diff --git a/.circleci/config.yml b/.circleci/config.yml
index 94e08c4f15e..4dd0c904636 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v39\
+            key: "<< parameters.key >>-v40\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\
@@ -519,7 +519,12 @@ jobs:
       - build_source:
           packages_skip_regex: << parameters.packages_skip_regex >>
   system_build: &system_build
-    <<: *release_build
+    <<: *job_build
+    executor: release_exec
+    steps:
+      - restore_build
+      - build_source:
+          packages_skip_regex: << parameters.packages_skip_regex >>
   release_test: &release_test
     <<: *job_test
     executor: release_exec
@@ -531,33 +536,40 @@ jobs:
       - report_coverage
 
 _parameters:
-  release_parameters: &release_parameters
+  release_build_parameters: &release_build_parameters
     packages_skip_regex: "'(nav2_system_tests|nav2_smac_planner|nav2_mppi_controller|nav2_route|nav2_rviz_plugins|nav2_rotation_shim_controller|nav2_waypoint_follower|nav2_smoother|opennav_docking|opennav_following|nav2_behaviors|nav2_bringup|navigation2)'"
+  system_build_parameters: &system_build_parameters
+    packages_skip_regex: ""
+  release_test_parameters: &release_test_parameters
+    packages_skip_regex: ""
 
 workflows:
   version: 2
   build_and_test:
     jobs:
       - release_build:
-          <<: *release_parameters
+          <<: *release_build_parameters
       - system_build:
+          <<: *system_build_parameters
           requires:
             - release_build
       - release_test:
+          <<: *release_test_parameters
           requires:
             - system_build
           cache_test: true
   nightly:
     jobs:
       - release_build:
-          <<: *release_parameters
+          <<: *release_build_parameters
       - system_build:
+          <<: *system_build_parameters
           requires:
             - release_build
       - release_test:
           requires:
             - system_build
-          <<: *release_parameters
+          <<: *release_test_parameters
           matrix:
             alias: release_test
             parameters:
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index 895bc2152c3..915b6d95c7b 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -19,7 +19,7 @@ jobs:
       if: matrix.linter == 'mypy'
       run: sudo apt update && sudo apt install -y python3-typeshed
 
-    - uses: ros-tooling/action-ros-lint@v0.1
+    - uses: ros-tooling/action-ros-lint@0.1.4
       with:
         linter: ${{ matrix.linter }}
         distribution: rolling