diff --git a/.github/workflows/build-and-test-arm64.yaml b/.github/workflows/build-and-test-arm64.yaml
index a5e00496cc50a..6f46e987f4c13 100644
--- a/.github/workflows/build-and-test-arm64.yaml
+++ b/.github/workflows/build-and-test-arm64.yaml
@@ -1,13 +1,17 @@
-name: build-and-test-arm64
+name: build-and-test
 
 on:
-  schedule:
-    - cron: 0 0 * * *
   workflow_dispatch:
+    inputs:
+      target_branch_or_tag:
+        description: 'Set target branch or tag for build and test'
+        required: true
+        default: 'main'
 
 jobs:
-  build-and-test-arm64:
-    runs-on: [self-hosted, linux, ARM64]
+  build-and-test:
+    if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
+    runs-on: ubuntu-latest
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -24,6 +28,11 @@ jobs:
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.inputs.target_branch_or_tag }}
+
+      - name: Display checked out branch or tag
+        run: echo "Checked out branch/tag to: ${{ github.event.inputs.branch_or_tag }}"
 
       - name: Show disk space before the tasks
         run: df -h
@@ -45,11 +54,21 @@ jobs:
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        id: test
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
 
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v3
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
+          flags: total
+
       - name: Show disk space after the tasks
         run: df -h
diff --git a/.github/workflows/build-and-test-for-branch.yaml b/.github/workflows/build-and-test-for-branch.yaml
index 109a39c61eb5d..9a7dac7fe7eb0 100644
--- a/.github/workflows/build-and-test-for-branch.yaml
+++ b/.github/workflows/build-and-test-for-branch.yaml
@@ -1,4 +1,4 @@
-name: build-and-test
+name: build-and-test-for-branch
 
 on:
   workflow_dispatch: