diff --git a/.github/workflows/build-main-self-hosted.yaml b/.github/workflows/build-main-self-hosted.yaml
index 3f0fdb23b13..02dd6472811 100644
--- a/.github/workflows/build-main-self-hosted.yaml
+++ b/.github/workflows/build-main-self-hosted.yaml
@@ -15,7 +15,7 @@ jobs:
     container: ${{ needs.load-env.outputs.base-image }}
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Run setup script
         run: |
diff --git a/.github/workflows/build-main.yaml b/.github/workflows/build-main.yaml
index a57934080b0..45cb811ae17 100644
--- a/.github/workflows/build-main.yaml
+++ b/.github/workflows/build-main.yaml
@@ -15,7 +15,7 @@ jobs:
     container: ${{ needs.load-env.outputs.base-image }}
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Run setup script
         run: |
diff --git a/.github/workflows/docker-build-and-push-main-self-hosted.yaml b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
index e2c435fc0ee..9774de4e5cb 100644
--- a/.github/workflows/docker-build-and-push-main-self-hosted.yaml
+++ b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
@@ -34,7 +34,7 @@ jobs:
           sudo chown -R $USER:$USER ${{ github.workspace }}
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
index 798b4e695e7..f5cebc8eb99 100644
--- a/.github/workflows/docker-build-and-push-main.yaml
+++ b/.github/workflows/docker-build-and-push-main.yaml
@@ -29,7 +29,7 @@ jobs:
             additional-tag-suffix: -cuda
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Free disk space
         uses: ./.github/actions/free-disk-space
diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml
index 95ebb8725f6..b426d0cba66 100644
--- a/.github/workflows/github-release.yaml
+++ b/.github/workflows/github-release.yaml
@@ -30,7 +30,7 @@ jobs:
           echo "tag-name=${REF_NAME#beta/}" >> $GITHUB_OUTPUT
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
           ref: ${{ steps.set-tag-name.outputs.ref-name }}
diff --git a/.github/workflows/load-env.yaml b/.github/workflows/load-env.yaml
index 1e86a6d0bba..508a30bf74a 100644
--- a/.github/workflows/load-env.yaml
+++ b/.github/workflows/load-env.yaml
@@ -16,7 +16,7 @@ jobs:
       rosdistro: ${{ steps.set-env.outputs.rosdistro }}
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Load env
         run: |
diff --git a/.github/workflows/pre-commit-ansible.yaml b/.github/workflows/pre-commit-ansible.yaml
index feaef88fe2e..2de37e26ef9 100644
--- a/.github/workflows/pre-commit-ansible.yaml
+++ b/.github/workflows/pre-commit-ansible.yaml
@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Install Ansible Galaxy depends for ansible-lint
         run: |
diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
index e754ecab24f..38738196a0b 100644
--- a/.github/workflows/pre-commit-optional.yaml
+++ b/.github/workflows/pre-commit-optional.yaml
@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
index b231dbda879..33c00ee1066 100644
--- a/.github/workflows/pre-commit.yaml
+++ b/.github/workflows/pre-commit.yaml
@@ -16,7 +16,7 @@ jobs:
           private_key: ${{ secrets.PRIVATE_KEY }}
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ github.event.pull_request.head.ref }}
 
diff --git a/.github/workflows/setup-docker.yaml b/.github/workflows/setup-docker.yaml
index 9e3fee08f8c..515002da06a 100644
--- a/.github/workflows/setup-docker.yaml
+++ b/.github/workflows/setup-docker.yaml
@@ -13,7 +13,7 @@ jobs:
     container: ${{ needs.load-env.outputs.base-image }}
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Run setup script
         run: |
diff --git a/.github/workflows/setup-universe.yaml b/.github/workflows/setup-universe.yaml
index 5735967e674..1750d34b913 100644
--- a/.github/workflows/setup-universe.yaml
+++ b/.github/workflows/setup-universe.yaml
@@ -13,7 +13,7 @@ jobs:
     container: ${{ needs.load-env.outputs.base-image }}
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Run setup script
         run: |
diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml
index eb18ccdba38..1fbf2ff4692 100644
--- a/.github/workflows/spell-check-differential.yaml
+++ b/.github/workflows/spell-check-differential.yaml
@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Run spell-check
         uses: autowarefoundation/autoware-github-actions/spell-check@v1
diff --git a/.github/workflows/update-docker-manifest.yaml b/.github/workflows/update-docker-manifest.yaml
index 26cda041fc9..a82929bcdeb 100644
--- a/.github/workflows/update-docker-manifest.yaml
+++ b/.github/workflows/update-docker-manifest.yaml
@@ -14,7 +14,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Combine multi arch images for 'autoware-universe'
         uses: ./.github/actions/combine-multi-arch-images
diff --git a/.github/workflows/update-tool-versions.yaml b/.github/workflows/update-tool-versions.yaml
index 3ec3b0533e7..d7d23720108 100644
--- a/.github/workflows/update-tool-versions.yaml
+++ b/.github/workflows/update-tool-versions.yaml
@@ -17,7 +17,7 @@ jobs:
           private_key: ${{ secrets.PRIVATE_KEY }}
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Set up sd
         uses: kenji-miyake/setup-sd@v1
diff --git a/.github/workflows/vcs-import.yaml b/.github/workflows/vcs-import.yaml
index 829c1c81e29..235c2b19df3 100644
--- a/.github/workflows/vcs-import.yaml
+++ b/.github/workflows/vcs-import.yaml
@@ -14,7 +14,7 @@ jobs:
     container: ros:${{ needs.load-env.outputs.rosdistro }}
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Install pip for rosdep
         run: |