Using ROS2 for autonomous driving

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I am currently developing a prototype for a simple autonomous function using ROS2. However, I do not dive deep into the ROS2 functionalities rather I am exploiting the DDS functionalities.

To have a more deeper insight of ROS2, I want to extend this prototype or maybe start with a new one.

I saw an excellent tutorial for this using ROS and Gazebo here but I guess I cannot extend it to ROS2.

I have certain questions regarding the same:

1. Do we have support for Gazebo in ROS2 ?
2. I already have a running setup wherein I am using my own tool for environment simulation as well as for vehicle dynamic simulation. How can I bring in ROS2 here ?
3. Do you have some other ideas to use ROS2 for autonomous driving. I am open to all ideas :)