diff --git a/.clang-tidy b/.clang-tidy
index 5d5692a74b5..4c9cefe6626 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -418,7 +418,7 @@ CheckOptions:
   - key: performance-unnecessary-copy-initialization.AllowedTypes
     value: ""
   - key: performance-unnecessary-value-param.AllowedTypes
-    value: ".*Ptr"
+    value: ".*Ptr;.*SharedFuture"
   - key: performance-unnecessary-value-param.IncludeStyle
     value: google
   - key: portability-simd-intrinsics.Std
diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index 9af377c04e1..d2bc5dbba42 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -97,7 +97,8 @@ runs:
     - name: Build and push
       uses: docker/bake-action@v2
       with:
-        push: ${{ github.ref_name == github.event.repository.default_branch }}
+        # Checking event_name for https://github.com/autowarefoundation/autoware/issues/2796
+        push: ${{ github.event_name == 'schedule' || github.ref_name == github.event.repository.default_branch }}
         files: |
           docker/${{ inputs.bake-target }}/docker-bake.hcl
           bake.json
diff --git a/.github/workflows/setup-universe.yaml b/.github/workflows/setup-universe.yaml
index b67da515b19..0081abd5d63 100644
--- a/.github/workflows/setup-universe.yaml
+++ b/.github/workflows/setup-universe.yaml
@@ -13,4 +13,4 @@ jobs:
 
       - name: Run setup script
         run: |
-          ./setup-dev-env.sh -y -v --no-nvidia universe
+          ./setup-dev-env.sh -y -v universe
diff --git a/amd64.env b/amd64.env
index 64464a8a21c..dad15c2106b 100644
--- a/amd64.env
+++ b/amd64.env
@@ -4,4 +4,4 @@ base_image=ubuntu:20.04
 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=8.4.2.4-1+cuda11.6
+tensorrt_version=8.4.2-1+cuda11.6
diff --git a/ansible/roles/tensorrt/tasks/main.yaml b/ansible/roles/tensorrt/tasks/main.yaml
index e37c128fdc9..c81059edb9b 100644
--- a/ansible/roles/tensorrt/tasks/main.yaml
+++ b/ansible/roles/tensorrt/tasks/main.yaml
@@ -4,7 +4,14 @@
     name:
       - libcudnn8={{ cudnn_version }}
       - libcudnn8-dev={{ cudnn_version }}
-      - tensorrt={{ tensorrt_version }}
+      - libnvinfer8={{ tensorrt_version }}
+      - libnvinfer-plugin8={{ tensorrt_version }}
+      - libnvparsers8={{ tensorrt_version }}
+      - libnvonnxparsers8={{ tensorrt_version }}
+      - libnvinfer-dev={{ tensorrt_version }}
+      - libnvinfer-plugin-dev={{ tensorrt_version }}
+      - libnvparsers-dev={{ tensorrt_version }}
+      - libnvonnxparsers-dev={{ tensorrt_version }}
     allow_downgrade: true
     update_cache: true
 
@@ -17,4 +24,11 @@
   with_items:
     - libcudnn8
     - libcudnn8-dev
-    - tensorrt
+    - libnvinfer8
+    - libnvinfer-plugin8
+    - libnvparsers8
+    - libnvonnxparsers8
+    - libnvinfer-dev
+    - libnvinfer-plugin-dev
+    - libnvparsers-dev
+    - libnvonnxparsers-dev