diff --git a/ansible/playbooks/download_artifacts.yaml b/ansible/playbooks/download_artifacts.yaml
index e465e3a7ee..8f42277256 100644
--- a/ansible/playbooks/download_artifacts.yaml
+++ b/ansible/playbooks/download_artifacts.yaml
@@ -1,3 +1,6 @@
+# DEPRECATED: replace with `ansible-playbook autoware.dev_env.install_dev_env --tags artifacts`.
+# Scheduled for removal on 2026-05-24. See https://github.com/autowarefoundation/autoware/issues/7052.
+
 - name: Download Autoware artifacts
   hosts: localhost
   module_defaults:
diff --git a/ansible/playbooks/install_rviz_theme.yaml b/ansible/playbooks/install_rviz_theme.yaml
index a30b0900dd..a4ab4c2148 100644
--- a/ansible/playbooks/install_rviz_theme.yaml
+++ b/ansible/playbooks/install_rviz_theme.yaml
@@ -1,3 +1,6 @@
+# DEPRECATED: replace with `ansible-playbook autoware.dev_env.install_dev_env --tags qt5ct_setup`.
+# Scheduled for removal on 2026-05-24. See https://github.com/autowarefoundation/autoware/issues/7052.
+
 - name: Install RViz theme
   hosts: localhost
   roles:
diff --git a/ansible/playbooks/install_spconv.yaml b/ansible/playbooks/install_spconv.yaml
index e159c7d686..cb5da820f7 100644
--- a/ansible/playbooks/install_spconv.yaml
+++ b/ansible/playbooks/install_spconv.yaml
@@ -1,3 +1,6 @@
+# DEPRECATED: replace with `ansible-playbook autoware.dev_env.install_dev_env --tags spconv`.
+# Scheduled for removal on 2026-05-24. See https://github.com/autowarefoundation/autoware/issues/7052.
+
 - name: Download and install the cumm and spconv packages
   hosts: localhost
   roles:
diff --git a/ansible/playbooks/openadkit.yaml b/ansible/playbooks/openadkit.yaml
index 60591fa99e..881d88e872 100644
--- a/ansible/playbooks/openadkit.yaml
+++ b/ansible/playbooks/openadkit.yaml
@@ -1,3 +1,6 @@
+# DEPRECATED: superseded by install_dev_env.yaml.
+# Scheduled for removal on 2026-05-24. See https://github.com/autowarefoundation/autoware/issues/7052.
+
 - name: Set up source development environments for Autoware Universe
   hosts: localhost
   connection: local
diff --git a/ansible/playbooks/role_rmw_implementation.yaml b/ansible/playbooks/role_rmw_implementation.yaml
index 32f947a608..61e85856c4 100644
--- a/ansible/playbooks/role_rmw_implementation.yaml
+++ b/ansible/playbooks/role_rmw_implementation.yaml
@@ -1,3 +1,6 @@
+# DEPRECATED: duplicate of install_rmw.yaml (was rmw.yaml).
+# Scheduled for removal on 2026-05-24. See https://github.com/autowarefoundation/autoware/issues/7052.
+
 - name: Install RMW implementation
   hosts: localhost
   roles:
diff --git a/ansible/playbooks/setup_acados.yaml b/ansible/playbooks/setup_acados.yaml
index 69247c0faa..36d335adbf 100644
--- a/ansible/playbooks/setup_acados.yaml
+++ b/ansible/playbooks/setup_acados.yaml
@@ -1,3 +1,6 @@
+# DEPRECATED: replace with `ansible-playbook autoware.dev_env.install_dev_env --tags acados`.
+# Scheduled for removal on 2026-05-24. See https://github.com/autowarefoundation/autoware/issues/7052.
+
 - name: Setup acados
   hosts: localhost
   connection: local
diff --git a/ansible/playbooks/telegraf.yaml b/ansible/playbooks/telegraf.yaml
index a490821a23..3f570d3efb 100644
--- a/ansible/playbooks/telegraf.yaml
+++ b/ansible/playbooks/telegraf.yaml
@@ -1,3 +1,6 @@
+# DEPRECATED: no known callers; scheduled for removal.
+# Scheduled for removal on 2026-05-24. See https://github.com/autowarefoundation/autoware/issues/7052.
+
 - name: Set up Telegraf and InfluxDB v2
   hosts: localhost
   roles:
diff --git a/ansible/playbooks/universe.yaml b/ansible/playbooks/universe.yaml
index 642a6c9a3e..5dfdadc9a5 100644
--- a/ansible/playbooks/universe.yaml
+++ b/ansible/playbooks/universe.yaml
@@ -1,3 +1,6 @@
+# DEPRECATED: superseded by install_dev_env.yaml.
+# Scheduled for removal on 2026-05-24. See https://github.com/autowarefoundation/autoware/issues/7052.
+
 - name: Set up source development environments for Autoware Universe
   hosts: localhost
   connection: local
diff --git a/setup-dev-env.sh b/setup-dev-env.sh
index 0efc4c80eb..e90564bdca 100755
--- a/setup-dev-env.sh
+++ b/setup-dev-env.sh
@@ -1,10 +1,18 @@
 #!/usr/bin/env bash
+# DEPRECATED: superseded by ansible/scripts/install-ansible.sh +
+# `ansible-playbook autoware.dev_env.install_dev_env`. Scheduled for removal
+# on 2026-05-24. See https://github.com/autowarefoundation/autoware/issues/7052.
+#
 # Set up development environment for Autoware Core/Universe.
 # Usage: setup-dev-env.sh <ros2_installation_type('core' or 'universe')> [-y] [-v] [--no-nvidia]
 # Note: -y option is only for CI.
 
 set -e
 
+echo -e "\e[33m[DEPRECATED] setup-dev-env.sh will be removed on 2026-05-24.\e[m" >&2
+echo -e "\e[33mMigrate to: bash ansible/scripts/install-ansible.sh && ansible-playbook autoware.dev_env.install_dev_env [--tags ...]\e[m" >&2
+echo -e "\e[33mSee https://github.com/autowarefoundation/autoware/issues/7052\e[m" >&2
+
 # Function to print help message
 print_help() {
     echo "Usage: setup-dev-env.sh [OPTIONS]"