diff --git a/.github/workflows/esp32_build.yml b/.github/workflows/esp32_build.yml
index f7404d656b..f24d8190d5 100644
--- a/.github/workflows/esp32_build.yml
+++ b/.github/workflows/esp32_build.yml
@@ -38,7 +38,7 @@ jobs:
           sudo apt install cmake
 
 
-          git submodule update --init --recursive
+          git submodule update --init --recursive --depth=1
           ./Tools/scripts/esp32_get_idf.sh
 
           sudo ln -s /usr/bin/ninja /usr/bin/ninja-build
diff --git a/.github/workflows/macos_build.yml b/.github/workflows/macos_build.yml
index 6b648caa96..8d7e3e1054 100644
--- a/.github/workflows/macos_build.yml
+++ b/.github/workflows/macos_build.yml
@@ -7,7 +7,7 @@ concurrency:
 
 jobs:
   build:
-    runs-on: 'macos-latest'
+    runs-on: macos-latest
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
diff --git a/.github/workflows/test_chibios.yml b/.github/workflows/test_chibios.yml
index 7106b09eb4..ad99090afa 100644
--- a/.github/workflows/test_chibios.yml
+++ b/.github/workflows/test_chibios.yml
@@ -70,7 +70,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
diff --git a/.github/workflows/test_coverage.yml b/.github/workflows/test_coverage.yml
index fa07d04915..a54544a973 100644
--- a/.github/workflows/test_coverage.yml
+++ b/.github/workflows/test_coverage.yml
@@ -15,7 +15,7 @@ jobs:
   build:
     runs-on: ubuntu-20.04
     container:
-      image: ardupilot/ardupilot-dev-coverage:latest
+      image: ardupilot/ardupilot-dev-${{ matrix.type }}:latest
       options: --privileged
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
@@ -27,6 +27,15 @@ jobs:
             coverage,
             sitltest-can,
         ]
+        type: [
+          coverage,
+        ]
+        include:
+          - config: sitltest-can
+            type: periph
+        exclude:
+          - config: sitltest-can
+            type: coverage
     steps:
       # git checkout the PR
       - uses: actions/checkout@v3
@@ -50,10 +59,8 @@ jobs:
       - name: Configure CAN
         if: ${{ matrix.config == 'sitltest-can'}}
         run: |
-          sudo dpkg --add-architecture i386
           sudo apt update
-          sudo apt install -y gcc-multilib g++-multilib
-          sudo apt -y install can-utils iproute2 linux-modules-extra-$(uname -r)
+          sudo apt -y linux-modules-extra-$(uname -r)
           sudo modprobe vcan
           sudo ip link add dev vcan0 type vcan
           sudo ip link set up vcan0
@@ -66,7 +73,7 @@ jobs:
           PATH="/github/home/.local/bin:$PATH"
           python -m pip install --progress-bar off --user mavproxy
           python -m pip uninstall -y pymavlink
-          git submodule update --init --recursive
+          git submodule update --init --recursive --depth=1
           (cd modules/mavlink/pymavlink && DISABLE_MAVNATIVE=True MDEF="$PWD/../message_definitions" python -m pip install --progress-bar off --user .)
           if [[ ${{ matrix.config }} == "coverage" ]]; then
             Tools/scripts/run_coverage.py -f
diff --git a/.github/workflows/test_linux_sbc.yml b/.github/workflows/test_linux_sbc.yml
index bb13d48dc7..f65e4a1690 100644
--- a/.github/workflows/test_linux_sbc.yml
+++ b/.github/workflows/test_linux_sbc.yml
@@ -51,7 +51,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
diff --git a/.github/workflows/test_replay.yml b/.github/workflows/test_replay.yml
index b2db77c596..ec8c2b07d8 100644
--- a/.github/workflows/test_replay.yml
+++ b/.github/workflows/test_replay.yml
@@ -50,7 +50,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
index e5bb44dc6d..840955507d 100644
--- a/.github/workflows/test_sitl_copter.yml
+++ b/.github/workflows/test_sitl_copter.yml
@@ -44,7 +44,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
@@ -96,7 +96,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
@@ -150,7 +150,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
@@ -190,7 +190,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
diff --git a/.github/workflows/test_sitl_periph.yml b/.github/workflows/test_sitl_periph.yml
index 446dea37ab..3b50f13ac9 100644
--- a/.github/workflows/test_sitl_periph.yml
+++ b/.github/workflows/test_sitl_periph.yml
@@ -39,7 +39,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
@@ -92,7 +92,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
index 2627979d69..53162281ba 100644
--- a/.github/workflows/test_sitl_plane.yml
+++ b/.github/workflows/test_sitl_plane.yml
@@ -44,7 +44,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
@@ -91,7 +91,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index 8989557f72..9bfe4ac556 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -44,7 +44,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
@@ -92,7 +92,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
index 20a16d28d2..99fafc1dc1 100644
--- a/.github/workflows/test_sitl_sub.yml
+++ b/.github/workflows/test_sitl_sub.yml
@@ -44,7 +44,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
@@ -90,7 +90,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
index dbbe3c3eb2..3956bf5058 100644
--- a/.github/workflows/test_sitl_tracker.yml
+++ b/.github/workflows/test_sitl_tracker.yml
@@ -44,7 +44,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
@@ -90,7 +90,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with:
diff --git a/.github/workflows/test_size.yml b/.github/workflows/test_size.yml
index 8180714ae3..cbff6bf27f 100644
--- a/.github/workflows/test_size.yml
+++ b/.github/workflows/test_size.yml
@@ -11,12 +11,12 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-20.04
-    container: ardupilot/ardupilot-dev-chibios:latest
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:latest
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
         toolchain: [
-            base,  # GCC
+            chibios,
         ]
         config: [
             Durandal,
@@ -25,6 +25,12 @@ jobs:
             Hitec-Airspeed,  # see special code for Periph below (3 places!)
             f103-GPS  # see special code for Periph below (3 places!)
         ]
+        include:
+          - config: disco
+            toolchain: armhf
+        exclude:
+          - config: disco
+            toolchain: chibios
     steps:
       - uses: actions/checkout@v3
         with:
@@ -149,7 +155,6 @@ jobs:
         shell: bash
         run: |
           cd pr/
-          python3 -m pip install -U tabulate
           Tools/scripts/pretty_diff_size.py -m $GITHUB_WORKSPACE/base_branch_bin -s $GITHUB_WORKSPACE/pr_bin
 
       - name: Feature compare with  ${{ github.event.pull_request.base.ref }}
@@ -168,7 +173,8 @@ jobs:
       - name: elf_diff compare with ${{ github.event.pull_request.base.ref }}
         shell: bash
         run: |
-          python3 -m pip install -U weasyprint elf_diff anytree
+          # we don't use weasyprint so manually pull the elf_diff deps reduce install size and time
+          python3 -m pip install -U --no-deps elf_diff GitPython Jinja2 MarkupSafe PyYAML anytree dict2xml gitdb progressbar2 python-utils setuptools-git smmap
           mkdir elf_diff
           BIN_PREFIX="arm-none-eabi-"
           if [ "${{matrix.config}}" = "disco" ]; then
diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml
index d86b13f7d6..6a6ce4efd4 100644
--- a/.github/workflows/test_unit_tests.yml
+++ b/.github/workflows/test_unit_tests.yml
@@ -37,7 +37,7 @@ jobs:
         id: ccache_cache_timestamp
         run: |
           NOW=$(date -u +"%F-%T")
-          echo "{timestamp}=${NOW}" >> $GITHUB_OUTPUT
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
         uses: actions/cache@v3
         with: