diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
new file mode 100644
index 00000000..7fc2d549
--- /dev/null
+++ b/.github/pull_request_template.md
@@ -0,0 +1,52 @@
+<!-- Provide a general summary of your changes in the Title above -->
+<!-- It must be meaningful and coherent with the changes -->
+
+<!--
+    If this PR is still a Work in Progress [WIP], please open it as DRAFT.
+    Please consider if any label should be added to this PR.
+    If no code has been changed, please add `skip-ci` label.
+    If opening the PR as Draft, please consider adding `no-test` label to only build the code but not run CI.
+    If documentation PR is still pending, please add `doc-pending` label.
+-->
+
+## Description
+
+<!--
+    Describe changes in detail.
+    This includes depicting the context, use case or current behavior and describe the proposed changes.
+    If several features/bug fixes are included with these changes, please consider opening separated pull requests.
+-->
+
+<!--
+    In case of bug fixes, please provide the list of supported branches where this fix should be also merged.
+    Please uncomment following line, adjusting the corresponding target branches for the backport.
+-->
+<!-- @Mergifyio backport 3.0.x 1.7.x 1.6.x 1.3.x -->
+
+<!-- If an issue is already opened, please uncomment next line with the corresponding issue number. -->
+<!-- Fixes #(issue) -->
+
+<!-- In case the changes are built over a previous pull request, please uncomment next line. -->
+<!-- This PR depends on #(PR) and must be merged after that one. -->
+
+## Contributor Checklist
+
+<!--
+    - If any of the elements of the following checklist is not applicable, substitute the checkbox [ ] by _N/A_:
+    - If any of the elements of the following checklist is not fulfilled on purpose, please provide a reason and substitute the checkbox [ ] with ❌: or __NO__:.
+-->
+
+- [ ] Commit messages follow the project guidelines. <!-- External contributors should sign the DCO. Fast DDS developers must also refer to the internal Redmine task. -->
+- [ ] Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally
+- [ ] Any new/modified methods have been properly documented.
+- [ ] Changes are backport compatible: they do **NOT** break ABI nor change library core behavior. <!-- Bug fixes should be ABI compatible if possible so a backport to previous affected releases can be made. -->
+- [ ] Changes are API compatible. <!-- Public API must not be broken within the same major release. -->
+- [ ] Applicable backports have been included in the description.
+
+## Reviewer Checklist
+
+- [ ] The PR has a milestone assigned.
+- [ ] The title and description correctly express the PR's purpose.
+- [ ] Check contributor checklist is correct.
+- [ ] Check CI results: changes do not issue any warning.
+- [ ] Check CI results: failing tests are unrelated with the changes.
diff --git a/.github/workflows/mirror.yml b/.github/workflows/mirror.yml
index 95d158ca..8da3f8c4 100644
--- a/.github/workflows/mirror.yml
+++ b/.github/workflows/mirror.yml
@@ -3,15 +3,19 @@ on:
   push:
     branches:
       - 'master'
+      - '3.0.x'
+      - '1.7.x'
 jobs:
   mirror_job:
+    if: github.ref == 'refs/heads/master'
     runs-on: ubuntu-latest
     name: Mirror master branch to API & ABI compatible minor version branches
     strategy:
       fail-fast: false
       matrix:
         dest_branch:
-          - '3.0.x'
+          - '4.0.x'
+          - '4.x'
     steps:
     - name: Mirror action step
       id: mirror
@@ -20,3 +24,37 @@ jobs:
         github-token: ${{ secrets.GITHUB_TOKEN }}
         source: 'master'
         dest: ${{ matrix.dest_branch }}
+  mirror_job_3_x:
+    if: github.ref == 'refs/heads/3.0.x'
+    runs-on: ubuntu-latest
+    name: Mirror 3.0.x branch to compatible version branches
+    strategy:
+      fail-fast: false
+      matrix:
+        dest_branch:
+          - '3.x'
+    steps:
+    - name: Mirror action step
+      id: mirror
+      uses: eProsima/eProsima-CI/external/mirror-branch-action@v0
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        source: '3.x'
+        dest: ${{ matrix.dest_branch }}
+  mirror_job_1_x:
+    if: github.ref == 'refs/heads/1.7.x'
+    runs-on: ubuntu-latest
+    name: Mirror 1.7.x branch to compatible version branches
+    strategy:
+      fail-fast: false
+      matrix:
+        dest_branch:
+          - '1.x'
+    steps:
+    - name: Mirror action step
+      id: mirror
+      uses: eProsima/eProsima-CI/external/mirror-branch-action@v0
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        source: '1.x'
+        dest: ${{ matrix.dest_branch }}