diff --git a/.github/workflows/test-release-scripts.yml b/.github/workflows/test-release-scripts.yml
index 8f3954f1745a8..5700ef99fe586 100644
--- a/.github/workflows/test-release-scripts.yml
+++ b/.github/workflows/test-release-scripts.yml
@@ -329,3 +329,77 @@ jobs:
           git branch --show-current | grep "^experiment/20210123-test" || false
           cat autoware.proj.repos | grep autoware/autoware.iv -A3 | grep "version: experiment/20210123-test" || false
           cat autoware.proj.repos | grep autoware/launcher -A3 | grep "version: experiment/20210123-test" || false
+
+  test-eva-release:
+    needs: vcs-import-cache
+    runs-on: ubuntu-latest
+    container: osrf/ros:foxy-desktop
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v2
+
+      - name: Install yq
+        run: |
+          apt-get -y update
+          apt-get -y install wget
+          wget -O /usr/local/bin/yq https://github.com/mikefarah/yq/releases/download/v4.9.1/yq_linux_amd64
+          chmod +x /usr/local/bin/yq
+
+      - name: Fix eva_plugins.repos for private repositories
+        run: |
+          sed -i -e "s|git@github.com:|https://github.com/|g" eva_plugins.repos
+
+      - name: Set git config for private repositories
+        run: |
+          git config --local --unset-all http.https://github.com/.extraheader || true
+          git config --global url.https://${{ secrets.REPO_TOKEN }}@github.com.insteadof 'https://github.com'
+
+      - name: Run vcs import
+        run: |
+          mkdir src
+          vcs import src < eva_plugins.repos
+
+      - name: Fix eva_plugins.repos for private repositories
+        run: |
+          sed -i -e "s|git@github.com:|https://github.com/|g" eva_plugins.repos
+
+      - name: Commit eva_plugins.repos to remove workspace diff
+        run: |
+          git add eva_plugins.repos
+          git config --global user.email "actions@example.com"
+          git config --global user.name "Github Actions"
+          git commit -m "Update eva_plugins.repos in CI"
+
+      - name: Set git config for private repositories
+        run: |
+          git config --local --unset-all http.https://github.com/.extraheader || true
+          git config --global url.https://${{ secrets.REPO_TOKEN }}@github.com.insteadof 'https://github.com'
+
+      - name: Create rc branches
+        run: |
+          ./scripts/release/eva_create_product_rc_branches.sh -y v0.0.0
+
+      - name: Print versions
+        run: |
+          git branch
+          cat eva_plugins.repos
+          vcs custom src --git --args branch
+
+      - name: Check result
+        run: |
+          cat eva_plugins.repos | grep proj_launcher -A3 | grep "version: rc/v0.0.0" || false
+
+      - name: Create release tags
+        run: |
+          ./scripts/release/eva_create_product_release_tags.sh -y v0.0.0
+
+      - name: Print versions
+        run: |
+          git branch
+          cat eva_plugins.repos
+          vcs custom src --git --args branch
+
+      - name: Check result
+        run: |
+          cat eva_plugins.repos | grep proj_launcher -A3 | grep "version: v0.0.0" || false
diff --git a/scripts/release/eva_create_product_rc_branches.sh b/scripts/release/eva_create_product_rc_branches.sh
new file mode 100755
index 0000000000000..4af7a54cfdf48
--- /dev/null
+++ b/scripts/release/eva_create_product_rc_branches.sh
@@ -0,0 +1,69 @@
+#!/usr/bin/env bash
+
+SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
+source "$SCRIPT_DIR/common/helper_functions.sh"
+
+# Override functions
+function get_repos_file_path() {
+  echo "$(git rev-parse --show-toplevel)/eva_plugins.repos"
+}
+
+function get_product_repositories() {
+  find src/eva -type d -name '\.git' -print0 | xargs -0 -I {} dirname "{}"
+}
+
+# Define functions
+function show_usage() {
+  echo -e
+    "Usage: create_reference_rc_branches.sh product_version
+      [-h/--help] [-y/--yes] [--change-reference-repositories] [--push|--delete]
+
+    -h/--help:
+      Show usage and exit.
+
+    -y/--yes:
+      Proceed without confirmation.
+
+    --change-reference-repositories:
+      Whether to create branches/tags in reference repositories.
+
+    --push:
+      Whether to push branches/tags. Please use this option when you can be sure.
+
+    --delete:
+      Whether to delete branches/tags. Please use this option when you mistook something.
+
+    product_version:
+      The version to be used for product rc branches.
+      The valid pattern is '^v([0-9]+)\.([0-9]+)\.([0-9]+)$'.
+
+    Note: Using --push and --delete at the same time may cause unexpected behaviors."
+}
+
+# Parse arguments
+source "$SCRIPT_DIR/common/parse_common_args.sh"
+product_version="${args[0]}"
+
+# Check args
+if ! is_valid_product_rc_version "$product_version"; then
+  echo -e "\e[31mPlease input a valid product rc version as the 2nd argument\e[m"
+  show_usage
+  exit 1
+fi
+
+# Run pre common tasks
+source "$SCRIPT_DIR/common/pre_common_tasks.sh"
+
+# Set branch prefix
+branch_prefix="rc/"
+
+# Create branches in product repositories
+echo -e "\e[36mCreate branches in product repositories\e[m"
+for product_repository in $(get_product_repositories); do
+  create_branch "$product_repository" "$branch_prefix$product_version" "$flag_push" "$flag_delete"
+done
+
+# Run post common tasks
+if [ "$flag_delete" = "" ]; then
+  source "$SCRIPT_DIR/common/post_common_tasks.sh"
+fi
diff --git a/scripts/release/eva_create_product_release_tags.sh b/scripts/release/eva_create_product_release_tags.sh
new file mode 100755
index 0000000000000..6095d3b7ffcec
--- /dev/null
+++ b/scripts/release/eva_create_product_release_tags.sh
@@ -0,0 +1,65 @@
+#!/usr/bin/env bash
+
+SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
+source "$SCRIPT_DIR/common/helper_functions.sh"
+
+# Override functions
+function get_repos_file_path() {
+  echo "$(git rev-parse --show-toplevel)/eva_plugins.repos"
+}
+
+function get_product_repositories() {
+  find src/eva -type d -name '\.git' -print0 | xargs -0 -I {} dirname "{}"
+}
+
+# Define functions
+function show_usage() {
+  echo -e "Usage: create_product_release_tags.sh product_version
+      [-h/--help] [-y/--yes] [--change-reference-repositories] [--push|--delete]
+
+    -h/--help:
+      Show usage and exit.
+
+    -y/--yes:
+      Proceed without confirmation.
+
+    --change-reference-repositories:
+      Whether to create branches/tags in reference repositories.
+
+    --push:
+      Whether to push branches/tags. Please use this option when you can be sure.
+
+    --delete:
+      Whether to delete branches/tags. Please use this option when you mistook something.
+
+    product_version:
+      The version to be used for product release tags.
+      The valid pattern is '^v([0-9]+)\.([0-9]+)\.([0-9]+)$'.
+
+    Note: Using --push and --delete at the same time may cause unexpected behaviors."
+}
+
+# Parse arguments
+source "$SCRIPT_DIR/common/parse_common_args.sh"
+product_version="${args[0]}"
+
+# Check args
+if ! is_valid_product_release_version "$product_version"; then
+  echo -e "\e[31mPlease input a valid product release version as the 2nd argument\e[m"
+  show_usage
+  exit 1
+fi
+
+# Run pre common tasks
+source "$SCRIPT_DIR/common/pre_common_tasks.sh"
+
+# Create tags in product repositories
+echo -e "\e[36mCreate tags in product repositories\e[m"
+for product_repository in $(get_product_repositories); do
+  create_tag "$product_repository" "$product_version" "$flag_push" "$flag_delete"
+done
+
+# Run post common tasks
+if [ "$flag_delete" = "" ]; then
+  source "$SCRIPT_DIR/common/post_common_tasks.sh"
+fi
diff --git a/scripts/release/eva_update_vcs_versions.sh b/scripts/release/eva_update_vcs_versions.sh
new file mode 100755
index 0000000000000..fe83af1d8da92
--- /dev/null
+++ b/scripts/release/eva_update_vcs_versions.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+SCRIPT_DIR=$(readlink -f "$(dirname "$0")")
+source "$SCRIPT_DIR/common/helper_functions.sh"
+
+# Override functions
+function get_repos_file_path() {
+  echo "$(git rev-parse --show-toplevel)/eva_plugins.repos"
+}
+
+update_vcs_versions