diff --git a/.circleci/config.yml b/.circleci/config.yml
index 236afcd837b..3a9d081d284 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -17,6 +17,16 @@ parameters:
     default: false
 
 commands:
+  install-linux-mbx-ci:
+    steps:
+      - run:
+          name: "Install mbx-ci"
+          command: |
+            mkdir -p ./bin
+            curl -fsSL https://mapbox-release-engineering.s3.amazonaws.com/mbx-ci/latest/mbx-ci-linux-amd64 > mbx-ci
+            sudo mv mbx-ci /usr/local/bin/
+            chmod 755 /usr/local/bin/mbx-ci
+            echo "mbx-ci version: $(mbx-ci --version)"
   install-mbx-ci:
     steps:
       - macos/install-rosetta
@@ -25,6 +35,14 @@ commands:
           command: |
             curl -Ls https://mapbox-release-engineering.s3.amazonaws.com/mbx-ci/latest/mbx-ci-darwin-amd64 > /usr/local/bin/mbx-ci
             chmod 755 /usr/local/bin/mbx-ci
+  install-linux-s5cmd:
+    steps:
+      - run:
+          name: "Install s5cmd"
+          command: |
+            curl -fsSL https://github.com/peak/s5cmd/releases/download/v2.3.0/s5cmd_2.3.0_Linux-64bit.tar.gz | tar xvz
+            sudo mv s5cmd /usr/local/bin/
+            echo "s5cmd version: $(s5cmd version)"
   notify-build-finished:
       parameters:
         notify_success:
@@ -695,46 +713,79 @@ jobs:
         default: "14.3.1"
     macos:
       xcode: << parameters.xcode >>
+    resource_class: m4pro.medium
     environment:
       HOMEBREW_NO_AUTO_UPDATE: 1
-    resource_class: m4pro.medium
     steps:
       - checkout
       - *restore-cache-gems
-      - *restore-cache-podmaster
       - *install-gems
       - *prepare-netrc-file
       - *add-github-to-known-hosts
-      - install-mbx-ci
       - run:
           name: Generate docs
           command: |
-            OUTPUT=$( echo << pipeline.git.tag >> | sed 's/^v//' )
-            export OUTPUT="${OUTPUT:-documentation}"
-            echo "export OUTPUT=$OUTPUT" >> $BASH_ENV
-            ./scripts/document.sh
-            cp -a "$OUTPUT" /tmp/generated-docs
-      - *save-cache-podmaster
+            TAG="<< pipeline.git.tag >>"
+            if [ -n "$TAG" ]; then
+              VERSION=${TAG#v}
+            else
+              # Dummy version for non-tagged builds.
+              VERSION=0.0.0
+            fi
+            OUTPUT_PATH="build/docs/$VERSION"
+            echo "export OUTPUT_PATH=$OUTPUT_PATH" >> $BASH_ENV
+            ./scripts/generate-docs.sh "$VERSION" "$OUTPUT_PATH"
       - *save-cache-gems
+      - persist_to_workspace:
+          root: ./
+          paths:
+            - build/docs
       - run:
-          name: Compress Docs
-          command: tar -cvzf /tmp/docs.tar /tmp/generated-docs
+          name: Compress docs
+          command: |
+            mkdir -p build/archives
+            tar -cvzf build/archives/navsdk-v2-docs.tar $OUTPUT_PATH
       - store_artifacts:
-          path: /tmp/docs.tar
-          destination: docs
+          path: build/archives/navsdk-v2-docs.tar
+          destination: navsdk-v2-docs
+      - notify-build-finished
+
+  publish-docs-job:
+    docker:
+      - image: cimg/base:current
+    resource_class: small
+    environment:
+      HOMEBREW_NO_AUTO_UPDATE: 1
+      MBX_CI_DOMAIN: o619qyc20d.execute-api.us-east-1.amazonaws.com
+      TARGET_ENVIRONMENT: docs.mapbox.com
+    steps:
       - when:
-          condition: << pipeline.git.tag >>
+          condition: << pipeline.git.tag >> =~ /^v2\.\d+\.\d+(-.+)?$/
           steps:
-            - run:
-                name: Push docs to publisher-production
-                command: |
-                  git remote set-url origin "https://x-access-token:$(mbx-ci github writer public token)@github.com/mapbox/mapbox-navigation-ios.git"
-                  git config user.email "release-bot@mapbox.com"
-                  git config user.name "Mapbox Releases"
-                  VERSION="${OUTPUT}" scripts/publish-docs.sh
-            - notify-build-finished:
-                notify_success: true
-      - notify-build-finished
+          - checkout
+          - *add-github-to-known-hosts
+          - attach_workspace:
+              at: .
+          - install-linux-mbx-ci
+          - install-linux-s5cmd
+          - run:
+              name: Publish docs
+              command: |
+                TAG="<< pipeline.git.tag >>"
+                if [ -z "$TAG" ]; then
+                  echo "ERROR: Missing git tag. A tag is required to publish documentation."
+                  exit 1
+                fi
+                VERSION=${TAG#v}
+
+                if ! mbx-ci aws setup; then
+                  echo "ERROR: Could not setup AWS credentials."
+                  exit 1
+                fi
+
+                SOURCE_PATH="build/docs/$VERSION"
+                ./scripts/publish-docs.sh "$VERSION" "$TARGET_ENVIRONMENT" "$SOURCE_PATH"
+          - notify-build-finished
 
   update-version-job:
     parameters:
@@ -946,11 +997,21 @@ workflows:
             clean_build: false
             context: Slack Orb
         - generate-docs-job:
-            name: Generate / Publish Documentation
+            name: Generate Documentation
             context: Slack Orb
             filters:
               tags:
-                only: /^v\d+\.\d+\.\d+(-.+)?$/
+                only: /^v2\.\d+\.\d+(-.+)?$/
+        - publish-docs-job:
+            name: Publish Documentation
+            context: Slack Orb
+            requires:
+              - Generate Documentation
+            filters:
+              branches:
+                ignore: /.*/
+              tags:
+                only: /^v2\.\d+\.\d+(-.+)?$/
         - ios-trigger-metrics:
             filters:
               branches:
diff --git a/docs/README.md b/docs/README.md
index a23bfde9b01..86e27a600c4 100644
--- a/docs/README.md
+++ b/docs/README.md
@@ -1,3 +1,3 @@
 ## Generating documentation locally
 
-Make sure you’ve got Bundler installed, then run `scripts/document.sh`.
+Make sure you’ve got Bundler installed, then run `scripts/generate-docs.sh`.
diff --git a/scripts/document.sh b/scripts/generate-docs.sh
similarity index 66%
rename from scripts/document.sh
rename to scripts/generate-docs.sh
index dea66aadfc2..457a8dd80ad 100755
--- a/scripts/document.sh
+++ b/scripts/generate-docs.sh
@@ -1,8 +1,42 @@
 #!/usr/bin/env bash
 
-set -e
-set -o pipefail
-set -u
+set -euo pipefail
+
+if [ $# -ne 2 ]; then
+    echo "Usage: $0 <documentation_version> <output_directory>"
+    echo "Example: $0 2.20.3 build/docs/2.20.3"
+    exit 1
+fi
+
+SHORT_VERSION=$1
+OUTPUT=$2
+
+if [[ ! "${SHORT_VERSION}" =~ ^[0-9]+\.[0-9]+\.[0-9]+(-.+)?$ ]]; then
+    echo "Error: Version '${SHORT_VERSION}' does not match the required format."
+    echo "Format: X.Y.Z or X.Y.Z-suffix (e.g., 2.20.3, 2.21.0-beta.1)"
+    exit 1
+fi
+
+# Safety checks for output directory
+ABS_PWD=$(pwd -P)
+if [[ "$OUTPUT" == /* ]]; then
+    # Absolute path
+    if [[ "$OUTPUT" != "$ABS_PWD"* ]]; then
+        echo "Error: Output directory '$OUTPUT' must be within the current working directory '$ABS_PWD'."
+        exit 1
+    fi
+else
+    # Relative path
+    if [[ "$OUTPUT" == *".."* ]]; then
+         echo "Error: Output directory '$OUTPUT' cannot contain parent directory traversal ('..')."
+         exit 1
+    fi
+fi
+
+if [[ "${OUTPUT}" == "/" ]] || [[ "${OUTPUT}" == "${HOME}" ]]; then
+    echo "Error: Output directory cannot be root or home directory."
+    exit 1
+fi
 
 bundle check || bundle install
 
@@ -13,12 +47,9 @@ if [[ -z $(which "${SOURCEKITTEN_PATH}") ]]; then
     exit 1
 fi
 
-BRANCH=$( git describe --tags --match=v*.*.* --abbrev=0 )
-SHORT_VERSION=$( echo ${BRANCH} | sed 's/^v//' )
 RELEASE_VERSION=$( echo ${SHORT_VERSION} | sed -e 's/-.*//' )
 MINOR_VERSION=$( echo ${SHORT_VERSION} | grep -Eo '^\d+\.\d+' )
-
-OUTPUT=${OUTPUT:-${SHORT_VERSION:-documentation}}
+LONG_VERSION="v${SHORT_VERSION}"
 
 DEFAULT_THEME="docs/theme"
 THEME=${JAZZY_THEME:-$DEFAULT_THEME}
@@ -48,7 +79,7 @@ DESTINATION="generic/platform=iOS"
 bundle exec jazzy \
     --config docs/jazzy.yml \
     --sdk iphonesimulator \
-    --github-file-prefix "https://github.com/mapbox/mapbox-navigation-ios/tree/${BRANCH}" \
+    --github-file-prefix "https://github.com/mapbox/mapbox-navigation-ios/tree/${LONG_VERSION}" \
     --readme ${README} \
     --documentation="docs/guides/*.md" \
     --root-url "${BASE_URL}/navigation/api/${RELEASE_VERSION}/" \
@@ -59,7 +90,10 @@ bundle exec jazzy \
     2>&1 | tee docs.output
     
 rm core.json ui.json
-    
+
+# Filter out known harmless warnings (needed for Xcode 15+)
+sed -i '' '/`AppKit` has no USR/d' docs.output
+
 if egrep -e "(WARNING)|(USR)" docs.output; then
     echo "Please eliminate Jazzy warnings"
     exit 1
diff --git a/scripts/publish-docs.sh b/scripts/publish-docs.sh
index 8d6e5190b30..43155f7c049 100755
--- a/scripts/publish-docs.sh
+++ b/scripts/publish-docs.sh
@@ -1,21 +1,51 @@
 #!/usr/bin/env bash
 
-set -e
-set -o pipefail
-set -u
+set -euo pipefail
 
-if ! [[ -d "${VERSION}" ]]; then
-  echo "${VERSION} directory does not exist"
-  exit 1
+if [ $# -ne 3 ]; then
+    echo "Usage: $0 <version> <target_environment> <source_path>"
+    echo "Example: $0 2.20.3 docs.mapbox.com-staging build/docs/2.20.3"
+    exit 1
 fi
 
-if ! [[ "${VERSION}" =~ ^([0-9]+\.){2}[0-9]+(-.+)?$ ]]; then
-  echo "Set \$VERSION to a valid semver version"
-  exit 1
+VERSION=$1
+TARGET_ENVIRONMENT=$2
+SOURCE_PATH=$3
+
+# Validate version format
+if [[ ! "${VERSION}" =~ ^[0-9]+\.[0-9]+\.[0-9]+(-.+)?$ ]]; then
+    echo "Error: Version '${VERSION}' does not match the required format."
+    echo "Format: X.Y.Z or X.Y.Z-suffix (e.g., 2.20.3, 2.21.0-beta.1)"
+    exit 1
+fi
+
+# Validate target environment
+if [[ "${TARGET_ENVIRONMENT}" != "docs.mapbox.com" ]] && [[ "${TARGET_ENVIRONMENT}" != "docs.mapbox.com-staging" ]]; then
+    echo "Error: Target environment '${TARGET_ENVIRONMENT}' is invalid."
+    echo "Allowed values: docs.mapbox.com, docs.mapbox.com-staging"
+    exit 1
+fi
+
+# Validate source path
+if [[ ! -f "${SOURCE_PATH}/index.html" ]]; then
+    echo "Error: Documentation not found at '${SOURCE_PATH}'."
+    echo "Missing index.html file."
+    exit 1
 fi
 
-git checkout -- .
-git checkout publisher-production
-git add "${VERSION}"
-git commit -m "v${VERSION} [skip ci]"
-git push origin publisher-production
+echo "########################################################"
+echo "PUBLISHING DOCS FOR VERSION: ${VERSION}"
+echo "########################################################"
+echo "SOURCE_PATH: ${SOURCE_PATH}"
+echo "TARGET_ENVIRONMENT: ${TARGET_ENVIRONMENT}"
+echo "########################################################"
+
+s5cmd sync \
+    "${SOURCE_PATH}/*" \
+    "s3://${TARGET_ENVIRONMENT}/ios/navigation/api/${VERSION}/"
+
+echo "########################################################"
+echo "DOCS PUBLISHED SUCCESSFULLY"
+echo "URL: https://${TARGET_ENVIRONMENT}/ios/navigation/api/${VERSION}/"
+echo "########################################################"
+