diff --git a/setup_guides/gazebo.rst b/setup_guides/gazebo.rst
new file mode 100644
index 0000000000..b7a249b224
--- /dev/null
+++ b/setup_guides/gazebo.rst
@@ -0,0 +1,23 @@
+.. _setup_guides_gazebo:
+
+Setup Guide for Gazebo
+#######################
+
+This guide covers setting up Navigation2 with the modern Gazebo simulator (Gazebo Harmonic or newer), used with ROS 2 Jazzy or newer.
+
+Follow these tutorials in order to set up your robot for Nav2:
+
+.. toctree::
+   :maxdepth: 1
+
+   transformation/setup_transforms.rst
+   urdf/setup_urdf.rst
+   sdf/setup_sdf.rst
+   odom/setup_odom_gz.rst
+   odom/setup_robot_localization.rst
+   sensors/setup_sensors_gz.rst
+   sensors/mapping_localization.rst
+   footprint/setup_footprint.rst
+   algorithm/select_algorithm.rst
+
+.. note:: These tutorials are not meant to be full tuning and configuration guides since they only aim to help you get your robot up and running with a basic configuration. For more detailed discussions and guides on how to customize and tune Nav2 for your robot, head on to the :ref:`configuration` section.
diff --git a/setup_guides/gazebo_classic.rst b/setup_guides/gazebo_classic.rst
new file mode 100644
index 0000000000..5a53f5437b
--- /dev/null
+++ b/setup_guides/gazebo_classic.rst
@@ -0,0 +1,22 @@
+.. _setup_guides_gazebo_classic:
+
+Setup Guide for Gazebo Classic
+###############################
+
+This guide covers setting up Navigation2 with Gazebo Classic simulator, used with ROS 2 Humble and previous ROS distributions.
+
+Follow these tutorials in order to set up your robot for Nav2:
+
+.. toctree::
+   :maxdepth: 1
+
+   transformation/setup_transforms.rst
+   urdf/setup_urdf.rst
+   odom/setup_odom_gz_classic.rst
+   odom/setup_robot_localization.rst
+   sensors/setup_sensors_gz_classic.rst
+   sensors/mapping_localization.rst
+   footprint/setup_footprint.rst
+   algorithm/select_algorithm.rst
+
+.. note:: These tutorials are not meant to be full tuning and configuration guides since they only aim to help you get your robot up and running with a basic configuration. For more detailed discussions and guides on how to customize and tune Nav2 for your robot, head on to the :ref:`configuration` section.
diff --git a/setup_guides/index.rst b/setup_guides/index.rst
index 04474c4ccc..21bf11a202 100644
--- a/setup_guides/index.rst
+++ b/setup_guides/index.rst
@@ -23,54 +23,29 @@ To guide you through the first-time setup of your robot, we will be tackling the
 
 There are tutorials below for the Gazebo Classic simulator and the Gazebo simulator. Gazebo Classic is used with ROS 2 Humble and previous ROS distributions, while Gazebo (Gazebo Harmonic or newer) is used with ROS 2 Jazzy or newer.
 
-
-Table of Contents
-=================
+Choose the appropriate guide based on your ROS 2 distribution:
 
 .. raw:: html
 
-    <div style="display: flex; gap: 20px;">
-
-    <div style="flex: 1; padding: 10px; border-right: 1px solid #ccc;">
-
-    <h3 style="text-align: center;">Gazebo</h3>
+   <div style="display: grid; grid-template-columns: 1fr 1fr; gap: 20px; margin: 20px 0;">
+     <div>
 
 .. toctree::
-   :maxdepth: 1
-
-   transformation/setup_transforms.rst
-   urdf/setup_urdf.rst
-   sdf/setup_sdf.rst
-   odom/setup_odom_gz.rst
-   odom/setup_robot_localization.rst
-   sensors/setup_sensors_gz.rst
-   sensors/mapping_localization.rst
-   footprint/setup_footprint.rst
-   algorithm/select_algorithm.rst
+   :maxdepth: 2
 
-.. raw:: html
+   gazebo.rst
 
-    </div>
-
-    <div style="flex: 1; padding: 10px;">
+.. raw:: html
 
-    <h3 style="text-align: center;">Gazebo Classic</h3>
+     </div>
+     <div>
 
 .. toctree::
-   :maxdepth: 1
+   :maxdepth: 2
 
-   transformation/setup_transforms.rst
-   urdf/setup_urdf.rst
-   odom/setup_odom_gz_classic.rst
-   odom/setup_robot_localization.rst
-   sensors/setup_sensors_gz_classic.rst
-   sensors/mapping_localization.rst
-   footprint/setup_footprint.rst
-   algorithm/select_algorithm.rst
+   gazebo_classic.rst
 
 .. raw:: html
 
-    </div>
-    </div>
-
-.. note:: These tutorials are not meant to be full tuning and configuration guides since they only aim to help you get your robot up and running with a basic configuration. For more detailed discussions and guides on how to customize and tune Nav2 for your robot, head on to the :ref:`configuration` section.
+     </div>
+   </div>