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 e6e78011179..94b3314c70c 100644
--- a/.github/workflows/docker-build-and-push-main-self-hosted.yaml
+++ b/.github/workflows/docker-build-and-push-main-self-hosted.yaml
@@ -24,7 +24,7 @@ jobs:
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
-            base_image_env: cuda_base_image
+            base_image_env: prebuilt_base_image
             setup-args: --no-cuda-drivers
             additional-tag-suffix: -cuda
     steps:
@@ -54,6 +54,7 @@ jobs:
             *.platform=linux/arm64
             *.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: ${{ matrix.additional-tag-suffix }}-arm64
diff --git a/.github/workflows/docker-build-and-push-main.yaml b/.github/workflows/docker-build-and-push-main.yaml
index 85da95d6d81..4bf3d4b9dd6 100644
--- a/.github/workflows/docker-build-and-push-main.yaml
+++ b/.github/workflows/docker-build-and-push-main.yaml
@@ -24,7 +24,7 @@ jobs:
             setup-args: --no-nvidia
             additional-tag-suffix: ""
           - name: cuda
-            base_image_env: cuda_base_image
+            base_image_env: prebuilt_base_image
             setup-args: --no-cuda-drivers
             additional-tag-suffix: -cuda
     steps:
@@ -49,6 +49,7 @@ jobs:
             *.platform=linux/amd64
             *.args.ROS_DISTRO=${{ 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 226e5ee51b5..98187c8479e 100644
--- a/amd64.env
+++ b/amd64.env
@@ -1,8 +1,7 @@
 rosdistro=humble
 rmw_implementation=rmw_cyclonedds_cpp
-base_image=ubuntu:20.04
-cuda_base_image=nvidia/cuda:11.6.2-devel-ubuntu20.04
-cuda_runtime_base_image=nvidia/cuda:11.6.2-runtime-ubuntu20.04
+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/ansible/playbooks/universe.yaml b/ansible/playbooks/universe.yaml
index 3c79e2db9c3..e062a29308b 100644
--- a/ansible/playbooks/universe.yaml
+++ b/ansible/playbooks/universe.yaml
@@ -37,7 +37,6 @@
       when: install_devel == 'true'
     - role: autoware.dev_env.ros2
     - role: autoware.dev_env.ros2_dev_tools
-      when: install_devel == 'true'
     - role: autoware.dev_env.rmw_implementation
 
     # Universe
diff --git a/docker/autoware-universe/Dockerfile b/docker/autoware-universe/Dockerfile
index 5496980a944..8832f8eb1e5 100644
--- a/docker/autoware-universe/Dockerfile
+++ b/docker/autoware-universe/Dockerfile
@@ -1,4 +1,5 @@
 ARG BASE_IMAGE
+ARG PREBUILT_BASE_IMAGE
 # hadolint ignore=DL3006
 FROM $BASE_IMAGE as devel
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
@@ -66,9 +67,8 @@ RUN source /opt/ros/"$ROS_DISTRO"/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
   && find /autoware/install -type d -exec chmod 777 {} \;
 
-ARG CUDA_RUNTIME_BASE_IMAGE
 # hadolint ignore=DL3006
-FROM $CUDA_RUNTIME_BASE_IMAGE as prebuilt
+FROM $PREBUILT_BASE_IMAGE as prebuilt
 
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
@@ -95,7 +95,7 @@ RUN mkdir -p ~/.ssh \
 
 ## Set up runtime environment
 RUN --mount=type=ssh \
-  ./setup-dev-env.sh -y $SETUP_ARGS --no-cuda-drivers --no-dev --runtime --ros-install-base universe \
+  ./setup-dev-env.sh -y $SETUP_ARGS --no-cuda-drivers --runtime universe \
   && pip uninstall -y ansible ansible-core \
   && mkdir src \
   && vcs import src < autoware.repos \
diff --git a/docker/build.sh b/docker/build.sh
index 9a7e581aefd..1648ab62080 100755
--- a/docker/build.sh
+++ b/docker/build.sh
@@ -69,8 +69,8 @@ docker buildx bake --no-cache --load --progress=plain -f "$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=$setup_args" \
-    --set "*.args.CUDA_RUNTIME_BASE_IMAGE=$cuda_runtime_base_image" \
     --set "devel.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest$image_name_suffix" \
     --set "prebuilt.tags=ghcr.io/autowarefoundation/autoware-universe:$rosdistro-latest-prebuilt$image_name_suffix" \
     "$targets"
diff --git a/setup-dev-env.sh b/setup-dev-env.sh
index ebd39a83c27..8b4069d57ed 100755
--- a/setup-dev-env.sh
+++ b/setup-dev-env.sh
@@ -27,10 +27,6 @@ while [ "$1" != "" ]; do
         # Disable installation of 'cuda-drivers' in the role 'cuda'.
         option_no_cuda_drivers=true
         ;;
-    --no-dev)
-        # Disable installation dev packages .
-        option_no_dev=true
-        ;;
     --runtime)
         # Disable installation dev package of role 'cuda' and 'tensorrt'.
         option_runtime=true