diff --git a/.github/actions/cache-stm32-tools/action.yaml b/.github/actions/cache-stm32-tools/action.yaml
deleted file mode 100644
index d81b66e10..000000000
--- a/.github/actions/cache-stm32-tools/action.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-name: 'Cache STM32 Tools'
-description: 'Find stm32-tools cache'
-
-runs:
-  using: 'composite'
-  steps:
-  - name: Cache STM32 Tools
-    uses: actions/cache@v3
-    id: cache-tools
-    with:
-      path: ./ot3-firmware/stm32-tools
-      key: ${{ runner.os }}-${{ hashFiles('**/cmake/*') }}-${{ env.CACHE_VERSION }}
diff --git a/.github/actions/cross-compile-check/action.yaml b/.github/actions/cross-compile-check/action.yaml
new file mode 100644
index 000000000..672f00d6f
--- /dev/null
+++ b/.github/actions/cross-compile-check/action.yaml
@@ -0,0 +1,21 @@
+name: Cross-Compile/Check
+description: Configure, Format and Build target
+
+runs:
+  using: composite
+  steps:
+    - name: Configure G4
+      run: cmake --preset=cross .
+      working-directory: ${{ env.DEFAULT_DIRECTORY }}
+
+    - name: Format
+      run: cmake --build ./build-cross --target ${{ env.TARGET }}-format-ci
+      working-directory: ${{ env.DEFAULT_DIRECTORY }}
+
+    - name: Build g4
+      run: cmake --build --preset=${{ env.TARGET }}
+      working-directory: ${{ env.DEFAULT_DIRECTORY }}
+
+    - name: Lint
+      run: cmake --build ./build-cross --target ${{ env.TARGET }}-lint
+      working-directory: ${{ env.DEFAULT_DIRECTORY }}
diff --git a/.github/actions/cross-compile-setup/action.yaml b/.github/actions/cross-compile-setup/action.yaml
deleted file mode 100644
index 65b17b5f0..000000000
--- a/.github/actions/cross-compile-setup/action.yaml
+++ /dev/null
@@ -1,18 +0,0 @@
-name: 'Cross Compile Setup'
-description: 'Set up the environment for cross compile'
-
-runs:
-  using: 'composite'
-  steps:
-    - name: Update and install gcc-10 & g++-10
-      shell: bash
-      run: |
-        sudo apt update
-        sudo apt install -y gcc-10 g++-10
-
-    - name: Cache stm32 tools
-      uses: './.github/actions/cache-stm32-tools'
-
-    - name: Configure
-      shell: bash
-      run: cmake --preset=cross .
diff --git a/.github/actions/host-compile-setup/action.yaml b/.github/actions/host-compile-setup/action.yaml
deleted file mode 100644
index 75573ecc7..000000000
--- a/.github/actions/host-compile-setup/action.yaml
+++ /dev/null
@@ -1,31 +0,0 @@
-name: 'Host Compile Setup'
-description: 'Set up the environment for host compile'
-
-runs:
-  using: 'composite'
-  steps:
-    - name: Update and install gcc-10 & g++-10
-      shell: bash
-      run: |
-        sudo apt update
-        sudo apt install -y gcc-10 g++-10
-        
-    - name: Setup Python
-      uses: actions/setup-python@v4
-      with:
-        python-version: "3.10"
-
-    - name: Cache stm32 tools
-      uses: './.github/actions/cache-stm32-tools'
-
-    - name: Check out Opentrons monorepo
-      uses: actions/checkout@v4
-      with:
-        repository: 'Opentrons/opentrons'
-        path: opentrons
-
-    - name: Configure
-      working-directory: ot3-firmware
-      shell: bash
-      run: cmake --preset=host-gcc10 .
-
diff --git a/.github/actions/main-setup/action.yaml b/.github/actions/main-setup/action.yaml
index f2c0c5e6f..df5c0cc67 100644
--- a/.github/actions/main-setup/action.yaml
+++ b/.github/actions/main-setup/action.yaml
@@ -23,13 +23,13 @@ runs:
     - name: Checkout ot3-firmware repository
       uses: actions/checkout@v4
       with:
-        path: ot3-firmware
+        path: ${{ env.DEFAULT_DIRECTORY }}
 
     - name: Cache STM32 Tools
       uses: actions/cache@v3
       id: cache-tools
       with:
-        path: ot3-firmware/stm32-tools
+        path: ${{ env.DEFAULT_DIRECTORY }}/stm32-tools
         key: ${{ runner.os }}-${{ hashFiles('**/cmake/*') }}-${{ inputs.cache-version }}
 
     - name: Setup opentrons monorepo
diff --git a/.github/workflows/bootloader.yaml b/.github/workflows/bootloader.yaml
index c47dfddf2..cd1588b08 100644
--- a/.github/workflows/bootloader.yaml
+++ b/.github/workflows/bootloader.yaml
@@ -31,9 +31,15 @@ on:
       - "bootloader@*"
   workflow_dispatch:
 
+env:
+  ci: 1
+  DEFAULT_DIRECTORY: ot3-firmware
+  TARGET: bootloader
+
 defaults:
   run:
     shell: bash
+    working-directory: ${{ env.DEFAULT_DIRECTORY }}
 
 jobs:
   cross-compile-check:
@@ -41,21 +47,22 @@ jobs:
     runs-on: "ubuntu-20.04"
     timeout-minutes: 10
     steps:
-      - uses: "actions/checkout@v2"
+      - name: Checkout github actions directory
+        uses: actions/checkout@v4
         with:
-          fetch-depth: 0
-      - uses: "actions/cache@v3"
+          sparse-checkout: |
+            .github/actions
+          sparse-checkout-cone-mode: false
+          path: actions
+
+      - name: Setup main
+        uses: ./actions/.github/actions/main-setup
         with:
-          path: "./stm32-tools"
-          key: ${{ runner.os }}-${{ hashFiles('**/cmake/*') }}-${{ secrets.CACHE_VERSION }}
-      - name: "Configure g4"
-        run: cmake --preset=cross .
-      - name: "Format"
-        run: cmake --build ./build-cross --target bootloader-format-ci
-      - name: "Build g4"
-        run: cmake --build --preset=bootloader
-      - name: "Lint"
-        run: cmake --build ./build-cross --target bootloader-lint
+          cache-version: ${{ secrets.CACHE_VERSION }}
+
+      - name: Cross-Compile/Check
+        uses: ./actions/.github/actions/cross-compile-check
+
   host-compile-test:
     name: "Host-Compile/Test"
     runs-on: "ubuntu-20.04"
diff --git a/.github/workflows/gripper.yaml b/.github/workflows/gripper.yaml
index d547b4d27..53a31da3c 100644
--- a/.github/workflows/gripper.yaml
+++ b/.github/workflows/gripper.yaml
@@ -45,11 +45,12 @@ on:
 
 env:
   ci: 1
+  default-directory: ot-firmware
 
 defaults:
   run:
     shell: bash
-    working-directory: ot3-firmware
+    working-directory: ${{ env.default-directory }}
 
 jobs:
   cross-compile-check:
@@ -72,8 +73,6 @@ jobs:
 
       - name: Configure
         run: cmake --preset=cross .
-        working-directory: ot3-firmware
-
       - name: "Format"
         run: cmake --build ./build-cross --target gripper-format-ci
       - name: "Build"