diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index b125d23186..b29819a1aa 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -37,7 +37,7 @@
   <arg name="system_run_mode" default="online" description="run mode in system"/>
   <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
   <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
-  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
+  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index e729fef464..a94960d8bf 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
-  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
+  <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
 
   <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
     <arg name="run_mode" value="$(var system_run_mode)"/>
@@ -14,7 +14,7 @@
     <arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
     <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
     <arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
-    <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/dummy_diag_publisher.param.yaml"/>
+    <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml"/>
     <arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
     <arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
     <arg name="system_monitor_hdd_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/hdd_monitor.param.yaml"/>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index c4fd15b41c..03044cf090 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -71,7 +71,7 @@
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-awsim.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-awsim.yaml"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
       <!-- Perception-->
diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
index 123bd01ed3..ad11e90bdf 100644
--- a/autoware_launch/launch/logging_simulator.launch.xml
+++ b/autoware_launch/launch/logging_simulator.launch.xml
@@ -65,7 +65,7 @@
       <arg name="system_run_mode" value="logging_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 3c56e11412..3e0ed8d20c 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -70,7 +70,7 @@
       <arg name="system_run_mode" value="planning_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>