diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index 28e86e2f5c..41ade523ce 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -246,7 +246,7 @@ runs:
           ${{ steps.meta-universe-vehicle-system.outputs.bake-file }}
           ${{ steps.meta-universe-devel.outputs.bake-file }}
           ${{ steps.meta-universe.outputs.bake-file }}
-          ${{ steps.meta-simulator-tools.outputs.bake-file }}
+          ${{ steps.meta-simulator-visualizer.outputs.bake-file }}
         provenance: false
         set: |
           ${{ inputs.build-args }}
diff --git a/docker/simulator-visualizer/Dockerfile b/docker/simulator-visualizer/Dockerfile
index 9a83f96375..b19a83678c 100644
--- a/docker/simulator-visualizer/Dockerfile
+++ b/docker/simulator-visualizer/Dockerfile
@@ -72,6 +72,13 @@ RUN openssl req -x509 -nodes -newkey rsa:2048 \
     -days 365 \
     -subj "/O=Autoware-OpenADKit/CN=localhost"
 
+# Install ngrok
+RUN curl -s https://ngrok-agent.s3.amazonaws.com/ngrok.asc | \
+  gpg --dearmor -o /etc/apt/keyrings/ngrok.gpg && \
+  echo "deb [signed-by=/etc/apt/keyrings/ngrok.gpg] https://ngrok-agent.s3.amazonaws.com buster main" | \
+  tee /etc/apt/sources.list.d/ngrok.list && \
+  apt update && apt install ngrok
+
 # Need to expose VNC and NoVNC ports when running the container
 EXPOSE 5900 6080
 
diff --git a/docker/simulator-visualizer/entrypoint.sh b/docker/simulator-visualizer/entrypoint.sh
index a4926a2da9..177a0a7425 100644
--- a/docker/simulator-visualizer/entrypoint.sh
+++ b/docker/simulator-visualizer/entrypoint.sh
@@ -5,7 +5,7 @@ source "/opt/ros/$ROS_DISTRO/setup.bash"
 source /opt/autoware/setup.bash
 
 # Start VNC server
-vncserver :1 -auth $HOME/.Xauthority -geometry 1024x768 -depth 16 > /dev/null 2>&1
+vncserver :1 -auth $HOME/.Xauthority -geometry 1024x768 -depth 16 -pixelformat rgb565 > /dev/null 2>&1
 VNC_RESULT=$?
 
 if [ $VNC_RESULT -ne 0 ]; then
@@ -16,14 +16,24 @@ fi
 sleep 2
 
 # Start NoVNC
-websockify --web=/usr/share/novnc/ --cert=/etc/ssl/certs/novnc.crt --key=/etc/ssl/private/novnc.key 6080 localhost:5901 & > /dev/null 2>&1
+websockify --daemon --web=/usr/share/novnc/ --cert=/etc/ssl/certs/novnc.crt --key=/etc/ssl/private/novnc.key 6080 localhost:5901
+
+NOVNC_URL="localhost:6080"
+# Configure ngrok if NGROK_AUTHTOKEN is set
+if [ -n "$NGROK_AUTHTOKEN" ]; then
+    ngrok config add-authtoken $NGROK_AUTHTOKEN
+
+    # Start ngrok tunnel for NoVNC
+    ngrok http --url=$NGROK_URL 6080 --log=stdout > ngrok.log &
+
+    NOVNC_URL=https://$NGROK_URL
+fi
 
 # Print message
 echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
-echo -e "\033[32mVNC server is running and accessible at localhost:5901\033[0m"
-echo -e "\033[32mNoVNC web interface available at localhost:6080\033[0m"
-echo -e "\033[32mYou can connect to the VNC server with a VNC viewer\033[0m"
-echo -e "\033[32mYou can connect to the NoVNC web interface with a web browser\033[0m"
+echo -e "Note: In order to access VNC and NoVNC on localhost, you need to expose ports 5901 and 6080 to the outside world respectively."
+echo -e "\033[32mVNC server is running and accessible at localhost:5901 via VNC viewer\033[0m"
+echo -e "\033[32mNoVNC web interface available at $NOVNC_URL/vnc.html via web browser\033[0m"
 echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
 
 # Run command
diff --git a/docker/vnc/entrypoint.sh b/docker/vnc/entrypoint.sh
index 84bb956959..177a0a7425 100644
--- a/docker/vnc/entrypoint.sh
+++ b/docker/vnc/entrypoint.sh
@@ -5,7 +5,7 @@ source "/opt/ros/$ROS_DISTRO/setup.bash"
 source /opt/autoware/setup.bash
 
 # Start VNC server
-vncserver :1 -auth $HOME/.Xauthority -geometry 1024x768 -depth 16 > /dev/null 2>&1
+vncserver :1 -auth $HOME/.Xauthority -geometry 1024x768 -depth 16 -pixelformat rgb565 > /dev/null 2>&1
 VNC_RESULT=$?
 
 if [ $VNC_RESULT -ne 0 ]; then
@@ -16,20 +16,24 @@ fi
 sleep 2
 
 # Start NoVNC
-websockify --web=/usr/share/novnc/ --cert=/etc/ssl/certs/novnc.crt --key=/etc/ssl/private/novnc.key 6080 localhost:5901 & > /dev/null 2>&1
+websockify --daemon --web=/usr/share/novnc/ --cert=/etc/ssl/certs/novnc.crt --key=/etc/ssl/private/novnc.key 6080 localhost:5901
 
-# Configure ngrok
-ngrok config add-authtoken $NGROK_AUTH_TOKEN
+NOVNC_URL="localhost:6080"
+# Configure ngrok if NGROK_AUTHTOKEN is set
+if [ -n "$NGROK_AUTHTOKEN" ]; then
+    ngrok config add-authtoken $NGROK_AUTHTOKEN
 
-# Start ngrok tunnel
-ngrok tcp 6080 --url=simviz.openadkit.ngrok.app
+    # Start ngrok tunnel for NoVNC
+    ngrok http --url=$NGROK_URL 6080 --log=stdout > ngrok.log &
+
+    NOVNC_URL=https://$NGROK_URL
+fi
 
 # Print message
 echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
-echo -e "\033[32mVNC server is running and accessible at localhost:5901\033[0m"
-echo -e "\033[32mNoVNC web interface available at localhost:6080\033[0m"
-echo -e "\033[32mYou can connect to the VNC server with a VNC viewer\033[0m"
-echo -e "\033[32mYou can connect to the NoVNC web interface with a web browser\033[0m"
+echo -e "Note: In order to access VNC and NoVNC on localhost, you need to expose ports 5901 and 6080 to the outside world respectively."
+echo -e "\033[32mVNC server is running and accessible at localhost:5901 via VNC viewer\033[0m"
+echo -e "\033[32mNoVNC web interface available at $NOVNC_URL/vnc.html via web browser\033[0m"
 echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
 
 # Run command