diff --git a/autoware.repos b/autoware.repos
index 9cfc06ba9f..6c01d34af1 100644
--- a/autoware.repos
+++ b/autoware.repos
@@ -37,7 +37,7 @@ repositories:
   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
+    version: v0.40.0
   universe/external/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git