diff --git a/.github/actions/parse-cmake-preset/action.yaml b/.github/actions/parse-cmake-preset/action.yaml
new file mode 100644
index 000000000..98ec63a9b
--- /dev/null
+++ b/.github/actions/parse-cmake-preset/action.yaml
@@ -0,0 +1,27 @@
+name: Parse CMAKE preset targets
+description: Parse targets from CMakePresets.json
+
+inputs:
+  name:
+    description: name of the preset target
+    required: true
+outputs:
+  targets:
+    description: a list of valid targets
+    value: ${{ steps.get-targets.outputs.targets }}
+
+runs:
+  using: composite
+  steps:
+    - name: Install jq
+      shell: bash
+      run: |
+        sudo apt-get install jq
+
+    - id: get-targets
+      run: |
+        targets=$(jq '.buildPresets[] | select(.name=="${{ inputs.name }}") | .targets' CMakePresets.json)
+        eho targets=$targets >> "$GITHUB_OUTPUT"
+      shell: bash
+      working-directory: ${{ env.DEFAULT_DIRECTORY  }}
+
diff --git a/.github/workflows/build-cross-target.yaml b/.github/workflows/build-cross-target.yaml
index 05f3da960..4f8c80dc4 100644
--- a/.github/workflows/build-cross-target.yaml
+++ b/.github/workflows/build-cross-target.yaml
@@ -17,14 +17,11 @@ defaults:
     working-directory: ot3-firmware
 
 jobs:
-  format-ci:
+  get-format-targets:
     runs-on: "ubuntu-20.04"
-    timeout-minutes: 20
-    strategy:
-      matrix:
-        target: ${{  jq '.buildPresets[] | select(.name=="format-ci") | .targets' CMakePresets.json }}
-      fail-fast: false
-    name: ${{ matrix.target }} format
+    timeout-minutes: 2
+    outputs:
+      targets: ${{ steps.get-target.outputs.targets}}
     steps:
       - name: Checkout github actions directory
         uses: actions/checkout@v4
@@ -39,27 +36,20 @@ jobs:
         with:
           path: ot3-firmware
 
-      - name: Setup main
-        uses: ./actions/.github/actions/main-setup
+      - name: Parse target
+        uses: ./github/actions/parse-cmake-preset
         with:
-          cache-version: ${{ secrets.CACHE_VERSION }}
+          name: format-ci
 
-      - name: Configure
-        run: cmake --preset=cross .
-
-      - name: Run format-ci
-        run: |
-          cd build-cross
-          make ${{ matrix.target }}
-
-  cross-compile-target:
+  format-ci:
     runs-on: "ubuntu-20.04"
     timeout-minutes: 20
+    needs: get-format-targets
     strategy:
       matrix:
-        target: [ gantry, gripper, head, pipettes, rear-panel]
+        target: ${{ fromJSON(needs.get-format-targets.outputs.targets) }}
       fail-fast: false
-    name: ${{ matrix.target }} cross-compile build
+    name: ${{ matrix.target }} format
     steps:
       - name: Checkout github actions directory
         uses: actions/checkout@v4
@@ -82,17 +72,52 @@ jobs:
       - name: Configure
         run: cmake --preset=cross .
 
-      - name: Build applications
-        run: |
-          cd build-cross
-          make ${{ matrix.target }}-applications
-
-      - name: Build bootloader applications
-        run: |
-          cd build-cross
-          make bootloader-${{ matrix.target }}-applications
-
       - name: Run format-ci
         run: |
           cd build-cross
-          make ${{ matrix.target }}-format-ci
\ No newline at end of file
+          make ${{ matrix.target }}
+
+#  cross-compile-target:
+#    runs-on: "ubuntu-20.04"
+#    timeout-minutes: 20
+#    strategy:
+#      matrix:
+#        target: [ gantry, gripper, head, pipettes, rear-panel]
+#      fail-fast: false
+#    name: ${{ matrix.target }} cross-compile build
+#    steps:
+#      - name: Checkout github actions directory
+#        uses: actions/checkout@v4
+#        with:
+#          sparse-checkout: |
+#            .github/actions
+#          sparse-checkout-cone-mode: false
+#          path: actions
+#
+#      - name: Checkout ot3-firmware repository
+#        uses: actions/checkout@v4
+#        with:
+#          path: ot3-firmware
+#
+#      - name: Setup main
+#        uses: ./actions/.github/actions/main-setup
+#        with:
+#          cache-version: ${{ secrets.CACHE_VERSION }}
+#
+#      - name: Configure
+#        run: cmake --preset=cross .
+#
+#      - name: Build applications
+#        run: |
+#          cd build-cross
+#          make ${{ matrix.target }}-applications
+#
+#      - name: Build bootloader applications
+#        run: |
+#          cd build-cross
+#          make bootloader-${{ matrix.target }}-applications
+#
+#      - name: Run format-ci
+#        run: |
+#          cd build-cross
+#          make ${{ matrix.target }}-format-ci
\ No newline at end of file