diff --git a/.github/workflows/checks.yml b/.github/workflows/checks.yml
index 665820862a80..e33742339d46 100644
--- a/.github/workflows/checks.yml
+++ b/.github/workflows/checks.yml
@@ -12,30 +12,52 @@ on:
     paths-ignore:
       - 'docs/**'
 
+permissions:
+  contents: read
+
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
-  build:
-    runs-on: ubuntu-latest
-
+  gate_checks:
+    name: Gate Checks [${{ matrix.check }}]
+    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
       image: ghcr.io/px4/px4-dev:v1.17.0-rc2
-
     strategy:
       fail-fast: true
       matrix:
         check: [
           "check_format",
           "check_newlines",
-          "tests",
           "validate_module_configs",
           "shellcheck_all",
           "module_documentation",
         ]
+    steps:
+      - uses: runs-on/action@v2
+
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
 
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+
+      - name: Building [${{ matrix.check }}]
+        env:
+          PX4_SBOM_DISABLE: 1
+        run: make ${{ matrix.check }}
+
+  tests:
+    name: Unit Tests
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    container:
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     steps:
+      - uses: runs-on/action@v2
+
       - uses: actions/checkout@v4
         with:
           fetch-depth: 1
@@ -45,19 +67,16 @@ jobs:
 
       - uses: ./.github/actions/setup-ccache
         id: ccache
-        if: matrix.check == 'tests'
         with:
           cache-key-prefix: ccache-sitl
           max-size: 300M
 
-      - name: Building [${{ matrix.check }}]
+      - name: Build and run unit tests
         env:
           PX4_SBOM_DISABLE: 1
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          make ${{ matrix.check }}
+        run: make tests
 
       - uses: ./.github/actions/save-ccache
-        if: always() && matrix.check == 'tests'
+        if: always()
         with:
           cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
diff --git a/.github/workflows/clang-tidy.yml b/.github/workflows/clang-tidy.yml
index 47d6af5eb4ea..cb7166eae408 100644
--- a/.github/workflows/clang-tidy.yml
+++ b/.github/workflows/clang-tidy.yml
@@ -38,7 +38,7 @@ jobs:
       id: ccache
       with:
         cache-key-prefix: ccache-clang-tidy
-        max-size: 120M
+        max-size: 150M
 
     - name: Build - px4_sitl_default (Clang)
       run: make -j16 px4_sitl_default-clang
diff --git a/.github/workflows/compile_macos.yml b/.github/workflows/compile_macos.yml
index 5e011a5bf636..7ec351c3da6a 100644
--- a/.github/workflows/compile_macos.yml
+++ b/.github/workflows/compile_macos.yml
@@ -19,12 +19,6 @@ concurrency:
 jobs:
   build:
     runs-on: macos-latest
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          px4_sitl
-          ]
     steps:
     - name: install Python 3.10
       uses: actions/setup-python@v5
@@ -33,35 +27,41 @@ jobs:
 
     - uses: actions/checkout@v4
 
-    - name: setup
-      run: |
-        ./Tools/setup/macos.sh
+    - name: Cache - Restore Homebrew Packages
+      uses: actions/cache@v4
+      with:
+        path: ~/Library/Caches/Homebrew/downloads
+        key: macos-homebrew-${{ runner.arch }}-${{ hashFiles('Tools/setup/macos.sh') }}
+        restore-keys: |
+          macos-homebrew-${{ runner.arch }}-
 
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
-    - name: ccache cache files
+    - name: Cache - Restore pip Packages
       uses: actions/cache@v4
       with:
-        path: ~/.ccache
-        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: macos_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
+        path: ~/Library/Caches/pip
+        key: macos-pip-${{ runner.arch }}-${{ hashFiles('Tools/setup/requirements.txt') }}
+        restore-keys: |
+          macos-pip-${{ runner.arch }}-
 
-    - name: make ${{matrix.config}}
-      run: |
-          ccache -z
-          make ${{matrix.config}}
-          ccache -s
+    - name: setup
+      run: ./Tools/setup/macos.sh
+
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
+      with:
+        cache-key-prefix: ccache-macos
+        max-size: 200M
+
+    - name: Build px4_sitl
+      run: make px4_sitl
+
+    - name: Cache - Stats after px4_sitl
+      run: ccache -s
+
+    - name: Build px4_fmu-v5_default
+      run: make px4_fmu-v5_default
+
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
diff --git a/.github/workflows/compile_ubuntu.yml b/.github/workflows/compile_ubuntu.yml
index 08975c9a6d4e..0a5d29703425 100644
--- a/.github/workflows/compile_ubuntu.yml
+++ b/.github/workflows/compile_ubuntu.yml
@@ -29,12 +29,13 @@ jobs:
       fail-fast: false
       matrix:
         version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
       image: ${{ matrix.version }}
       volumes:
         - /github/workspace:/github/workspace
     steps:
+      - uses: runs-on/action@v2
 
       - name: Fix git in container
         run: |
@@ -53,9 +54,19 @@ jobs:
         if: startsWith(runner.name, 'runs-on--')
         run: ./Tools/ci/use_aws_apt_mirror.sh
 
-      - name: Install Deps, Build, and Make Quick Check
-        run: |
-          # we need to install dependencies and build on the same step
-          # given the stateless nature of docker images
-          ./Tools/setup/ubuntu.sh
-          make quick_check
+      - name: Install Deps
+        run: ./Tools/setup/ubuntu.sh
+
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-ubuntu-${{ matrix.version }}
+          max-size: 200M
+
+      - name: Make Quick Check
+        run: make quick_check
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
diff --git a/.github/workflows/docs-orchestrator.yml b/.github/workflows/docs-orchestrator.yml
index d92c86d49ef0..79d113567f64 100644
--- a/.github/workflows/docs-orchestrator.yml
+++ b/.github/workflows/docs-orchestrator.yml
@@ -72,7 +72,7 @@ jobs:
     container:
       image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2
 
       - name: Checkout
         uses: actions/checkout@v4
@@ -134,7 +134,7 @@ jobs:
     container:
       image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2
 
       - name: Checkout
         uses: actions/checkout@v4
@@ -332,7 +332,7 @@ jobs:
       branchname: ${{ steps.set-branch.outputs.branchname }}
       releaseversion: ${{ steps.set-version.outputs.releaseversion }}
     steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2
 
       - name: Checkout
         uses: actions/checkout@v4
diff --git a/.github/workflows/docs_deploy.yml b/.github/workflows/docs_deploy.yml
index bdf729b2b3ee..a9723f7bd398 100644
--- a/.github/workflows/docs_deploy.yml
+++ b/.github/workflows/docs_deploy.yml
@@ -22,7 +22,7 @@ jobs:
   build:
     runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
     steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2
       - name: Checkout
         uses: actions/checkout@v4
 
diff --git a/.github/workflows/failsafe_sim.yml b/.github/workflows/failsafe_sim.yml
index 64a4908e25de..f3db5bb3b3c5 100644
--- a/.github/workflows/failsafe_sim.yml
+++ b/.github/workflows/failsafe_sim.yml
@@ -18,7 +18,7 @@ concurrency:
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     defaults:
       run:
         shell: bash
@@ -32,6 +32,8 @@ jobs:
       image: ghcr.io/px4/px4-dev:v1.17.0-rc2
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
+      - uses: runs-on/action@v2
+
       - name: Install Node v20.18.0
         uses: actions/setup-node@v4
         with:
@@ -44,7 +46,15 @@ jobs:
       - name: Git ownership workaround
         run: git config --system --add safe.directory '*'
 
+      - name: Cache - Restore Emscripten SDK
+        id: cache-emsdk
+        uses: actions/cache@v4
+        with:
+          path: _emscripten_sdk
+          key: emsdk-4.0.15
+
       - name: Install empscripten
+        if: steps.cache-emsdk.outputs.cache-hit != 'true'
         run: |
           git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
           cd _emscripten_sdk
diff --git a/.github/workflows/flash_analysis.yml b/.github/workflows/flash_analysis.yml
index 277a497d05a0..aa8391b20334 100644
--- a/.github/workflows/flash_analysis.yml
+++ b/.github/workflows/flash_analysis.yml
@@ -24,7 +24,7 @@ env:
 jobs:
   analyze_flash:
     name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
       image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     strategy:
@@ -36,6 +36,8 @@ jobs:
       px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }}
       px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }}
     steps:
+      - uses: runs-on/action@v2
+
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
@@ -44,17 +46,50 @@ jobs:
       - name: Git ownership workaround
         run: git config --system --add safe.directory '*'
 
+      - name: Cache - Restore ccache (current)
+        id: cache_current
+        uses: actions/cache/restore@v4
+        with:
+          path: ~/.ccache
+          key: ccache-flash-${{ matrix.target }}-current-${{ github.ref_name }}-${{ github.sha }}
+          restore-keys: |
+            ccache-flash-${{ matrix.target }}-current-${{ github.ref_name }}-
+            ccache-flash-${{ matrix.target }}-current-
+
+      - name: Cache - Configure ccache
+        run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 200M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          echo "compiler_check = content" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
       - name: Build Target
         run: make ${{ matrix.target }}_flash-analysis
 
       - name: Store the ELF with the change
         run: cp ./build/**/*.elf ./with-change.elf
 
+      - name: Cache - Stats after Current Build
+        run: ccache -s
+
+      - name: Cache - Save ccache (current)
+        if: always()
+        uses: actions/cache/save@v4
+        with:
+          path: ~/.ccache
+          key: ${{ steps.cache_current.outputs.cache-primary-key }}
+
       - name: Clean previous build
         run: |
           make clean
           make distclean
           make submodulesclean
+          ccache -C
 
       - name: If it's a PR checkout the base branch
         if: ${{ github.event.pull_request }}
@@ -68,12 +103,34 @@ jobs:
       - name: Update submodules
         run: make submodulesupdate
 
+      - name: Cache - Restore ccache (baseline)
+        id: cache_baseline
+        uses: actions/cache/restore@v4
+        with:
+          path: ~/.ccache
+          key: ccache-flash-${{ matrix.target }}-baseline-${{ github.sha }}
+          restore-keys: |
+            ccache-flash-${{ matrix.target }}-baseline-
+
+      - name: Cache - Reset ccache stats
+        run: ccache -z
+
       - name: Build
         run: make ${{ matrix.target }}_flash-analysis
 
       - name: Store the ELF before the change
         run: cp ./build/**/*.elf ./before-change.elf
 
+      - name: Cache - Stats after Baseline Build
+        run: ccache -s
+
+      - name: Cache - Save ccache (baseline)
+        if: always()
+        uses: actions/cache/save@v4
+        with:
+          path: ~/.ccache
+          key: ${{ steps.cache_baseline.outputs.cache-primary-key }}
+
       - name: bloaty-action
         uses: PX4/bloaty-action@v1.0.0
         id: bloaty-step
@@ -138,19 +195,19 @@ jobs:
           <!-- pr-comment-poster:flash-analysis -->
           ## 🔎 FLASH Analysis
           <details>
-            <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
+          <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary>
 
-            ```
-            ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
-            ```
+          ```
+          ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }}
+          ```
           </details>
 
           <details>
-            <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
+          <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary>
 
-            ```
-            ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
-            ```
+          ```
+          ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }}
+          ```
           </details>
 
           **Updated: _${{ steps.bt.outputs.timestamp }}_**
diff --git a/.github/workflows/itcm_check.yml b/.github/workflows/itcm_check.yml
index a48559114a0c..412941a8d7de 100644
--- a/.github/workflows/itcm_check.yml
+++ b/.github/workflows/itcm_check.yml
@@ -22,7 +22,7 @@ concurrency:
 jobs:
   check_itcm:
     name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
       image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     strategy:
@@ -46,6 +46,8 @@ jobs:
               boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
               boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
     steps:
+      - uses: runs-on/action@v2
+
       - uses: actions/checkout@v4
         with:
           fetch-depth: 1
@@ -53,6 +55,12 @@ jobs:
       - name: Git ownership workaround
         run: git config --system --add safe.directory '*'
 
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-itcm-${{ matrix.target }}
+          max-size: 200M
+
       - name: Build Target
         run: make ${{ matrix.target }}
 
@@ -64,3 +72,8 @@ jobs:
 
       - name: Execute the itcm-check
         run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
diff --git a/.github/workflows/mavros_mission_tests.yml b/.github/workflows/mavros_mission_tests.yml
index af0ec62ec564..0e7a4fe17c65 100644
--- a/.github/workflows/mavros_mission_tests.yml
+++ b/.github/workflows/mavros_mission_tests.yml
@@ -18,12 +18,14 @@ concurrency:
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
 
     strategy:
       fail-fast: false
 
     steps:
+      - uses: runs-on/action@v2
+
       - uses: actions/checkout@v4
         with:
           fetch-depth: 1
diff --git a/.github/workflows/mavros_offboard_tests.yml b/.github/workflows/mavros_offboard_tests.yml
index da0f3ce1b6c5..e0835a905b65 100644
--- a/.github/workflows/mavros_offboard_tests.yml
+++ b/.github/workflows/mavros_offboard_tests.yml
@@ -18,12 +18,14 @@ concurrency:
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
 
     strategy:
       fail-fast: false
 
     steps:
+      - uses: runs-on/action@v2
+
       - uses: actions/checkout@v4
         with:
           fetch-depth: 1
diff --git a/.github/workflows/python_checks.yml b/.github/workflows/python_checks.yml
index 72a6c600443c..5907fbd95c5f 100644
--- a/.github/workflows/python_checks.yml
+++ b/.github/workflows/python_checks.yml
@@ -14,8 +14,10 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-24.04
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
     steps:
+    - uses: runs-on/action@v2
+
     - uses: actions/checkout@v4
       with:
         fetch-depth: 1
diff --git a/.github/workflows/ros_integration_tests.yml b/.github/workflows/ros_integration_tests.yml
index 5421c8b4fafe..cf20b6493174 100644
--- a/.github/workflows/ros_integration_tests.yml
+++ b/.github/workflows/ros_integration_tests.yml
@@ -27,7 +27,11 @@ jobs:
     container:
       image: px4io/px4-dev-ros2-galactic:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    env:
+      PX4_SBOM_DISABLE: 1
     steps:
+    - uses: runs-on/action@v2
+
     - uses: actions/checkout@v4
       with:
         fetch-depth: 1
@@ -45,30 +49,21 @@ jobs:
       run: |
         apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
 
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
+      with:
+        cache-key-prefix: ccache-ros-integration
+        max-size: 400M
+
+    - name: Cache - Restore Micro-XRCE-DDS Agent
+      id: cache-xrce-agent
       uses: actions/cache@v4
       with:
-        path: ~/.ccache
-        key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-        mkdir -p ~/.ccache
-        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-        echo "compression = true" >> ~/.ccache/ccache.conf
-        echo "compression_level = 6" >> ~/.ccache/ccache.conf
-        echo "max_size = 300M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Get and build micro-xrce-dds-agent
+        path: /opt/Micro-XRCE-DDS-Agent
+        key: xrce-agent-v2.2.1-fastdds-2.8.2-galactic-2021-09-08
+
+    - name: Build - Micro-XRCE-DDS Agent (v2.2.1)
+      if: steps.cache-xrce-agent.outputs.cache-hit != 'true'
       run: |
         cd /opt
         git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
@@ -79,10 +74,18 @@ jobs:
         cd build
         cmake ..
         make -j2
-    - name: ccache post-run micro-xrce-dds-agent
-      run: ccache -s
 
-    - name: Get and build the ros2 interface library
+    - name: Cache - Restore PX4 ROS 2 Interface Library Workspace
+      id: cache-px4-ros2-ws
+      uses: actions/cache@v4
+      with:
+        path: /opt/px4_ws
+        # Bump 'v1' when the cached workspace layout changes in a way
+        # that is not captured by the message/service hash below.
+        key: px4-ros2-ws-v1-galactic-2021-09-08-${{ hashFiles('msg/*.msg', 'msg/versioned/*.msg', 'srv/*.srv') }}
+
+    - name: Build - PX4 ROS 2 Interface Library
+      if: steps.cache-px4-ros2-ws.outputs.cache-hit != 'true'
       shell: bash
       run: |
         PX4_DIR="$(pwd)"
@@ -108,19 +111,8 @@ jobs:
         "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
         rm -rf src/translation_node src/px4_msgs_old
         colcon build --symlink-install
-    - name: ccache post-run ros workspace
-      run: ccache -s
-
-    - name: Build PX4
-      env:
-        PX4_SBOM_DISABLE: 1
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
+
+    - uses: ./.github/actions/build-gazebo-sitl
 
     - name: Core dump settings
       run: |
@@ -135,6 +127,11 @@ jobs:
         test/ros_test_runner.py --verbose --model iris --force-color
       timeout-minutes: 45
 
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
     - name: Upload failed logs
       if: failure()
       uses: actions/upload-artifact@v4
diff --git a/.github/workflows/ros_translation_node.yml b/.github/workflows/ros_translation_node.yml
index 64bae13f835c..916368a476b9 100644
--- a/.github/workflows/ros_translation_node.yml
+++ b/.github/workflows/ros_translation_node.yml
@@ -10,6 +10,9 @@ on:
       - '**'
     paths-ignore:
       - 'docs/**'
+permissions:
+  contents: read
+
 defaults:
   run:
     shell: bash
@@ -20,8 +23,8 @@ concurrency:
 
 jobs:
   build_and_test:
-    name: Build and test
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    name: Build and test [${{ matrix.config.ros_version }}]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     strategy:
       fail-fast: false
       matrix:
@@ -29,33 +32,45 @@ jobs:
           - {ros_version: "humble", ubuntu: "jammy"}
           - {ros_version: "jazzy", ubuntu: "noble"}
     container:
-      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
+      image: ros:${{ matrix.config.ros_version }}-ros-base-${{ matrix.config.ubuntu }}
     steps:
-      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
-        uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ matrix.config.ros_version }}
-      - name: Checkout repository
-        uses: actions/checkout@v4
+      - uses: runs-on/action@v2
+
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
-      # Workaround for https://github.com/actions/runner/issues/2033
-      - name: ownership workaround
+      - name: Configure Git Safe Directory
         run: git config --system --add safe.directory '*'
 
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-ros-translation-${{ matrix.config.ros_version }}
+          max-size: 150M
+          base-dir: /ros_ws
+          install-ccache: 'true'
+
       - name: Check .msg file versioning
         if: github.event_name == 'pull_request'
         run: |
           ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}
 
-      - name: Build and test
+      - name: Build - Translation Node
         run: |
           ros_ws=/ros_ws
           mkdir -p $ros_ws/src
           ./Tools/copy_to_ros_ws.sh $ros_ws
           cd $ros_ws
           source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
-          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
-          source ./install/setup.sh
-          ./build/translation_node/translation_node_unit_tests
+          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_C_COMPILER_LAUNCHER=ccache --symlink-install --event-handlers=console_cohesion+
+
+      - name: Test - Translation Node Unit Tests
+        run: |
+          source /ros_ws/install/setup.sh
+          /ros_ws/build/translation_node/translation_node_unit_tests
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml
index ba01d2b43892..e2f7b369c0b6 100644
--- a/.github/workflows/sitl_tests.yml
+++ b/.github/workflows/sitl_tests.yml
@@ -37,8 +37,13 @@ jobs:
           # transitions). Re-enable once the test infrastructure is stabilized.
           # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
           # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+    env:
+      PX4_CMAKE_BUILD_TYPE: ${{ matrix.config.build_type }}
+      PX4_SBOM_DISABLE: 1
 
     steps:
+      - uses: runs-on/action@v2
+
       - uses: actions/checkout@v4
         with:
           fetch-depth: 1
@@ -46,44 +51,13 @@ jobs:
       - name: Git Ownership Workaround
         run: git config --system --add safe.directory '*'
 
-      - id: set-timestamp
-        name: Set timestamp for cache
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-      - name: Cache Key Config
-        uses: actions/cache@v4
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
         with:
-          path: ~/.ccache
-          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-
-      - name: Cache Conf Config
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
-
-      - name: Build PX4
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-          PX4_SBOM_DISABLE: 1
-        run: make px4_sitl_default
+          cache-key-prefix: ccache-sitl-gazebo-classic
+          max-size: 350M
 
-      - name: Cache Post-Run [px4_sitl_default]
-        run: ccache -s
-
-      - name: Build SITL Gazebo
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default sitl_gazebo-classic
-
-      - name: Cache Post-Run [sitl_gazebo-classic]
-        run: ccache -s
+      - uses: ./.github/actions/build-gazebo-sitl
 
       - name: Download MAVSDK
         run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
@@ -96,19 +70,19 @@ jobs:
           PX4_HOME_LAT: ${{matrix.config.latitude}}
           PX4_HOME_LON: ${{matrix.config.longitude}}
           PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
         run: |
             export
             ulimit -a
 
       - name: Build PX4 / MAVSDK tests
         env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
           DONT_RUN: 1
         run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
 
-      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
-        run: ccache -s
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
 
       - name: Core Dump Settings
         run: |
@@ -120,7 +94,6 @@ jobs:
           PX4_HOME_LAT: ${{matrix.config.latitude}}
           PX4_HOME_LON: ${{matrix.config.longitude}}
           PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
         run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
         timeout-minutes: 45