diff --git a/.github/workflows/setup-local-dev-env.yaml b/.github/workflows/setup-local-dev-env.yaml
index a7a8fc15fda40..37874df77d1dc 100644
--- a/.github/workflows/setup-local-dev-env.yaml
+++ b/.github/workflows/setup-local-dev-env.yaml
@@ -13,4 +13,4 @@ jobs:
 
       - name: Run setup script
         run: |
-          ./setup-dev-env.sh -y -v --no-nvidia local_dev_env
+          ./setup-dev-env.sh -y -v local_dev_env
diff --git a/amd64.env b/amd64.env
index 86a0f69b5fcb7..dad15c2106b42 100644
--- a/amd64.env
+++ b/amd64.env
@@ -1,7 +1,7 @@
 rosdistro=galactic
 rmw_implementation=rmw_cyclonedds_cpp
 base_image=ubuntu:20.04
-cuda_base_image=nvidia/cuda:11.4.3-devel-ubuntu20.04
-cuda_version=11.4
-cudnn_version=8.2.4.15-1+cuda11.4
-tensorrt_version=8.2.4-1+cuda11.4
+cuda_base_image=nvidia/cuda:11.6.2-devel-ubuntu20.04
+cuda_version=11.6
+cudnn_version=8.4.1.50-1+cuda11.6
+tensorrt_version=8.4.2-1+cuda11.6
diff --git a/ansible-galaxy-requirements.yaml b/ansible-galaxy-requirements.yaml
index 0bf332183dfe6..b724dd1e1d021 100644
--- a/ansible-galaxy-requirements.yaml
+++ b/ansible-galaxy-requirements.yaml
@@ -4,4 +4,4 @@ collections:
 
   - name: https://github.com/autowarefoundation/autoware.git#/ansible
     type: git
-    version: main
+    version: e108b8fa9e47307b1f2573be5d0dde828235bcb0
diff --git a/ansible/playbooks/local_dev_env.yaml b/ansible/playbooks/local_dev_env.yaml
index 9ae420ca24c17..4d991108cbc5d 100644
--- a/ansible/playbooks/local_dev_env.yaml
+++ b/ansible/playbooks/local_dev_env.yaml
@@ -3,4 +3,3 @@
 - hosts: localhost
   connection: local
   roles:
-    - role: pilot_auto.dev_env.kvaser
diff --git a/ansible/roles/kvaser/defaults/main.yaml b/ansible/roles/kvaser/defaults/main.yaml
deleted file mode 100644
index e69de29bb2d1d..0000000000000
diff --git a/ansible/roles/kvaser/meta/main.yaml b/ansible/roles/kvaser/meta/main.yaml
deleted file mode 100644
index e69de29bb2d1d..0000000000000
diff --git a/ansible/roles/kvaser/tasks/main.yaml b/ansible/roles/kvaser/tasks/main.yaml
deleted file mode 100644
index d172114b4f48a..0000000000000
--- a/ansible/roles/kvaser/tasks/main.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-- name: Add kvaser library apt repository
-  become: true
-  apt_repository:
-    repo: ppa:astuff/kvaser-linux
-
-- name: Install kvaser library
-  become: true
-  apt:
-    name:
-      - kvaser-canlib-dev
-      - kvaser-drivers-dkms
-    update_cache: true
diff --git a/arm64.env b/arm64.env
index 5094c09797afe..f9aba790b0522 100644
--- a/arm64.env
+++ b/arm64.env
@@ -1,2 +1 @@
 # Override amd64's settings
-cudnn_version=8.2.4.12-1+cuda11.4
diff --git a/autoware.repos b/autoware.repos
index a695b702ac3da..a8067e5701689 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -129,7 +129,7 @@ repositories:
     type: git
     url: https://github.com/tier4/spinnaker.git
     version: 4c74d319ef9186a4fb643dbd82e1b5f7918e75ea
-  vender/morai_msgs:
+  vendor/morai_msgs:
     type: git
     url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git
     version: main
diff --git a/docker/README.md b/docker/README.md
index 440ffa25ef74d..f276e8abcd7bc 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -32,6 +32,8 @@ docker run --rm -it \
 
 To run with `rocker`:
 
+If you use `rocker<=0.2.9`, add an option of `--env NVIDIA_DRIVER_CAPABILITIES=""` or `--env NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics` to avoid the CUDA environment error. For more details, see [this issue](https://github.com/tier4/autoware/issues/2452).
+
 ```bash
 rocker --nvidia --x11 --user \
  --volume {path_to_your_workspace} \
diff --git a/docker/pilot-auto/Dockerfile b/docker/pilot-auto/Dockerfile
index c4dd348e32efe..4fdf270ec92d4 100644
--- a/docker/pilot-auto/Dockerfile
+++ b/docker/pilot-auto/Dockerfile
@@ -38,10 +38,16 @@ RUN --mount=type=ssh \
 ## Clean up unnecessary files
 RUN rm -rf \
   "$HOME"/.cache \
-  /etc/apt/sources.list.d/cuda.list \
+  /etc/apt/sources.list.d/cuda*.list \
   /etc/apt/sources.list.d/docker.list \
   /etc/apt/sources.list.d/nvidia-docker.list
 
+## Register Vulkan GPU vendors
+ADD "https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json" /etc/vulkan/icd.d/nvidia_icd.json
+RUN chmod 644 /etc/vulkan/icd.d/nvidia_icd.json
+ADD "https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json" /etc/glvnd/egl_vendor.d/10_nvidia.json
+RUN chmod 644 /etc/glvnd/egl_vendor.d/10_nvidia.json
+
 ## Create entrypoint
 # hadolint ignore=DL3059
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc