diff --git a/.github/workflows/address-sanitizers.yaml b/.github/workflows/address-sanitizers.yaml
index 2760ce027ab..56730530899 100644
--- a/.github/workflows/address-sanitizers.yaml
+++ b/.github/workflows/address-sanitizers.yaml
@@ -37,11 +37,20 @@ jobs:
         FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || '2.10.x' }}
 
     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
 
@@ -72,10 +81,12 @@ 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: |
@@ -123,11 +134,23 @@ jobs:
       DEFAULT_DISCOVERY_SERVER_BRANCH: ${{ github.event.inputs.discovery_server_branch || 'v1.2.1' }}
 
     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
 
@@ -162,10 +185,12 @@ jobs:
           repository: eProsima/Discovery-Server
           ref: ${{ env.DEFAULT_DISCOVERY_SERVER_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: |
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 f3861032c74..2b6710ec7a9 100644
--- a/.github/workflows/config/asan_colcon.meta
+++ b/.github/workflows/config/asan_colcon.meta
@@ -17,3 +17,8 @@ names:
         cmake-args:
             - "-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 bfecf695cbe..fe81d592e79 100644
--- a/.github/workflows/config/tsan_colcon.meta
+++ b/.github/workflows/config/tsan_colcon.meta
@@ -17,3 +17,8 @@ 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 0ba82850cee..50d3bb1dd4a 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: '3.16.3'
 
diff --git a/.github/workflows/reusable-ubuntu-ci.yml b/.github/workflows/reusable-ubuntu-ci.yml
index 0387d140d78..6414e02194f 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 8f607a95cf7..28feb91b9e4 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: '3.16.3'
 
diff --git a/.github/workflows/thread-sanitizer.yaml b/.github/workflows/thread-sanitizer.yaml
index a0611f68189..c75859e3d0c 100644
--- a/.github/workflows/thread-sanitizer.yaml
+++ b/.github/workflows/thread-sanitizer.yaml
@@ -47,11 +47,20 @@ 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
 
@@ -82,10 +91,12 @@ 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: |