diff --git a/.github/workflows/address-sanitizers.yaml b/.github/workflows/address-sanitizers.yaml
index 0b54f5f4ef3..42185f549c7 100644
--- a/.github/workflows/address-sanitizers.yaml
+++ b/.github/workflows/address-sanitizers.yaml
@@ -19,7 +19,7 @@ on:
       - '**.md'
       - '**.txt'
       - '!**/CMakeLists.txt'
-      
+
   schedule:
     - cron: '0 1 * * *'
 
@@ -40,11 +40,20 @@ jobs:
         FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || 'master' }}
 
     steps:
+      # https://github.com/actions/runner-images/issues/9491
+      - name: Fix kernel mmap rnd bits
+        run: sudo sysctl vm.mmap_rnd_bits=28
+
       - name: Install apt packages
         uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
         with:
           packages: curl grep libasio-dev libtinyxml2-dev python3 python3-pip software-properties-common wget
 
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: '3.22.6'
+
       - name: Setup CCache
         uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
 
@@ -75,10 +84,12 @@ jobs:
           cd ./src/fastrtps
           git checkout ${{ env.FASTDDS_BRANCH }}
 
-      - name: Install GTest
-        uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
+      - name: Fetch Fast DDS ASan dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
         with:
-          version: v1.12.1
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/asan.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
       - name: Build workspace
         run: |
@@ -126,11 +137,23 @@ jobs:
       DEFAULT_DISCOVERY_SERVER_BRANCH: ${{ github.event.inputs.discovery_server_branch || 'master' }}
 
     steps:
+      # https://github.com/actions/runner-images/issues/9491
+      - name: Fix kernel mmap rnd bits
+        run: sudo sysctl vm.mmap_rnd_bits=28
+
       - name: Install apt packages
         uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
         with:
           packages: curl grep libasio-dev libtinyxml2-dev python3 python3-pip software-properties-common wget
 
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: '3.22.6'
+
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+
       - name: Install colcon
         uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
 
diff --git a/.github/workflows/config/asan.repos b/.github/workflows/config/asan.repos
new file mode 100644
index 00000000000..78eb1aa1ac4
--- /dev/null
+++ b/.github/workflows/config/asan.repos
@@ -0,0 +1,5 @@
+repositories:
+    googletest-distribution:
+        type: git
+        url: https://github.com/google/googletest.git
+        version: release-1.12.1
diff --git a/.github/workflows/config/asan_colcon.meta b/.github/workflows/config/asan_colcon.meta
index 6f214f9578d..5ea0dad1d3d 100644
--- a/.github/workflows/config/asan_colcon.meta
+++ b/.github/workflows/config/asan_colcon.meta
@@ -12,8 +12,13 @@ names:
             - "-DFASTDDS_STATISTICS=ON"
             - "-DSANITIZER=Address"
             - "-DCMAKE_CXX_FLAGS='-Werror'"
-
     discovery-server:
         cmake-args:
-            -"-DCMAKE_BUILD_TYPE=Debug"
-            -"-DSANITIZER=Address"
+            - "-DCMAKE_BUILD_TYPE=Debug"
+            - "-DSANITIZER=Address"
+    googletest-distribution:
+        cmake-args:
+            - "-Dgtest_force_shared_crt=ON"
+            - "-DBUILD_SHARED_LIBS=ON"
+            - "-DBUILD_GMOCK=ON"
+
diff --git a/.github/workflows/config/tsan_colcon.meta b/.github/workflows/config/tsan_colcon.meta
index e7f8a45e3ff..341a32d0c23 100644
--- a/.github/workflows/config/tsan_colcon.meta
+++ b/.github/workflows/config/tsan_colcon.meta
@@ -16,3 +16,8 @@ names:
             - "-DFASTDDS_STATISTICS=ON"
             - "-DCMAKE_C_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
             - "-DCMAKE_CXX_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
+    googletest-distribution:
+        cmake-args:
+            - "-Dgtest_force_shared_crt=ON"
+            - "-DBUILD_SHARED_LIBS=ON"
+            - "-DBUILD_GMOCK=ON"
diff --git a/.github/workflows/reusable-mac-ci.yml b/.github/workflows/reusable-mac-ci.yml
index 45245988403..884ae321e71 100644
--- a/.github/workflows/reusable-mac-ci.yml
+++ b/.github/workflows/reusable-mac-ci.yml
@@ -55,7 +55,7 @@ jobs:
           python-version: '3.11'
 
       - name: Get minimum supported version of CMake
-        uses: lukka/get-cmake@latest
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
         with:
           cmakeVersion: '3.22.6'
 
diff --git a/.github/workflows/reusable-ubuntu-ci.yml b/.github/workflows/reusable-ubuntu-ci.yml
index fee4c5d2e84..d53fe2aae31 100644
--- a/.github/workflows/reusable-ubuntu-ci.yml
+++ b/.github/workflows/reusable-ubuntu-ci.yml
@@ -49,7 +49,7 @@ jobs:
           ref: ${{ inputs.fastdds-branch }}
 
       - name: Get minimum supported version of CMake
-        uses: lukka/get-cmake@latest
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
         with:
           cmakeVersion: '3.22.6'
 
diff --git a/.github/workflows/reusable-windows-ci.yml b/.github/workflows/reusable-windows-ci.yml
index b90931be0c4..33b63a8294d 100644
--- a/.github/workflows/reusable-windows-ci.yml
+++ b/.github/workflows/reusable-windows-ci.yml
@@ -49,7 +49,7 @@ jobs:
           ref: ${{ inputs.fastdds_branch }}
 
       - name: Get minimum supported version of CMake
-        uses: lukka/get-cmake@latest
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
         with:
           cmakeVersion: '3.22.6'
 
diff --git a/.github/workflows/thread-sanitizer.yaml b/.github/workflows/thread-sanitizer.yaml
index 8d0914e8b88..109f60888d4 100644
--- a/.github/workflows/thread-sanitizer.yaml
+++ b/.github/workflows/thread-sanitizer.yaml
@@ -25,7 +25,7 @@ on:
 
   schedule:
     - cron: '0 1 * * *'
-    
+
 concurrency:
   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
   cancel-in-progress: true
@@ -50,11 +50,20 @@ jobs:
         CXX: g++-12
 
     steps:
+      # https://github.com/actions/runner-images/issues/9491
+      - name: Fix kernel mmap rnd bits
+        run: sudo sysctl vm.mmap_rnd_bits=28
+
       - name: Install apt packages
         uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
         with:
           packages: curl grep libasio-dev libtinyxml2-dev python3 python3-pip software-properties-common wget
 
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: '3.22.6'
+
       - name: Setup CCache
         uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
 
@@ -85,10 +94,12 @@ jobs:
           cd ./src/fastrtps
           git checkout ${{ env.FASTDDS_BRANCH }}
 
-      - name: Install GTest
-        uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
+      - name: Fetch Fast DDS CI dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
         with:
-          version: release-1.11.0
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
       - name: Build workspace
         run: |