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 0000000000..79bdb6f0bd
--- /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_launch.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/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 6459a98044..33096b753d 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -24,6 +24,14 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v3
 
+      - name: Free disk space (Ubuntu)
+        uses: jlumbroso/free-disk-space@v1.2.0
+        with:
+          tool-cache: false
+          dotnet: false
+          swap-storage: false
+          large-packages: false
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
diff --git a/.github/workflows/dispatch-release-note.yaml b/.github/workflows/dispatch-release-note.yaml
index 792d46a8b2..89356b6abd 100644
--- a/.github/workflows/dispatch-release-note.yaml
+++ b/.github/workflows/dispatch-release-note.yaml
@@ -17,16 +17,15 @@ jobs:
     runs-on: ubuntu-latest
     name: release-repository-dispatch
     steps:
-      - name: Set tag name
-        id: set-tag-name
+      - name: Set ref name
+        id: set-ref-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'_launch"
-          echo ::set-output name=tag-name::"${REF_NAME#beta/}"
+          echo ::set-output name=ref-name::"${{ github.repository }}/'$REF_NAME'"
       - name: Generate token
         id: generate-token
         uses: tibdex/github-app-token@v1
@@ -42,4 +41,4 @@ jobs:
           -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 }}"}'
+          -d '{"event_type":"${{ steps.set-ref-name.outputs.ref-name }}"}'
diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
index 93e05dc2c7..e754ecab24 100644
--- a/.github/workflows/pre-commit-optional.yaml
+++ b/.github/workflows/pre-commit-optional.yaml
@@ -9,8 +9,11 @@ jobs:
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
 
       - name: Run pre-commit
         uses: autowarefoundation/autoware-github-actions/pre-commit@v1
         with:
           pre-commit-config: .pre-commit-config-optional.yaml
+          base-branch: origin/${{ github.base_ref }}
diff --git a/.github/workflows/sync-awf-upstream.yaml b/.github/workflows/sync-awf-upstream.yaml
index d2ee862fd4..91012439fb 100644
--- a/.github/workflows/sync-awf-upstream.yaml
+++ b/.github/workflows/sync-awf-upstream.yaml
@@ -1,9 +1,12 @@
 name: sync-awf-upstream
 
 on:
-  schedule:
-    - cron: 0 0 * * *
   workflow_dispatch:
+    inputs:
+      target_branch:
+        description: Target branch
+        required: true
+        type: string
 
 jobs:
   sync-awf-upstream:
@@ -16,11 +19,30 @@ jobs:
           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
         uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        if: ${{ inputs.target_branch  != 'tier4/main' }}
         with:
           token: ${{ steps.generate-token.outputs.token }}
-          base-branch: tier4/main
+          base-branch: ${{ inputs.target_branch }}
           sync-pr-branch: sync-awf-upstream
           sync-target-repository: https://github.com/autowarefoundation/autoware_launch.git
           sync-target-branch: main
diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml
index eb008730c1..3b43f9ae11 100644
--- a/.pre-commit-config-optional.yaml
+++ b/.pre-commit-config-optional.yaml
@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.11.1
+    rev: v3.11.2
     hooks:
       - id: markdown-link-check
         args: [--quiet, --config=.markdown-link-check.json]
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
index 7a1d766ecb..41f0da66e6 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -20,6 +20,10 @@
       nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index
       nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index
       min_behavior_stop_margin: 3.0 # [m]
+      stop_on_curve:
+        enable_approaching: false
+        additional_safe_distance_margin: 3.0 # [m]
+        min_safe_distance_margin: 3.0 # [m]
       suppress_sudden_obstacle_stop: true
 
       stop_obstacle_type:
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 52a0188976..384e4c9abc 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -16,8 +16,6 @@ Panels:
     Expanded: ~
     Name: Views
     Splitter Ratio: 0.5
-  - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel
-    Name: InitialPoseButtonPanel
   - Class: AutowareDateTimePanel
     Name: AutowareDateTimePanel
   - Class: rviz_plugins::AutowareStatePanel