diff --git a/.github/actions/build-simulator/action.yaml b/.github/actions/build-simulator/action.yaml
index e5c9e4965..7c0052e93 100644
--- a/.github/actions/build-simulator/action.yaml
+++ b/.github/actions/build-simulator/action.yaml
@@ -2,14 +2,21 @@ name: Simulate
 description: Build Target Simulator
 
 inputs:
-  target:
-    description: simulator target
-    required: true
+  sub-target:
+    description: simulator sub-target
+    required: false
 
 runs:
   using: composite
   steps:
-    - name: Build and test
-      run: cmake --build ./build-host --target ${{ inputs.target }}-simulator
+    - if: ${{ !inputs.sub-target }}
+      name: Build and test
+      run: cmake --build ./build-host --target ${{ env.TARGET }}-simulator
+      shell: bash
+      working-directory: ${{ env.DEFAULT_DIRECTORY }}
+
+    - if: ${{ inputs.sub-target }}
+      name: Build and test
+      run: cmake --build ./build-host --target ${{ env.TARGET }}-${{ inputs.sub-target }}-simulator
       shell: bash
       working-directory: ${{ env.DEFAULT_DIRECTORY }}
diff --git a/.github/workflows/eeprom.yaml b/.github/workflows/eeprom.yaml
index dda98fe97..124ccd75b 100644
--- a/.github/workflows/eeprom.yaml
+++ b/.github/workflows/eeprom.yaml
@@ -43,5 +43,5 @@ jobs:
   run-non-executable-workflow:
     uses: ./.github/workflows/non-executable-workflow.yaml
     with:
-      target: bootloader
-    secrets: eeprom
+      target: eeprom
+    secrets: inherit
diff --git a/.github/workflows/executable-workflow.yaml b/.github/workflows/executable-workflow.yaml
new file mode 100644
index 000000000..f77e0d749
--- /dev/null
+++ b/.github/workflows/executable-workflow.yaml
@@ -0,0 +1,88 @@
+name: Workflow for Executable Targets
+
+on:
+  workflow_call:
+    inputs:
+      target:
+        description: Executable target
+        required: true
+        type: string
+      sub-targets:
+        description: Sub-targets
+        required: false
+        type: string
+
+
+env:
+  ci: 1
+  DEFAULT_DIRECTORY: ot3-firmware
+  TARGET: ${{ inputs.target }}
+
+defaults:
+  run:
+    shell: bash
+    working-directory: ot3-firmware
+
+jobs:
+  cross-compile-check:
+    name: "Cross-Compile/Check"
+    runs-on: "ubuntu-20.04"
+    timeout-minutes: 10
+    steps:
+      - name: Checkout github actions directory
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: |
+            .github/actions
+          sparse-checkout-cone-mode: false
+          path: actions
+
+      - name: Setup main
+        uses: ./actions/.github/actions/main-setup
+        with:
+          cache-version: ${{ secrets.CACHE_VERSION }}
+
+      - name: Cross-Compile/Check
+        uses: ./actions/.github/actions/cross-compile-check
+
+#  cross-compile-build:
+#    name: "Cross-Compile/Build"
+#    needs: cross-compile-check
+#    strategy:
+#      matrix:
+#        build-target: ${{ fromJSON(inputs.sub-targets) }}
+#    steps:
+#        uses: ./actions/.github/actions/cross-compile-build
+#        sub-target: ${{ matrix.build-target || ""}}
+
+
+  host-compile-test:
+    name: "Host-Compile/Test"
+    runs-on: "ubuntu-20.04"
+    timeout-minutes: 10
+    steps:
+      - name: Checkout github actions directory
+        uses: actions/checkout@v4
+        with:
+          sparse-checkout: |
+            .github/actions
+          sparse-checkout-cone-mode: false
+          path: actions
+
+      - name: Setup main
+        uses: ./actions/.github/actions/main-setup
+        with:
+          cache-version: ${{ secrets.CACHE_VERSION }}
+
+      - name: Host-Compile/Test
+        uses: ./actions/.github/actions/host-compile-test
+
+  build-simulator:
+    name: "Build Simulator"
+    needs: host-build-test
+    strategy:
+      matrix:
+        build-target: ${{ fromJSON(inputs.sub-targets) }}
+    steps:
+      uses: ./actions/.github/actions/cross-compile-build
+      sub-target: ${{ matrix.build-target || ""}}
diff --git a/.github/workflows/gantry.yaml b/.github/workflows/gantry.yaml
index 3d9e2f9dc..db2cde5d5 100644
--- a/.github/workflows/gantry.yaml
+++ b/.github/workflows/gantry.yaml
@@ -37,90 +37,98 @@ on:
       - "gantry@*"
   workflow_dispatch:
 
-env:
-  ci: 1
-  DEFAULT_DIRECTORY: ot3-firmware
-  TARGET: gantry
-
-defaults:
-  run:
-    shell: bash
-    working-directory: ot3-firmware
-
 jobs:
-  cross-compile-check:
-    name: "Cross-Compile/Check"
-    runs-on: "ubuntu-20.04"
-    timeout-minutes: 20
-    steps:
-      - uses: "actions/checkout@v2"
-        with:
-          fetch-depth: 0
-      - uses: "actions/cache@v3"
-        with:
-          path: "./stm32-tools"
-          key: ${{ runner.os }}-${{ hashFiles('**/cmake/*') }}-${{ secrets.CACHE_VERSION }}
-      - name: "Configure"
-        run: cmake --preset=cross . -DCMAKE_BUILD_TYPE=RelWithDebInfo
-      - name: "Format"
-        run: cmake --build ./build-cross --target gantry-format-ci
-      - name: "Build"
-        run: cmake --build --preset=gantry --target gantry-images gantry-applications
-      - name: "Lint"
-        run: cmake --build ./build-cross --target gantry-lint
-
-  host-compile-test:
-    name: "Host-Compile/Test"
-    runs-on: "ubuntu-20.04"
-    timeout-minutes: 10
-    steps:
-      - name: Update and install gcc-10 & g++-10
-        run: |
-          sudo apt update
-          sudo apt install gcc-10 g++-10
-
-      - name: Checkout ot3-firmware repository
-        uses: "actions/checkout@v2"
-        with:
-          fetch-depth: 0
-          path: ot3-firmware
-
-      - name: Checkout opentrons repository
-        uses: actions/checkout@v3
-        with:
-          repository: "Opentrons/opentrons"
-          path: opentrons
-
-      - name: Cache stm32-tools
-        uses: "actions/cache@v3"
-        with:
-          path: "./stm32-tools"
-          key: ${{ runner.os }}-${{ hashFiles('**/cmake/*') }}-${{ secrets.CACHE_VERSION }}
-
-      - name: "Configure"
-        run: cmake --preset=host-gcc10 .
-        working-directory: ot3-firmware
-
-      - name: 'Build and test'
-        run: cmake --build ./build-host --target gantry-build-and-test
-        working-directory: ot3-firmware
-
-      - name: 'Setup state_manager'
-        run: cmake --build ./build-host/ --target state-manager-setup
-        working-directory: ot3-firmware
-
-      - name: 'Build X simulator'
-        run: cmake --build ./build-host --target gantry-x-simulator
-        working-directory: ot3-firmware
-
-      - name: 'Build Y simulator'
-        run: cmake --build ./build-host --target gantry-y-simulator
-        working-directory: ot3-firmware
-
-      - name: "Upload simulator artifacts"
-        if: github.event_name != 'pull_request'
-        uses: actions/upload-artifact@v3
-        with:
-          name: "gantry-simulators-${{github.ref_name}}"
-          path: |
-            build-host/gantry/simulator/gantry-*-simulator
+  run-executable-workflow:
+    uses: ./.github/workflows/executable-workflow.yaml
+    with:
+      target: gantry
+      sub-target: '["x", "y"]'
+    secrets: inherit
+#
+#env:
+#  ci: 1
+#  DEFAULT_DIRECTORY: ot3-firmware
+#  TARGET: gantry
+#
+#defaults:
+#  run:
+#    shell: bash
+#    working-directory: ot3-firmware
+#
+#jobs:
+#  cross-compile-check:
+#    name: "Cross-Compile/Check"
+#    runs-on: "ubuntu-20.04"
+#    timeout-minutes: 20
+#    steps:
+#      - uses: "actions/checkout@v2"
+#        with:
+#          fetch-depth: 0
+#      - uses: "actions/cache@v3"
+#        with:
+#          path: "./stm32-tools"
+#          key: ${{ runner.os }}-${{ hashFiles('**/cmake/*') }}-${{ secrets.CACHE_VERSION }}
+#      - name: "Configure"
+#        run: cmake --preset=cross . -DCMAKE_BUILD_TYPE=RelWithDebInfo
+#      - name: "Format"
+#        run: cmake --build ./build-cross --target gantry-format-ci
+#      - name: "Build"
+#        run: cmake --build --preset=gantry --target gantry-images gantry-applications
+#      - name: "Lint"
+#        run: cmake --build ./build-cross --target gantry-lint
+#
+#  host-compile-test:
+#    name: "Host-Compile/Test"
+#    runs-on: "ubuntu-20.04"
+#    timeout-minutes: 10
+#    steps:
+#      - name: Update and install gcc-10 & g++-10
+#        run: |
+#          sudo apt update
+#          sudo apt install gcc-10 g++-10
+#
+#      - name: Checkout ot3-firmware repository
+#        uses: "actions/checkout@v2"
+#        with:
+#          fetch-depth: 0
+#          path: ot3-firmware
+#
+#      - name: Checkout opentrons repository
+#        uses: actions/checkout@v3
+#        with:
+#          repository: "Opentrons/opentrons"
+#          path: opentrons
+#
+#      - name: Cache stm32-tools
+#        uses: "actions/cache@v3"
+#        with:
+#          path: "./stm32-tools"
+#          key: ${{ runner.os }}-${{ hashFiles('**/cmake/*') }}-${{ secrets.CACHE_VERSION }}
+#
+#      - name: "Configure"
+#        run: cmake --preset=host-gcc10 .
+#        working-directory: ot3-firmware
+#
+#      - name: 'Build and test'
+#        run: cmake --build ./build-host --target gantry-build-and-test
+#        working-directory: ot3-firmware
+#
+#      - name: 'Setup state_manager'
+#        run: cmake --build ./build-host/ --target state-manager-setup
+#        working-directory: ot3-firmware
+#
+#      - name: 'Build X simulator'
+#        run: cmake --build ./build-host --target gantry-x-simulator
+#        working-directory: ot3-firmware
+#
+#      - name: 'Build Y simulator'
+#        run: cmake --build ./build-host --target gantry-y-simulator
+#        working-directory: ot3-firmware
+#
+#      - name: "Upload simulator artifacts"
+#        if: github.event_name != 'pull_request'
+#        uses: actions/upload-artifact@v3
+#        with:
+#          name: "gantry-simulators-${{github.ref_name}}"
+#          path: |
+#            build-host/gantry/simulator/gantry-*-simulator