diff --git a/docker/tools/scenario-simulator/entrypoint.sh b/docker/tools/scenario-simulator/entrypoint.sh
index c5d780a2b0..cf2fb9c289 100644
--- a/docker/tools/scenario-simulator/entrypoint.sh
+++ b/docker/tools/scenario-simulator/entrypoint.sh
@@ -15,6 +15,8 @@ run_scenario_simulator() {
     SCENARIO=${SCENARIO:-$(find-pkg-share scenario_test_runner)/scenario/sample.yaml}
     GLOBAL_TIMEOUT=${GLOBAL_TIMEOUT:-120}
     RECORD=${RECORD:-false}
+    RVIZ_CONFIG=${RVIZ_CONFIG:-$(find-pkg-share rviz2)/share/rviz2/launch/default.rviz}
+    USE_SIM_TIME=${USE_SIM_TIME:-false}
 
     # Print all variables
     echo "ARCHITECTURE_TYPE: $ARCHITECTURE_TYPE"
@@ -26,6 +28,8 @@ run_scenario_simulator() {
     echo "SCENARIO: $SCENARIO"
     echo "GLOBAL_TIMEOUT: $GLOBAL_TIMEOUT"
     echo "RECORD: $RECORD"
+    echo "RVIZ_CONFIG: $RVIZ_CONFIG"
+    echo "USE_SIM_TIME: $USE_SIM_TIME"
 
     # Launch scenario test runner
     ros2 launch scenario_test_runner scenario_test_runner.launch.py \
@@ -39,7 +43,9 @@ run_scenario_simulator() {
         output_directory:="$OUTPUT_DIRECTORY" \
         scenario:="$SCENARIO" \
         global_timeout:="$GLOBAL_TIMEOUT" \
-        record:="$RECORD"
+        record:="$RECORD" \
+        rviz_config:="$RVIZ_CONFIG" \
+        use_sim_time:="$USE_SIM_TIME"
 }
 
 # Source ROS and Autoware setup files
diff --git a/docker/tools/visualizer/entrypoint.sh b/docker/tools/visualizer/entrypoint.sh
index 964acba9d4..7ebbf62c13 100644
--- a/docker/tools/visualizer/entrypoint.sh
+++ b/docker/tools/visualizer/entrypoint.sh
@@ -77,8 +77,17 @@ EOF
     echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
 }
 
-# shellcheck disable=SC1090
-[ "$WEB_ENABLED" == "true" ] && configure_vnc
+# Source ROS and Autoware setup files
 source "/opt/ros/$ROS_DISTRO/setup.bash"
 source "/opt/autoware/setup.bash"
-exec "$@"
+
+# Execute passed command if provided
+if [ "$WEB_ENABLED" == "true" ]; then
+    configure_vnc
+    [ $# -eq 0 ] && sleep infinity
+    exec "$@"
+else
+    [ -z "$RVIZ_CONFIG" ] && RVIZ_CONFIG="$(find-pkg-share autoware_launch)/rviz/$(var rviz_config_name)"
+    [ $# -eq 0 ] && rviz2 -d "$RVIZ_CONFIG"
+    exec "$@"
+fi
diff --git a/docker/tools/visualizer/xstartup b/docker/tools/visualizer/xstartup
index 44a8991a99..d9b290c3d3 100644
--- a/docker/tools/visualizer/xstartup
+++ b/docker/tools/visualizer/xstartup
@@ -1,5 +1,5 @@
 #!/bin/sh
-# cspell:ignore openbox, VNC, tigervnc, novnc, websockify, newkey, xstartup, DBUS, Xresources, xrdb
+# cspell:ignore openbox, VNC, xstartup, DBUS, Xresources, xrdb
 
 unset SESSION_MANAGER
 unset DBUS_SESSION_BUS_ADDRESS