diff --git a/.github/actions/docker-build-and-push/action.yaml b/.github/actions/docker-build-and-push/action.yaml
index c0b9634baba..b79da13fa23 100644
--- a/.github/actions/docker-build-and-push/action.yaml
+++ b/.github/actions/docker-build-and-push/action.yaml
@@ -27,57 +27,20 @@ runs:
         sudo apt-get -y install jq
       shell: bash
 
-    # workflow_dispatch: latest, date
-    # schedule: latest, date
-    # tag: semver
-    - name: Set Docker tags
-      id: set-docker-tags
-      run: |
-        tags=()
-        if [ "${{ github.event_name }}" == "workflow_dispatch" ]; then
-          tags+=("latest")
-          tags+=("{{date 'YYYYMMDD'}}")
-        else
-          tags+=("type=schedule,pattern=latest")
-          tags+=("type=schedule,pattern={{date 'YYYYMMDD'}}")
-          tags+=("type=semver,pattern={{version}}")
-          tags+=("type=match,pattern=\d+.\d+")
-        fi
-
-        # Workaround for multiline strings
-        # https://github.community/t/set-output-truncates-multiline-strings/16852
-        tags_multiline=$(printf "%s\n" "${tags[@]}")
-        tags_multiline="${tags_multiline//'%'/'%25'}"
-        tags_multiline="${tags_multiline//$'\n'/'%0A'}"
-        tags_multiline="${tags_multiline//$'\r'/'%0D'}"
-
-        echo ::set-output name=tags::$tags_multiline
-      shell: bash
-
-    - name: Docker meta for devel
-      id: meta-devel
+    - name: Docker meta for runtime
+      id: meta-runtime
       uses: docker/metadata-action@v4
       with:
         images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-devel
+        tags: |
+          type=raw,value=latest
+          type=raw,value={{date 'YYYYMMDD'}}
+        bake-target: docker-metadata-action-runtime
         flavor: |
           latest=false
           prefix=${{ inputs.tag-prefix }}
           suffix=${{ inputs.tag-suffix }}
 
-    - name: Docker meta for prebuilt
-      id: meta-prebuilt
-      uses: docker/metadata-action@v4
-      with:
-        images: ghcr.io/${{ github.repository_owner }}/${{ inputs.bake-target }}
-        tags: ${{ steps.set-docker-tags.outputs.tags }}
-        bake-target: docker-metadata-action-prebuilt
-        flavor: |
-          latest=false
-          prefix=${{ inputs.tag-prefix }}
-          suffix=-prebuilt${{ inputs.tag-suffix }}
-
     - name: Login to GitHub Container Registry
       if: ${{ github.event_name != 'pull_request' }}
       uses: docker/login-action@v2
@@ -93,7 +56,6 @@ runs:
         push: ${{ github.event_name == 'schedule' || github.ref_name == github.event.repository.default_branch || github.event_name == 'push'}}
         files: |
           docker/${{ inputs.bake-target }}/docker-bake.hcl
-          ${{ steps.meta-devel.outputs.bake-file }}
-          ${{ steps.meta-prebuilt.outputs.bake-file }}
+          ${{ steps.meta-runtime.outputs.bake-file }}
         set: |
           ${{ inputs.build-args }}
diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
index 0dc3df7f6af..87a3337fe0b 100644
--- a/.github/workflows/docker-build-and-push-main.yaml
+++ b/.github/workflows/docker-build-and-push-main.yaml
@@ -1,8 +1,6 @@
 name: docker-build-and-push-main
 
 on:
-  schedule:
-    - cron: 0 0 1,15 * *
   workflow_dispatch:
 
 jobs:
@@ -12,9 +10,9 @@ jobs:
       fail-fast: false
       matrix:
         name:
-          - no-cuda
+          - no-nvidia
         include:
-          - name: no-cuda
+          - name: no-nvidia
             base_image_env: base_image
             setup-args: --no-nvidia
             additional-tag-suffix: ""
@@ -40,7 +38,6 @@ jobs:
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ env.rosdistro }}
             *.args.BASE_IMAGE=${{ env[format('{0}', matrix.base_image_env)] }}
-            *.args.PREBUILT_BASE_IMAGE=${{ env.prebuilt_base_image }}
             *.args.SETUP_ARGS=${{ matrix.setup-args }}
           tag-prefix: ${{ env.rosdistro }}-
           tag-suffix: ${{ matrix.additional-tag-suffix }}-amd64
diff --git a/amd64.env b/amd64.env
index afa17255034..1366bd83c91 100644
--- a/amd64.env
+++ b/amd64.env
@@ -2,7 +2,6 @@ rosdistro=humble
 rmw_implementation=rmw_cyclonedds_cpp
 base_image=ubuntu:22.04
 cuda_base_image=ubuntu:22.04
-prebuilt_base_image=ubuntu:22.04
 cuda_version=11.6
 cudnn_version=8.4.1.50-1+cuda11.6
 tensorrt_version=8.4.2-1+cuda11.6
diff --git a/docker/autoware-universe/Dockerfile b/docker/autoware-universe/Dockerfile
index 9af0b8293fe..a53632b0dcd 100644
--- a/docker/autoware-universe/Dockerfile
+++ b/docker/autoware-universe/Dockerfile
@@ -1,128 +1,74 @@
-# Image args should come at the beginning.
+# hadolint global ignore=DL3006,DL3008
 ARG BASE_IMAGE
-ARG PREBUILT_BASE_IMAGE
-# hadolint ignore=DL3006
+
+# ==============================================================================
 FROM $BASE_IMAGE as devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-
 ARG ROS_DISTRO
 ARG SETUP_ARGS
 
-## Install apt packages
-# hadolint ignore=DL3008
+# Install apt packages
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
   git \
   ssh \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Add GitHub to known hosts for private repositories
+RUN mkdir -p ~/.ssh \
+  && ssh-keyscan github.com >> ~/.ssh/known_hosts
 
-## Copy files
+# Copy files
 COPY autoware.repos setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
 COPY ansible/ /autoware/ansible/
 WORKDIR /autoware
-RUN ls /autoware
-
-## Add GitHub to known hosts for private repositories
-RUN mkdir -p ~/.ssh \
-  && ssh-keyscan github.com >> ~/.ssh/known_hosts
 
-## Set up development environment
+# Set up development environment
 RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y $SETUP_ARGS universe \
+  ./setup-dev-env.sh -y --runtime $SETUP_ARGS universe \
   && pip uninstall -y ansible ansible-core \
   && mkdir src \
   && vcs import src < autoware.repos \
   && rosdep update \
   && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
+  && apt-get autoremove -y && apt-get clean -y && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
 
-## Clean up unnecessary files
+# Clean up unnecessary files
 RUN rm -rf \
-  "$HOME"/.cache \
   /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
-RUN curl https://gitlab.com/nvidia/container-images/vulkan/raw/dc389b0445c788901fda1d85be96fd1cb9410164/nvidia_icd.json -o /etc/vulkan/icd.d/nvidia_icd.json \
-  && chmod 644 /etc/vulkan/icd.d/nvidia_icd.json
-RUN curl https://gitlab.com/nvidia/container-images/opengl/raw/5191cf205d3e4bb1150091f9464499b076104354/glvnd/runtime/10_nvidia.json -o /etc/glvnd/egl_vendor.d/10_nvidia.json \
-  && chmod 644 /etc/glvnd/egl_vendor.d/10_nvidia.json
+# 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
 
-## Register OpenCL GPU vendors
+# Register OpenCL GPU vendors
 RUN mkdir -p /etc/OpenCL/vendors \
   && echo "libnvidia-opencl.so.1" > /etc/OpenCL/vendors/nvidia.icd \
   && chmod 644 /etc/OpenCL/vendors/nvidia.icd
 
-## Create entrypoint
-# hadolint ignore=DL3059
-RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/bash.bashrc
-CMD ["/bin/bash"]
-
-FROM devel as builder
+# ==============================================================================
+FROM devel as prebuilt
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
-## Build and change permission for runtime data conversion
+# Build and change permission for runtime data conversion
 RUN source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
   && find /autoware/install -type d -exec chmod 777 {} \;
 
-# hadolint ignore=DL3006
-FROM $PREBUILT_BASE_IMAGE as prebuilt
-
-SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-
-ARG ROS_DISTRO
-ARG SETUP_ARGS
-
-## Install apt packages
-# hadolint ignore=DL3008
-RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
-  git \
-  ssh \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
-
-## Copy files
-COPY autoware.repos setup-dev-env.sh ansible-galaxy-requirements.yaml amd64.env arm64.env /autoware/
-COPY ansible/ /autoware/ansible/
-WORKDIR /autoware
-RUN ls /autoware
-
-## Add GitHub to known hosts for private repositories
-RUN mkdir -p ~/.ssh \
-  && ssh-keyscan github.com >> ~/.ssh/known_hosts
-
-## Set up runtime environment
-RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y $SETUP_ARGS --no-cuda-drivers --runtime universe \
-  && pip uninstall -y ansible ansible-core \
-  && mkdir src \
-  && vcs import src < autoware.repos \
-  && rosdep update \
-  && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --rosdistro "$ROS_DISTRO" \
-  && rm -rf src \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
-
-## Copy install folder from builder
-COPY --from=builder /autoware/install/ /autoware/install/
+# Create entrypoint
+RUN echo "source /autoware/install/setup.bash" > /etc/bash.bashrc
+CMD ["/bin/bash"]
 
-## Clean up unnecessary files
-RUN rm -rf \
-  "$HOME"/.cache \
-  /etc/apt/sources.list.d/cuda*.list \
-  /etc/apt/sources.list.d/docker.list \
-  /etc/apt/sources.list.d/nvidia-docker.list
+# ==============================================================================
+FROM devel as runtime
 
-## 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
+# Remove setup files and copy install directory
+RUN rm -rf /autoware/*
+COPY --from=prebuilt /autoware/install/ /autoware/install/
 
-## Create entrypoint
-# hadolint ignore=DL3059
+# Create entrypoint
 RUN echo "source /autoware/install/setup.bash" > /etc/bash.bashrc
 CMD ["/bin/bash"]
diff --git a/docker/autoware-universe/docker-bake.hcl b/docker/autoware-universe/docker-bake.hcl
index fa5b3dff25f..35ce50486fd 100644
--- a/docker/autoware-universe/docker-bake.hcl
+++ b/docker/autoware-universe/docker-bake.hcl
@@ -1,19 +1,29 @@
 group "default" {
-  targets = ["devel", "prebuilt"]
+  targets = ["devel", "prebuilt", "runtime"]
 }
 
 // For docker/metadata-action
 target "docker-metadata-action-devel" {}
 target "docker-metadata-action-prebuilt" {}
+target "docker-metadata-action-runtime" {}
 
+// For source image
 target "devel" {
   inherits = ["docker-metadata-action-devel"]
   dockerfile = "docker/autoware-universe/Dockerfile"
   target = "devel"
 }
 
+// For prebuilt image
 target "prebuilt" {
   inherits = ["docker-metadata-action-prebuilt"]
   dockerfile = "docker/autoware-universe/Dockerfile"
   target = "prebuilt"
 }
+
+// For runtime image
+target "runtime" {
+  inherits = ["docker-metadata-action-runtime"]
+  dockerfile = "docker/autoware-universe/Dockerfile"
+  target = "runtime"
+}
diff --git a/docker/build.sh b/docker/build.sh
index 36b31b17ba7..71eea907a7f 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -9,16 +9,13 @@ WORKSPACE_ROOT="$SCRIPT_DIR/../"
 args=()
 while [ "$1" != "" ]; do
     case "$1" in
-    --no-cuda)
-        option_no_cuda=true
+    --no-nvidia)
+        option_no_nvidia=true
         ;;
     --platform)
         option_platform="$2"
         shift
         ;;
-    --no-prebuilt)
-        option_no_prebuilt=true
-        ;;
     *)
         args+=("$1")
         ;;
@@ -27,7 +24,7 @@ while [ "$1" != "" ]; do
 done
 
 # Set CUDA options
-if [ "$option_no_cuda" = "true" ]; then
+if [ "$option_no_nvidia" = "true" ]; then
     setup_args="--no-nvidia"
     image_name_suffix=""
 else
@@ -35,14 +32,6 @@ else
     image_name_suffix="-cuda"
 fi
 
-# Set prebuilt options
-if [ "$option_no_prebuilt" = "true" ]; then
-    targets=("devel")
-else
-    # default targets include devel and prebuilt
-    targets=()
-fi
-
 # Set platform
 if [ -n "$option_platform" ]; then
     platform="$option_platform"
@@ -69,9 +58,8 @@ docker buildx bake --no-cache --load --progress=plain -f "$SCRIPT_DIR/autoware-u
     --set "*.platform=$platform" \
     --set "*.args.ROS_DISTRO=$rosdistro" \
     --set "*.args.BASE_IMAGE=$base_image" \
-    --set "*.args.PREBUILT_BASE_IMAGE=$prebuilt_base_image" \
     --set "*.args.SETUP_ARGS=$setup_args" \
-    --set "devel.tags=ghcr.io/automotiveaichallenge/autoware-universe:$rosdistro-latest$image_name_suffix" \
+    --set "devel.tags=ghcr.io/automotiveaichallenge/autoware-universe:$rosdistro-latest-devel$image_name_suffix" \
     --set "prebuilt.tags=ghcr.io/automotiveaichallenge/autoware-universe:$rosdistro-latest-prebuilt$image_name_suffix" \
-    "${targets[@]}"
+    --set "runtime.tags=ghcr.io/automotiveaichallenge/autoware-universe:$rosdistro-latest-runtime$image_name_suffix"
 set +x