diff --git a/.github/actions/build-and-test-differential/action.yaml b/.github/actions/build-and-test-differential/action.yaml
deleted file mode 100644
index 89893e9f55fb5..0000000000000
--- a/.github/actions/build-and-test-differential/action.yaml
+++ /dev/null
@@ -1,111 +0,0 @@
-name: build-and-test-differential
-description: ""
-
-inputs:
-  rosdistro:
-    description: ""
-    required: true
-  container:
-    description: ""
-    required: true
-  container-suffix:
-    description: ""
-    required: true
-  runner:
-    description: ""
-    required: true
-  build-depends-repos:
-    description: ""
-    required: true
-  build-pre-command:
-    description: ""
-    required: true
-  codecov-token:
-    description: ""
-    required: true
-
-runs:
-  using: composite
-  steps:
-    - 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: ${{ inputs.build-depends-repos }}
-        cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
-        build-pre-command: ${{ inputs.build-pre-command }}
-
-    - 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: ${{ inputs.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
-        token: ${{ inputs.codecov-token }}
-
-    - name: Show disk space after the tasks
-      run: df -h
-      shell: bash
diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 115f75197f41a..47f8737ebbf39 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -39,6 +39,3 @@
   - tools/**/*
 "component:vehicle":
   - vehicle/**/*
-"tag:require-cuda-build-and-test":
-  - perception/**/*
-  - sensing/**/*
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index f62904b03c6e4..0925cb0f53930 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -1,57 +1,35 @@
 name: build-and-test-differential
 
 on:
-  pull_request:
-    types:
-      - opened
-      - synchronize
-      - reopened
-      - labeled
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
-  cancel-in-progress: true
+  workflow_call:
+    inputs:
+      container:
+        required: true
+        type: string
+      runner:
+        default: ubuntu-24.04
+        required: false
+        type: string
+      rosdistro:
+        default: humble
+        required: false
+        type: string
+      container-suffix:
+        required: false
+        default: ""
+        type: string
+    secrets:
+      codecov-token:
+        required: true
 
 env:
   CC: /usr/lib/ccache/gcc
   CXX: /usr/lib/ccache/g++
 
 jobs:
-  make-sure-label-is-present:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
-    with:
-      label: tag:run-build-and-test-differential
-
-  make-sure-require-cuda-label-is-present:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
-    with:
-      label: tag:require-cuda-build-and-test
-
-  prepare-build-and-test-differential:
-    runs-on: ubuntu-latest
-    needs: [make-sure-label-is-present, make-sure-require-cuda-label-is-present]
-    outputs:
-      cuda_build: ${{ steps.check-if-cuda-build-is-required.outputs.cuda_build }}
-    steps:
-      - name: Check if cuda-build is required
-        id: check-if-cuda-build-is-required
-        run: |
-          if ${{ needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }}; then
-            echo "cuda-build is required"
-            echo "cuda_build=true" >> $GITHUB_OUTPUT
-          else
-            echo "cuda-build is not required"
-            echo "cuda_build=false" >> $GITHUB_OUTPUT
-          fi
-        shell: bash
-      - name: Fail if the tag:run-build-and-test-differential is missing
-        if: ${{ needs.make-sure-label-is-present.outputs.result != 'true' }}
-        run: exit 1
-
   build-and-test-differential:
-    runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware:universe-devel
-    needs: prepare-build-and-test-differential
+    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}"
@@ -63,61 +41,13 @@ jobs:
           ref: ${{ github.event.pull_request.head.sha }}
           fetch-depth: ${{ env.PR_FETCH_DEPTH }}
 
-      - name: Run build-and-test-differential action
-        uses: ./.github/actions/build-and-test-differential
-        with:
-          rosdistro: humble
-          container: ghcr.io/autowarefoundation/autoware:universe-devel
-          container-suffix: ""
-          runner: ubuntu-latest
-          build-depends-repos: build_depends.repos
-          build-pre-command: ""
-          codecov-token: ${{ secrets.CODECOV_TOKEN }}
-
-  build-and-test-differential-cuda:
-    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
-    container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda
-    needs: prepare-build-and-test-differential
-    if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'true' }}
-    steps:
-      - name: Set PR fetch depth
-        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${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: ${{ env.PR_FETCH_DEPTH }}
-
-      - name: Run build-and-test-differential action
-        uses: ./.github/actions/build-and-test-differential
-        with:
-          rosdistro: humble
-          container: ghcr.io/autowarefoundation/autoware:universe-devel
-          container-suffix: -cuda
-          runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
-          build-depends-repos: build_depends.repos
-          build-pre-command: taskset --cpu-list 0-5
-          codecov-token: ${{ secrets.CODECOV_TOKEN }}
-
-  clang-tidy-differential:
-    needs: [build-and-test-differential, prepare-build-and-test-differential]
-    if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'false' }}
-    runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware:universe-devel
-    steps:
-      - name: Set PR fetch depth
-        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
-
-      - 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
@@ -126,66 +56,69 @@ jobs:
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
-      - name: Get changed files (existing files only)
-        id: get-changed-files
+      - name: Create ccache directory
         run: |
-          echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
+          mkdir -p ${CCACHE_DIR}
+          du -sh ${CCACHE_DIR} && ccache -s
         shell: bash
 
-      - name: Run clang-tidy
-        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
+      - name: Attempt to restore ccache
+        uses: actions/cache/restore@v4
         with:
-          rosdistro: humble
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
-          clang-tidy-ignore-path: .clang-tidy-ignore
-          build-depends-repos: build_depends.repos
-          cache-key-element: cuda
+          path: |
+            /root/.ccache
+          key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.event.pull_request.base.sha }}
+          restore-keys: |
+            ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-
 
-      - name: Show disk space after the tasks
-        run: df -h
+      - name: Show ccache stats before build and reset stats
+        run: |
+          du -sh ${CCACHE_DIR} && ccache -s
+          ccache --zero-stats
+        shell: bash
 
-  clang-tidy-differential-cuda:
-    needs: build-and-test-differential-cuda
-    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
-    container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda
-    steps:
-      - name: Set PR fetch depth
-        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+      - 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: Checkout PR branch and all PR commits
-        uses: actions/checkout@v4
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
-
-      - name: Show disk space before the tasks
-        run: df -h
-
-      - 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
+          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: Get changed files (existing files only)
-        id: get-changed-files
-        run: |
-          echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
+      - name: Show ccache stats after build
+        run: du -sh ${CCACHE_DIR} && ccache -s
         shell: bash
 
-      - name: Run clang-tidy
-        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
+      - name: Test
+        id: test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: humble
+          rosdistro: ${{ inputs.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
-          clang-tidy-ignore-path: .clang-tidy-ignore
           build-depends-repos: build_depends.repos
-          cache-key-element: cuda
+
+      - 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
new file mode 100644
index 0000000000000..df2eff132eb05
--- /dev/null
+++ b/.github/workflows/build-test-tidy-pr.yaml
@@ -0,0 +1,76 @@
+name: build-test-tidy-pr
+
+on:
+  pull_request:
+    types:
+      - opened
+      - synchronize
+      - reopened
+      - labeled
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
+  cancel-in-progress: true
+
+jobs:
+  require-label:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/require-label.yaml@v1
+    with:
+      label: run:build-and-test-differential
+
+  check-if-cuda-job-is-needed:
+    needs: require-label
+    runs-on: ubuntu-latest
+    outputs:
+      cuda_job_is_needed: ${{ steps.check.outputs.any_changed }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Check if relevant files changed
+        id: check
+        uses: tj-actions/changed-files@v45
+        with:
+          files: |
+            perception/**
+            sensing/**
+
+      - name: Output result
+        run: |
+          echo "CUDA job needed: ${{ steps.check.outputs.any_changed }}"
+        shell: bash
+
+  build-and-test-differential:
+    needs:
+      - require-label
+    uses: ./.github/workflows/build-and-test-differential.yaml
+    with:
+      container: ghcr.io/autowarefoundation/autoware:universe-devel
+    secrets:
+      codecov-token: ${{ secrets.CODECOV_TOKEN }}
+
+  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
+    secrets:
+      codecov-token: ${{ secrets.CODECOV_TOKEN }}
+
+  clang-tidy-differential:
+    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
+
+  clang-tidy-differential-cuda:
+    needs:
+      - build-and-test-differential-cuda
+    uses: ./.github/workflows/clang-tidy-differential.yaml
+    with:
+      container: ghcr.io/autowarefoundation/autoware:universe-devel
+      container-suffix: -cuda
diff --git a/.github/workflows/clang-tidy-differential.yaml b/.github/workflows/clang-tidy-differential.yaml
new file mode 100644
index 0000000000000..51e0a8408468c
--- /dev/null
+++ b/.github/workflows/clang-tidy-differential.yaml
@@ -0,0 +1,75 @@
+name: clang-tidy-differential
+
+on:
+  workflow_call:
+    inputs:
+      container:
+        required: true
+        type: string
+      container-suffix:
+        required: false
+        default: ""
+        type: string
+      runner:
+        default: ubuntu-24.04
+        required: false
+        type: string
+
+jobs:
+  clang-tidy-differential:
+    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}"
+
+      - name: Checkout PR branch and all PR commits
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+      - name: Show machine specs
+        run: lscpu && free -h
+        shell: bash
+
+      - name: Show disk space before the tasks
+        run: df -h
+        shell: bash
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Get changed files (existing files only)
+        id: get-changed-files
+        run: |
+          echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
+        shell: bash
+
+      - name: Export CUDA state as a variable for adding to cache key
+        run: |
+          build_type_cuda_state=nocuda
+          if [[ "${{ 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: Run clang-tidy
+        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
+        with:
+          rosdistro: humble
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
+          clang-tidy-ignore-path: .clang-tidy-ignore
+          build-depends-repos: build_depends.repos
+          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+
+      - name: Show disk space after the tasks
+        run: df -h