config_path)/avoidance/avoidance.param.yaml"/>
+    <arg name="avoidance_by_lc_param_path" value="$(var behavior_path_config_path)/avoidance_by_lc/avoidance_by_lc.param.yaml"/>
+    <arg name="dynamic_avoidance_param_path" value="$(var behavior_path_config_path)/dynamic_avoidance/dynamic_avoidance.param.yaml"/>
+    <arg name="lane_change_param_path" value="$(var behavior_path_config_path)/lane_change/lane_change.param.yaml"/>
+    <arg name="goal_planner_param_path" value="$(var behavior_path_config_path)/goal_planner/goal_planner.param.yaml"/>
+    <arg name="pull_out_param_path" value="$(var behavior_path_config_path)/pull_out/pull_out.param.yaml"/>
+    <arg name="drivable_area_expansion_param_path" value="$(var behavior_path_config_path)/drivable_area_expansion.param.yaml"/>
     <arg name="scene_module_manager_param_path" value="$(var scene_module_manager_param_path)"/>
-    <arg
-      name="behavior_path_planner_tree_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_tree.xml"
-    />
-    <arg
-      name="behavior_path_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml"
-    />
+    <arg name="behavior_path_planner_tree_param_path" value="$(var behavior_path_config_path)/behavior_path_planner_tree.xml"/>
+    <arg name="behavior_path_planner_param_path" value="$(var behavior_path_config_path)/behavior_path_planner.param.yaml"/>
 
     <!-- behavior velocity planner -->
-    <arg name="behavior_velocity_smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml"/>
-    <arg name="blind_spot_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml"/>
-    <arg name="crosswalk_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml"/>
-    <arg
-      name="detection_area_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml"
-    />
-    <arg name="intersection_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml"/>
-    <arg name="stop_line_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml"/>
-    <arg name="traffic_light_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml"/>
-    <arg
-      name="virtual_traffic_light_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_traffic_light.param.yaml"
-    />
-    <arg
-      name="occlusion_spot_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/occlusion_spot.param.yaml"
-    />
-    <arg
-      name="no_stopping_area_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml"
-    />
-    <arg name="run_out_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml"/>
-    <arg name="speed_bump_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/speed_bump.param.yaml"/>
-    <arg name="out_of_lane_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml"/>
-    <arg
-      name="behavior_velocity_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml"
-    />
+    <arg name="behavior_velocity_smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/Analytical.param.yaml"/>
+    <arg name="blind_spot_param_path" value="$(var behavior_velocity_config_path)/blind_spot.param.yaml"/>
+    <arg name="crosswalk_param_path" value="$(var behavior_velocity_config_path)/crosswalk.param.yaml"/>
+    <arg name="detection_area_param_path" value="$(var behavior_velocity_config_path)/detection_area.param.yaml"/>
+    <arg name="intersection_param_path" value="$(var behavior_velocity_config_path)/intersection.param.yaml"/>
+    <arg name="stop_line_param_path" value="$(var behavior_velocity_config_path)/stop_line.param.yaml"/>
+    <arg name="traffic_light_param_path" value="$(var behavior_velocity_config_path)/traffic_light.param.yaml"/>
+    <arg name="virtual_traffic_light_param_path" value="$(var behavior_velocity_config_path)/virtual_traffic_light.param.yaml"/>
+    <arg name="occlusion_spot_param_path" value="$(var behavior_velocity_config_path)/occlusion_spot.param.yaml"/>
+    <arg name="no_stopping_area_param_path" value="$(var behavior_velocity_config_path)/no_stopping_area.param.yaml"/>
+    <arg name="run_out_param_path" value="$(var behavior_velocity_config_path)/run_out.param.yaml"/>
+    <arg name="speed_bump_param_path" value="$(var behavior_velocity_config_path)/speed_bump.param.yaml"/>
+    <arg name="out_of_lane_param_path" value="$(var behavior_velocity_config_path)/out_of_lane.param.yaml"/>
+    <arg name="no_drivable_lane_param_path" value="$(var behavior_velocity_config_path)/no_drivable_lane.param.yaml"/>
+    <arg name="behavior_velocity_planner_param_path" value="$(var behavior_velocity_config_path)/behavior_velocity_planner.param.yaml"/>
 
     <!-- parking -->
     <arg name="freespace_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>
 
     <!-- motion -->
-    <arg
-      name="obstacle_avoidance_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"
-    />
-    <arg name="path_sampler_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml"/>
-    <arg
-      name="obstacle_velocity_limiter_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml"
-    />
-    <arg
-      name="surround_obstacle_checker_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/surround_obstacle_checker.param.yaml"
-    />
-    <arg
-      name="obstacle_stop_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml"
-    />
-    <arg
-      name="obstacle_stop_planner_acc_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/adaptive_cruise_control.param.yaml"
-    />
-    <arg
-      name="obstacle_cruise_planner_param_path"
-      value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"
-    />
+    <arg name="obstacle_avoidance_planner_param_path" value="$(var motion_config_path)/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"/>
+    <arg name="path_sampler_param_path" value="$(var motion_config_path)/path_sampler/path_sampler.param.yaml"/>
+    <arg name="obstacle_velocity_limiter_param_path" value="$(var motion_config_path)/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml"/>
+    <arg name="surround_obstacle_checker_param_path" value="$(var motion_config_path)/surround_obstacle_checker/surround_obstacle_checker.param.yaml"/>
+    <arg name="obstacle_stop_planner_param_path" value="$(var motion_config_path)/obstacle_stop_planner/obstacle_stop_planner.param.yaml"/>
+    <arg name="obstacle_stop_planner_acc_param_path" value="$(var motion_config_path)/obstacle_stop_planner/adaptive_cruise_control.param.yaml"/>
+    <arg name="obstacle_cruise_planner_param_path" value="$(var motion_config_path)/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml"/>
     <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
     <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
     <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
     <arg name="smoother_type" value="$(var smoother_type)"/>
 
     <!-- motion velocity smoother -->
-    <arg name="motion_velocity_smoother_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
-    <arg name="smoother_type_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/motion_velocity_smoother/$(var smoother_type).param.yaml"/>
+    <arg name="motion_velocity_smoother_param_path" value="$(var common_config_path)/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
+    <arg name="smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/$(var smoother_type).param.yaml"/>
 
     <!-- planning validator -->
-    <arg name="planning_validator_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml"/>
+    <arg name="planning_validator_param_path" value="$(var common_config_path)/planning_validator/planning_validator.param.yaml"/>
   </include>
 </launch>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 6aa1ec0522..bbe2dacfb0 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -1641,6 +1641,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane
                           Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (NoDrivableLane)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane
+                          Value: true
                       Enabled: true
                       Name: VirtualWall
                     - Class: rviz_common/Group
@@ -1911,6 +1923,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_avoidance
                           Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: NoDrivableLane
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane
+                          Value: false
                       Enabled: false
                       Name: DebugMarker
                     - Class: rviz_common/Group