diff --git a/autoware.repos b/autoware.repos
index 2ad1eb7bbe1..443a8421062 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -37,11 +37,12 @@ repositories:
   universe/autoware.universe:
     type: git
     url: https://github.com/autowarefoundation/autoware.universe.git
-    version: main
+    version: 0.38.0
   universe/external/tier4_ad_api_adaptor: # TODO(TIER IV): Migrate to AD API and remove this repository entry.
     type: git
     url: https://github.com/tier4/tier4_ad_api_adaptor.git
-    version: tier4/universe
+    # TODO(youtalk): Use version tag instead
+    version: 3de19bc5b554d4cecef2240da3c33434379ccb54
   universe/external/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
@@ -55,6 +56,10 @@ repositories:
     type: git
     url: https://github.com/tier4/muSSP.git
     version: tier4/main
+  universe/external/ndt_omp:
+    type: git
+    url: https://github.com/tier4/ndt_omp.git
+    version: tier4/main
   universe/external/pointcloud_to_laserscan:
     type: git
     url: https://github.com/tier4/pointcloud_to_laserscan.git
@@ -79,7 +84,7 @@ repositories:
   launcher/autoware_launch:
     type: git
     url: https://github.com/autowarefoundation/autoware_launch.git
-    version: main
+    version: 0.38.0
   # sensor_component
   sensor_component/external/sensor_component_description:
     type: git
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 2a9047076ca..6d223a78c1e 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -115,7 +115,7 @@ ARG ROS_DISTRO
 COPY src/universe/autoware.universe/control /autoware/src/universe/autoware.universe/control
 COPY src/universe/autoware.universe/planning /autoware/src/universe/autoware.universe/planning
 # TODO(youtalk): Remove COPYs when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved
-COPY src/universe/autoware.universe/map/autoware_map_loader /autoware/src/universe/autoware.universe/map/autoware_map_loader
+COPY src/universe/autoware.universe/map/map_loader /autoware/src/universe/autoware.universe/map/map_loader
 COPY src/universe/autoware.universe/map/autoware_map_projection_loader /autoware/src/universe/autoware.universe/map/autoware_map_projection_loader
 COPY src/universe/autoware.universe/sensing/autoware_pcl_extensions /autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions
 COPY src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor /autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor
@@ -322,7 +322,7 @@ RUN --mount=type=cache,target=${CCACHE_DIR} \
   --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/control,target=/autoware/src/universe/autoware.universe/control \
   --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/planning,target=/autoware/src/universe/autoware.universe/planning \
   # TODO(youtalk): Remove --mount options when https://github.com/autowarefoundation/autoware.universe/issues/8805 is resolved
-  --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/map/autoware_map_loader,target=/autoware/src/universe/autoware.universe/map/autoware_map_loader \
+  --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/map/map_loader,target=/autoware/src/universe/autoware.universe/map/map_loader \
   --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/map/autoware_map_projection_loader,target=/autoware/src/universe/autoware.universe/map/autoware_map_projection_loader \
   --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions,target=/autoware/src/universe/autoware.universe/sensing/autoware_pcl_extensions \
   --mount=type=bind,from=rosdep-universe-planning-control-depend,source=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor,target=/autoware/src/universe/autoware.universe/sensing/autoware_pointcloud_preprocessor \