diff --git a/.github/actions/evaluate-job-result/action.yaml b/.github/actions/evaluate-job-result/action.yaml
deleted file mode 100644
index c5c013080fd27..0000000000000
--- a/.github/actions/evaluate-job-result/action.yaml
+++ /dev/null
@@ -1,45 +0,0 @@
-name: Evaluate Job Result
-description: Evaluates the result of a job and updates the summary.
-inputs:
-  job_result:
-    description: Result of the job to evaluate (e.g., success, failure, skipped)
-    required: true
-    type: string
-  job_name:
-    description: Name of the job to evaluate
-    required: true
-    type: string
-  expected_results:
-    description: Comma-separated list of acceptable results (e.g., success,skipped)
-    required: true
-    type: string
-outputs:
-  failed:
-    description: Indicates if the job failed
-    value: ${{ steps.evaluate.outputs.failed }}
-
-runs:
-  using: composite
-  steps:
-    - name: Evaluate Job Result
-      id: evaluate
-      run: |
-        JOB_RESULT="${{ inputs.job_result }}"
-        IFS=',' read -ra EXPECTED <<< "${{ inputs.expected_results }}"
-        FAILED=false
-
-        for RESULT in "${EXPECTED[@]}"; do
-          if [[ "$JOB_RESULT" == "$RESULT" ]]; then
-            echo "- **${{ inputs.job_name }}:** "$JOB_RESULT" ✅" >> "$GITHUB_STEP_SUMMARY"
-            echo "failed=false" >> "$GITHUB_OUTPUT"
-            exit 0
-          fi
-        done
-
-        # If no expected result matched
-        echo "::error::${{ inputs.job_name }} failed. ❌"
-        echo "- **${{ inputs.job_name }}:** failed ❌" >> "$GITHUB_STEP_SUMMARY"
-        echo "failed=true" >> "$GITHUB_OUTPUT"
-
-        exit 1
-      shell: bash
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index 0925cb0f53930..c25f6b24c5e47 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -14,6 +14,10 @@ on:
         default: humble
         required: false
         type: string
+      run-condition:
+        default: true
+        required: false
+        type: boolean
       container-suffix:
         required: false
         default: ""
@@ -28,6 +32,7 @@ env:
 
 jobs:
   build-and-test-differential:
+    if: ${{ inputs.run-condition }}
     runs-on: ${{ inputs.runner }}
     container: ${{ inputs.container }}${{ inputs.container-suffix }}
     steps:
diff --git a/.github/workflows/build-test-tidy-differential.yaml b/.github/workflows/build-test-tidy-differential.yaml
new file mode 100644
index 0000000000000..c25f6b24c5e47
--- /dev/null
+++ b/.github/workflows/build-test-tidy-differential.yaml
@@ -0,0 +1,129 @@
+name: build-and-test-differential
+
+on:
+  workflow_call:
+    inputs:
+      container:
+        required: true
+        type: string
+      runner:
+        default: ubuntu-24.04
+        required: false
+        type: string
+      rosdistro:
+        default: humble
+        required: false
+        type: string
+      run-condition:
+        default: true
+        required: false
+        type: boolean
+      container-suffix:
+        required: false
+        default: ""
+        type: string
+    secrets:
+      codecov-token:
+        required: true
+
+env:
+  CC: /usr/lib/ccache/gcc
+  CXX: /usr/lib/ccache/g++
+
+jobs:
+  build-and-test-differential:
+    if: ${{ inputs.run-condition }}
+    runs-on: ${{ inputs.runner }}
+    container: ${{ inputs.container }}${{ inputs.container-suffix }}
+    steps:
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+        shell: bash
+
+      - name: Checkout PR branch and all PR commits
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+      - name: Show disk space before the tasks
+        run: df -h
+        shell: bash
+
+      - name: Show machine specs
+        run: lscpu && free -h
+        shell: bash
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Create ccache directory
+        run: |
+          mkdir -p ${CCACHE_DIR}
+          du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
+      - name: Attempt to restore ccache
+        uses: actions/cache/restore@v4
+        with:
+          path: |
+            /root/.ccache
+          key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.event.pull_request.base.sha }}
+          restore-keys: |
+            ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-
+
+      - name: Show ccache stats before build and reset stats
+        run: |
+          du -sh ${CCACHE_DIR} && ccache -s
+          ccache --zero-stats
+        shell: bash
+
+      - name: Export CUDA state as a variable for adding to cache key
+        run: |
+          build_type_cuda_state=nocuda
+          if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then
+            build_type_cuda_state=cuda
+          fi
+          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
+          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
+        shell: bash
+
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: ${{ inputs.rosdistro }}
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+
+      - name: Show ccache stats after build
+        run: du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
+      - name: Test
+        id: test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+        with:
+          rosdistro: ${{ inputs.rosdistro }}
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v4
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
+          flags: differential${{ inputs.container-suffix }}
+          token: ${{ secrets.codecov-token }}
+
+      - name: Show disk space after the tasks
+        run: df -h
+        shell: bash
diff --git a/.github/workflows/build-test-tidy-pr.yaml b/.github/workflows/build-test-tidy-pr.yaml
index d1ea9b2d0f79d..b57ec833d9ab8 100644
--- a/.github/workflows/build-test-tidy-pr.yaml
+++ b/.github/workflows/build-test-tidy-pr.yaml
@@ -50,88 +50,30 @@ jobs:
 
   build-and-test-differential-cuda:
     needs: check-if-cuda-job-is-needed
-    if: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'true' }}
     uses: ./.github/workflows/build-and-test-differential.yaml
     with:
       container: ghcr.io/autowarefoundation/autoware:universe-devel
       container-suffix: -cuda
+      run-condition: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'true' }}
     secrets:
       codecov-token: ${{ secrets.CODECOV_TOKEN }}
 
-  build-test-pr:
-    needs:
-      - build-and-test-differential
-      - build-and-test-differential-cuda
-    if: ${{ always() }}
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Initialize Summary
-        run: echo "### Build Test PR Results" > $GITHUB_STEP_SUMMARY
-        shell: bash
-
-      - name: Evaluate build-and-test-differential
-        uses: ./.github/actions/evaluate-job-result
-        with:
-          job_result: ${{ needs.build-and-test-differential.result }}
-          job_name: build-and-test-differential
-          expected_results: success
-
-      - name: Evaluate build-and-test-differential-cuda
-        if: ${{ always() }}
-        uses: ./.github/actions/evaluate-job-result
-        with:
-          job_result: ${{ needs.build-and-test-differential-cuda.result }}
-          job_name: build-and-test-differential-cuda
-          expected_results: success,skipped
-
   clang-tidy-differential:
+    if: ${{ always() }} # always run to provide report for status check
     needs:
       - check-if-cuda-job-is-needed
       - build-and-test-differential
-    if: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'false' }}
     uses: ./.github/workflows/clang-tidy-differential.yaml
     with:
       container: ghcr.io/autowarefoundation/autoware:universe-devel
+      run-condition: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'false' }}
 
   clang-tidy-differential-cuda:
+    if: ${{ always() }} # always run to provide report for status check
     needs:
       - build-and-test-differential-cuda
     uses: ./.github/workflows/clang-tidy-differential.yaml
     with:
       container: ghcr.io/autowarefoundation/autoware:universe-devel
       container-suffix: -cuda
-
-  clang-tidy-pr:
-    needs:
-      - clang-tidy-differential
-      - clang-tidy-differential-cuda
-    if: ${{ always() }}
-    runs-on: ubuntu-latest
-    steps:
-      - name: Initialize Summary
-        run: echo "### Clang Tidy PR Results" > $GITHUB_STEP_SUMMARY
-        shell: bash
-
-      - name: Check clang-tidy success
-        if: ${{ needs.clang-tidy-differential.result == 'success' || needs.clang-tidy-differential-cuda.result == 'success' }}
-        run: |
-          echo "✅ Either one of the following has succeeded:" >> $GITHUB_STEP_SUMMARY
-
-      - name: Fail if conditions not met
-        if: ${{ !(needs.clang-tidy-differential.result == 'success' || needs.clang-tidy-differential-cuda.result == 'success') }}
-        run: |
-          echo "::error::❌ Either one of the following should have succeeded:"
-          echo "::error::clang-tidy-differential: ${{ needs.clang-tidy-differential.result }}"
-          echo "::error::clang-tidy-differential-cuda: ${{ needs.clang-tidy-differential-cuda.result }}"
-
-          echo "❌ Either one of the following should have succeeded:" >> $GITHUB_STEP_SUMMARY
-
-          exit 1
-
-      - name: Print the results
-        if: ${{ always() }}
-        run: |
-          echo "- **clang-tidy-differential:** ${{ needs.clang-tidy-differential.result }}" >> $GITHUB_STEP_SUMMARY
-          echo "- **clang-tidy-differential-cuda:** ${{ needs.clang-tidy-differential-cuda.result }}" >> $GITHUB_STEP_SUMMARY
+      run-condition: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'true' }}
diff --git a/.github/workflows/clang-tidy-differential.yaml b/.github/workflows/clang-tidy-differential.yaml
index 51e0a8408468c..41d722c8e07b0 100644
--- a/.github/workflows/clang-tidy-differential.yaml
+++ b/.github/workflows/clang-tidy-differential.yaml
@@ -14,9 +14,14 @@ on:
         default: ubuntu-24.04
         required: false
         type: string
+      run-condition:
+        default: true
+        required: false
+        type: boolean
 
 jobs:
   clang-tidy-differential:
+    if: ${{ inputs.run-condition }}
     runs-on: ${{ inputs.runner }}
     container: ${{ inputs.container }}${{ inputs.container-suffix }}
     steps: