diff --git a/VERSION b/VERSION
index 47d1211eb..92f05e942 100644
--- a/VERSION
+++ b/VERSION
@@ -1,3 +1,3 @@
 VERSION_MAJOR 3
-VERSION_MINOR 1
+VERSION_MINOR 2
 VERSION_PATCH 0
diff --git a/ddsrouter_core/package.xml b/ddsrouter_core/package.xml
index 14cf60af5..e76d1394b 100644
--- a/ddsrouter_core/package.xml
+++ b/ddsrouter_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ddsrouter_core</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>
      *eprosima DDS Router* C++ library to communicate isolated DDS networks between each other. Use in isolated machines an WAN scenarios.
   </description>
diff --git a/ddsrouter_test/package.xml b/ddsrouter_test/package.xml
index 690ea6af9..fe03d34cb 100644
--- a/ddsrouter_test/package.xml
+++ b/ddsrouter_test/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ddsrouter_test</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>
      *eprosima DDS Router* tests.
   </description>
diff --git a/ddsrouter_yaml/package.xml b/ddsrouter_yaml/package.xml
index fc90cb7eb..c367e4ca0 100644
--- a/ddsrouter_yaml/package.xml
+++ b/ddsrouter_yaml/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ddsrouter_yaml</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>
      *eprosima DDS Router* C++ library to communicate isolated DDS networks between each other. Use in isolated machines an WAN scenarios.
   </description>
diff --git a/docs/package.xml b/docs/package.xml
index ebcf599c8..2b75e8e12 100644
--- a/docs/package.xml
+++ b/docs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ddsrouter_docs</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>
      *eprosima DDS Router* Documentation built with sphinx and deployed in ReadTheDocs.
   </description>
diff --git a/docs/rst/notes/forthcoming_version.rst b/docs/rst/notes/forthcoming_version.rst
index 890882035..676dcc54c 100644
--- a/docs/rst/notes/forthcoming_version.rst
+++ b/docs/rst/notes/forthcoming_version.rst
@@ -5,9 +5,3 @@
 ###################
 Forthcoming Version
 ###################
-
-Next release will include the following **major changes**:
-
-* Add support to configure ROS 2 Easy Mode in the *yaml* configuration file.
-
-  - New ``ros2-easy-mode`` tag added. Check :ref:`user_manual_configuration_easy_mode` section.
diff --git a/docs/rst/notes/notes.rst b/docs/rst/notes/notes.rst
index d63e791cc..52b959fa1 100644
--- a/docs/rst/notes/notes.rst
+++ b/docs/rst/notes/notes.rst
@@ -5,9 +5,30 @@
 .. include:: forthcoming_version.rst
 
 ##############
-Version v3.1.0
+Version v3.2.0
 ##############
 
+This release includes the following **features**:
+
+* Support ROS2 Easy Mode.
+
+This release includes the following **Documentation Updates**:
+
+* Add new Furo theme to the Documentation.
+* Refactor the DDS Router Documentation.
+
+This release includes the following **fixes**:
+
+* Fix several typos.
+
+This release includes the following *ci management updates*:
+
+* Fix Flaky test action.
+* Restructure GitHub Actions.
+* Fix Asan/Tsan CI.
+* Remove Docker tests from Ubuntu CI.
+
+
 This release includes the following **Dependencies Update**:
 
 .. list-table::
@@ -23,25 +44,26 @@ This release includes the following **Dependencies Update**:
         - `v1.3.1 <https://github.com/eProsima/foonathan_memory_vendor/releases/tag/v1.3.1>`_
     *   - Fast CDR
         - `eProsima/Fast-CDR <https://github.com/eProsima/Fast-CDR>`_
-        - `v2.2.4 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.2.4>`_
         - `v2.2.5 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.2.5>`_
+        - `v2.3.0 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.3.0>`_
     *   - Fast DDS
         - `eProsima/Fast-DDS <https://github.com/eProsima/Fast-DDS>`_
-        - `v3.0.1 <https://github.com/eProsima/Fast-DDS/releases/tag/v3.0.1>`_
         - `v3.1.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v3.1.0>`_
+        - `v3.2.2 <https://github.com/eProsima/Fast-DDS/releases/tag/v3.2.2>`_
     *   - Dev Utils
         - `eProsima/dev-utils <https://github.com/eProsima/dev-utils>`_
-        - `v1.0.0 <https://github.com/eProsima/dev-utils/releases/tag/v1.0.0>`_
-        - `v1.1.0 <https://github.com/eProsima/dev-utils/releases/tag/v1.1.0>`__
+        - `v1.1.0 <https://github.com/eProsima/dev-utils/releases/tag/v1.1.0>`_
+        - `v1.2.0 <https://github.com/eProsima/dev-utils/releases/tag/v1.2.0>`__
     *   - DDS Pipe
         - `eProsima/DDS-Pipe <https://github.com/eProsima/DDS-Pipe.git>`_
-        - `v1.0.0 <https://github.com/eProsima/DDS-Pipe/releases/tag/v1.0.0>`__
         - `v1.1.0 <https://github.com/eProsima/DDS-Pipe/releases/tag/v1.1.0>`__
+        - `v1.2.0 <https://github.com/eProsima/DDS-Pipe/releases/tag/v1.2.0>`__
 
 #################
 Previous Versions
 #################
 
+.. include:: previous_versions/v3.1.0.rst
 .. include:: previous_versions/v3.0.0.rst
 .. include:: previous_versions/v2.2.0.rst
 .. include:: previous_versions/v2.1.0.rst
diff --git a/docs/rst/notes/previous_versions/v3.1.0.rst b/docs/rst/notes/previous_versions/v3.1.0.rst
new file mode 100644
index 000000000..23cd793b2
--- /dev/null
+++ b/docs/rst/notes/previous_versions/v3.1.0.rst
@@ -0,0 +1,32 @@
+Version v3.1.0
+==============
+
+This release includes the following **Dependencies Update**:
+
+.. list-table::
+    :header-rows: 1
+
+    *   -
+        - Repository
+        - Old Version
+        - New Version
+    *   - Foonathan Memory Vendor
+        - `eProsima/foonathan_memory_vendor <https://github.com/eProsima/foonathan_memory_vendor>`_
+        - `v1.3.1 <https://github.com/eProsima/foonathan_memory_vendor/releases/tag/v1.3.1>`_
+        - `v1.3.1 <https://github.com/eProsima/foonathan_memory_vendor/releases/tag/v1.3.1>`_
+    *   - Fast CDR
+        - `eProsima/Fast-CDR <https://github.com/eProsima/Fast-CDR>`_
+        - `v2.2.4 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.2.4>`_
+        - `v2.2.5 <https://github.com/eProsima/Fast-CDR/releases/tag/v2.2.5>`_
+    *   - Fast DDS
+        - `eProsima/Fast-DDS <https://github.com/eProsima/Fast-DDS>`_
+        - `v3.0.1 <https://github.com/eProsima/Fast-DDS/releases/tag/v3.0.1>`_
+        - `v3.1.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v3.1.0>`_
+    *   - Dev Utils
+        - `eProsima/dev-utils <https://github.com/eProsima/dev-utils>`_
+        - `v1.0.0 <https://github.com/eProsima/dev-utils/releases/tag/v1.0.0>`_
+        - `v1.1.0 <https://github.com/eProsima/dev-utils/releases/tag/v1.1.0>`__
+    *   - DDS Pipe
+        - `eProsima/DDS-Pipe <https://github.com/eProsima/DDS-Pipe.git>`_
+        - `v1.0.0 <https://github.com/eProsima/DDS-Pipe/releases/tag/v1.0.0>`__
+        - `v1.1.0 <https://github.com/eProsima/DDS-Pipe/releases/tag/v1.1.0>`__
diff --git a/docs/rst/spelling_wordlist.txt b/docs/rst/spelling_wordlist.txt
index b3f2c3d16..b811c937f 100644
--- a/docs/rst/spelling_wordlist.txt
+++ b/docs/rst/spelling_wordlist.txt
@@ -1,5 +1,6 @@
 allowlist
 allowlisting
+Asan
 Asio
 blackbox
 blocklist
@@ -22,6 +23,7 @@ fastcdr
 fastdds
 fastrtps
 Foonathan
+Furo
 github
 gMock
 Gtest
@@ -40,6 +42,7 @@ Redistributable
 Requiredness
 runtime
 scalable
+Tsan
 utils
 validator
 Vulcanexus
diff --git a/docs/rst/user_manual/configuration.rst b/docs/rst/user_manual/configuration.rst
index 55c8f5b8f..1f00e0b59 100644
--- a/docs/rst/user_manual/configuration.rst
+++ b/docs/rst/user_manual/configuration.rst
@@ -27,7 +27,7 @@ This value allows users to keep using the same YAML file with an old configurati
 
         *   - version 4.0
             - ``v4.0``
-            - *v3.1.0*
+            - *v3.2.0*
 
 
 **The current configuration version is v5.0**.
diff --git a/tools/ddsrouter_tool/package.xml b/tools/ddsrouter_tool/package.xml
index 8f0087d01..b251c20e0 100644
--- a/tools/ddsrouter_tool/package.xml
+++ b/tools/ddsrouter_tool/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ddsrouter_tool</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>
      *eprosima DDS Router* Application to execute a DDS Router from a YAML configuration file.
   </description>
diff --git a/tools/ddsrouter_yaml_validator/package.xml b/tools/ddsrouter_yaml_validator/package.xml
index 1b85e3eb6..cd79f3ca4 100644
--- a/tools/ddsrouter_yaml_validator/package.xml
+++ b/tools/ddsrouter_yaml_validator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ddsrouter_yaml_validator</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>Tool used for validating DDS-Router configuration files</description>
   <maintainer email="raul@eprosima.com">Raúl Sánchez-Mateos</maintainer>
   <maintainer email="javierparis@eprosima.com">Javier París</maintainer>
diff --git a/tools/ddsrouter_yaml_validator/setup.py b/tools/ddsrouter_yaml_validator/setup.py
index ff73d3caf..3a8636321 100644
--- a/tools/ddsrouter_yaml_validator/setup.py
+++ b/tools/ddsrouter_yaml_validator/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version='3.1.0',
+    version='3.2.0',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',