This thesis presents the development and optimization of ADone, a Level 4 autonomous vehicle by TECNOCAD. ADone, designed as a robotaxi for private and semi-controlled environments, leverages a drive-by-wire chassis and the Autoware Universe stack to achieve high-level autonomy. However, the development lifecycle of autonomous vehicles using Autoware Universe is frequently impeded by the "configuration bottleneck". The manual creation of vehicle and sensor models, including the Unified Robot Description Format (URDF) and configuration files, is both time-intensive and highly error-prone. This complexity increases the time required to prepare vehicles and sensors for simulation, testing, and validation. To resolve this critical inefficiency, this thesis introduces the Modeling and Design application, an easy-to-use, visual “design studio” for autonomous vehicles, built on Autoware, the world’s leading open-source AV software stack.