Answer to Question 1:
Vector map is not used for localization. Vector map is used in other nodes such as region_tlr for traffic light detection and decision_maker to stop at stop lines. Only LiDAR data and pointcloud map is used for localization, and optionally IMU, GNSS, and Odometry information.
FYI, I know there are people who are trying to use whitelines in vector map to improve localization, but we don't have that in Autoware yet.
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