diff --git a/.github/actions/build/action.yml b/.github/actions/build/action.yml
new file mode 100644
index 00000000000..5e9e767c383
--- /dev/null
+++ b/.github/actions/build/action.yml
@@ -0,0 +1,112 @@
+name: build
+description: >
+  Sets up a cross-platform build environment for Basilisk and performs
+  either a Conan-based build or a pip-based build.
+inputs:
+  python-version:
+    description: Python version
+    required: true
+  conan-args:
+    required: false
+    default: ""
+  is-canary:
+    description: If a canary build is being performed.
+    required: false
+    default: false
+  skip-build:
+    description: Used to do all build related setup, while skipping the actual build
+    required: false
+    default: false
+
+runs:
+  using: "composite"
+  steps:
+    - uses: actions/setup-python@v5
+      with:
+        python-version: ${{ inputs.python-version }}
+        cache: "pip"
+        cache-dependency-path: |
+          requirements_dev.txt
+          requirements_doc.txt
+          requirements.txt
+
+    - name: Install Linux System Deps.
+      if: runner.os == 'Linux'
+      shell: bash
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y build-essential python3-setuptools python3-tk libgtk2.0
+
+    - name: SWIG Install (Linux)
+      if: runner.os == 'Linux'
+      uses: mmomtchev/setup-swig@v4
+      with:
+        version: v4.2.1
+
+    - name: SWIG Install (macOS)
+      if: runner.os == 'macOS'
+      shell: bash
+      env:
+        HOMEBREW_NO_AUTO_UPDATE: 1
+        HOMEBREW_NO_INSTALL_UPGRADE: 1
+        HOMEBREW_NO_ANALYTICS: 1
+      run: brew install swig || true
+
+    - name: SWIG Install (Windows)
+      if: runner.os == 'Windows'
+      shell: pwsh
+      run: |
+        $swigDir = "C:\Program Files\SWIG"
+        if (!(Test-Path $swigDir)) {New-Item -ItemType Directory -Path $swigDir | Out-Null}
+        $swigZip = "$swigDir\swigwin-4.2.1.zip"
+        $swigUrl = "https://sourceforge.net/projects/swig/files/swigwin/swigwin-4.2.1/swigwin-4.2.1.zip/download"
+        Start-Process -NoNewWindow -Wait -FilePath "curl.exe" -ArgumentList "-L -o `"$swigZip`" `"$swigUrl`""
+        if (!(Test-Path $swigZip) -or ((Get-Item $swigZip).Length -lt 500KB)) { Write-Host "Download failed or file is corrupted." }
+        Expand-Archive -Path $swigZip -DestinationPath $swigDir -Force
+
+    - name: "Add Basilisk and SWIG paths"
+      if: runner.os == 'Windows'
+      shell: pwsh
+      run: |
+        $oldpath = (Get-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name PATH).path
+        $newPath = “C:\Program Files\SWIG\swigwin-4.2.1;$oldpath;${{ env.GITHUB_WORKSPACE }}\dist3\Basilisk”
+        echo "PATH=$newPath" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+
+    - name: Install requirements
+      shell: bash
+      run: |
+        if [[ "${{ inputs.is-canary }}" == 'true' ]]; then
+          pip install -r .github/workflows/requirements.txt -r .github/workflows/requirements_dev.txt
+        else
+          pip install -r requirements.txt -r requirements_dev.txt
+        fi
+
+    - name: Cache Conan
+      uses: actions/cache@v4
+      with:
+        path: ${{ env.HOME }}/.conan2
+        key: >-
+          conan-${{ runner.os }}-py${{ inputs.python-version }}-
+          ${{ hashFiles('conan.lock','conanfile.*','**/conanfile.*','CMakeLists.txt','**/*.cmake') }}
+        restore-keys: |
+          conan-${{ runner.os }}-py${{ inputs.python-version }}-
+
+    - name: Configure Conan profile
+      shell: bash
+      run: |
+        python -m conans.conan profile detect --exist-ok
+        prof_path="$(python -m conans.conan profile path default)"
+        grep -q '^\[conf\]' "$prof_path" || printf "\n[conf]\n" >> "$prof_path"
+        grep -q '^tools.system.package_manager:mode=install$' "$prof_path" || \
+           printf "tools.system.package_manager:mode=install\n" >> "$prof_path"
+        grep -q '^tools.system.package_manager:sudo=True$' "$prof_path" || \
+          printf "tools.system.package_manager:sudo=True\n" >> "$prof_path"
+
+    - name: Build Basilisk
+      shell: bash
+      if: ${{ inputs.skip-build == 'false' }}
+      env:
+        CONAN_ARGS: ${{ inputs.conan-args }}
+      run: |
+        pip install --no-build-isolation -e . -v
+        bskLargeData
diff --git a/.github/actions/docs/action.yml b/.github/actions/docs/action.yml
new file mode 100644
index 00000000000..be2f63bed9d
--- /dev/null
+++ b/.github/actions/docs/action.yml
@@ -0,0 +1,33 @@
+name: docs
+description: Build Sphinx docs
+
+inputs:
+  html-dir: { required: false, default: "docs/build/html" }
+  is-canary:
+    description: If a canary build is being performed.
+    required: false
+    default: false
+
+runs:
+  using: composite
+  steps:
+    - name: Install doc requirements
+      shell: bash
+      run: |
+        brew install doxygen
+        if [[ "${{ inputs.is-canary }}" == 'true' ]]; then
+          pip install -r .github/workflows/requirements_doc.txt
+        else
+          pip install -r requirements_doc.txt
+        fi
+    - name: Generate doc artifacts
+      shell: bash
+      env:
+        MPLBACKEND: agg
+      working-directory: src
+      run: pytest -n auto -m "not ciSkip" -rs --dist=loadscope -v
+    - name: Compile docs
+      shell: bash
+      run: |
+        make -C docs html SPHINXOPTS="-W"
+        echo "DOCS_HTML=${{ inputs.html-dir }}" >> "$GITHUB_ENV"
diff --git a/.github/actions/pre-commit/action.yml b/.github/actions/pre-commit/action.yml
new file mode 100644
index 00000000000..65f34b3a5aa
--- /dev/null
+++ b/.github/actions/pre-commit/action.yml
@@ -0,0 +1,15 @@
+name: pre-commit
+description: Run pre-commit on changed files with Python 3.11
+
+runs:
+  using: composite
+  steps:
+    - uses: actions/setup-python@v5
+      with:
+        python-version: 3.11
+
+    - id: file_changes
+      uses: tj-actions/changed-files@v44
+    - uses: pre-commit/action@v3.0.1
+      with:
+        extra_args: --files ${{ steps.file_changes.outputs.all_changed_files }}
diff --git a/.github/workflows/canary.yml b/.github/workflows/canary.yml
index 7c9b03b854e..fe4daae7371 100644
--- a/.github/workflows/canary.yml
+++ b/.github/workflows/canary.yml
@@ -1,8 +1,6 @@
 name: "Canary Build"
 
 on:
-  schedule:
-    - cron: '0 0 * * 0'  # Run weekly on Sunday at midnight
   workflow_dispatch:
   pull_request:
     branches:
@@ -19,7 +17,7 @@ jobs:
     timeout-minutes: 75
     strategy:
       matrix:
-        python-version: [ "3.13" ]
+        python-version: ["3.13"]
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
@@ -27,62 +25,38 @@ jobs:
         uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python-version }}
-
-      - name: Install Homebrew
-        run: |
-          /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
-          brew install swig doxygen
-
-      - name: "Create virtual Environment"
-        run: python3 -m venv .venv
-      - name: "Capture initial package versions"
+      - name: Capture initial package versions
         run: |
-          source .venv/bin/activate
           pip freeze > initial_versions.txt
           echo "Initial package versions:" >> $GITHUB_STEP_SUMMARY
           cat initial_versions.txt >> $GITHUB_STEP_SUMMARY
           echo "\n" >> $GITHUB_STEP_SUMMARY
-
-      - name: "Install canary requirements"
-        run: |
-          source .venv/bin/activate
-          pip3 install -r .github/workflows/requirements.txt
-          pip3 install -r .github/workflows/requirements_dev.txt
-          pip3 install -r .github/workflows/requirements_doc.txt
-          pip3 install pytest-error-for-skips
-
-      - name: "Capture final package versions"
+      - name: Build Basilisk
+        uses: ./.github/actions/build
+        with:
+          python-version: ${{ matrix.python-version }}
+          conan-args: --opNav True --allOptPkg --mujoco True --mujocoReplay True --pyPkgCanary True
+          is-canary: true
+      - name: Capture final package versions
         run: |
-          source .venv/bin/activate
           pip freeze > final_versions.txt
           echo "Final package versions:" >> $GITHUB_STEP_SUMMARY
           cat final_versions.txt >> $GITHUB_STEP_SUMMARY
           echo "\n" >> $GITHUB_STEP_SUMMARY
           echo "Package version changes:" >> $GITHUB_STEP_SUMMARY
           diff -u initial_versions.txt final_versions.txt | grep -E '^[+-]' | grep -v '^+++' | grep -v '^---' >> $GITHUB_STEP_SUMMARY
-
-      - name: "Build basilisk with latest dependencies"
-        run: source .venv/bin/activate && python3 conanfile.py --opNav True --allOptPkg --mujoco True --mujocoReplay True --pyPkgCanary True
-
-      - name: "Run Python Tests"
-        run: |
-          source .venv/bin/activate
-          cd src
-          pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
-        if: ${{ always() }}
-      - name: "Run C/C++ Tests"
+      # NOTE: The documentation depends on images generated by executing the
+      # Python tests successfully. As such, the "Build docs" action below
+      # handles running the Python tests internally
+      - name: Run C/C++ Tests
         working-directory: ./dist3
         run: ctest -C Release
         if: ${{ always() }}
-
-      - name: "Build Documentation"
-        run: |
-          source .venv/bin/activate
-          cd docs
-          make html SPHINXOPTS="-W"
-        if: ${{ always() }}
-
-      - name: "Upload package version logs"
+      - name: Build docs
+        uses: ./.github/actions/docs
+        with:
+          is-canary: true
+      - name: Upload package version logs
         if: always()
         uses: actions/upload-artifact@v4
         with:
diff --git a/.github/workflows/merge.yml b/.github/workflows/merge.yml
new file mode 100644
index 00000000000..6d9c4dc94b4
--- /dev/null
+++ b/.github/workflows/merge.yml
@@ -0,0 +1,87 @@
+name: Merge to develop
+
+on:
+  push:
+    branches: [develop]
+  workflow_dispatch:
+
+permissions:
+  contents: write
+  actions: read
+
+concurrency:
+  group: merge-develop
+  cancel-in-progress: false
+
+jobs:
+  bump_version:
+    name: Bump version (skip if already bumped)
+    runs-on: ubuntu-latest
+    if: ${{ github.actor != 'AVSlabBot' }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: develop
+          fetch-depth: 0
+          token: ${{ secrets.BOT_ACCESS_TOKEN }}
+
+      - name: Bump version
+        run: ./.github/workflows/version-bumper.sh ./docs/source/bskVersion.txt
+
+      - name: Commit and push
+        run: |
+          git config user.name "AVSlabBot"
+          git config user.email "cuavslab@gmail.com"
+          git commit -a -m "[AUTO] Bump version number" || echo "No changes"
+          git push || true
+
+  build-ubuntu-latest-wheels:
+    name: Build ubuntu-latest wheels
+    needs: bump_version
+    # Allow for manual runs to generate new wheels
+    if: ${{ always() }}
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.9", "3.10", "3.11"]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      # The 'Build wheel' step will perform the actual build. However, we want
+      # all pre build setup to still be performed
+      - uses: ./.github/actions/build
+        with:
+          python-version: ${{ matrix.python-version }}
+          extra-apt: "cmake"
+          skip-build: true
+
+      - name: Build wheel
+        run: |
+          python -m pip wheel . -v --wheel-dir /tmp/wheelhouse
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: basilisk-wheels_ubuntu-22.04_python${{ matrix['python-version'] }}
+          path: /tmp/wheelhouse/**/*asilisk*.whl
+
+  build_documentation:
+    name: macOS Docs Deployment
+    needs: bump_version
+    runs-on: macos-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Build Basilisk
+        uses: ./.github/actions/build
+        with:
+          python-version: 3.13
+          conan-args: --opNav True --allOptPkg --mujoco True --mujocoReplay True --recorderPropertyRollback True
+      - name: Build docs
+        uses: ./.github/actions/docs
+      - name: Deploy
+        if: ${{ success() }} # deploy only if prior steps ok
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ./docs/build/html
+          force_orphan: true
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
new file mode 100644
index 00000000000..c30d90bcd53
--- /dev/null
+++ b/.github/workflows/pre-commit.yml
@@ -0,0 +1,10 @@
+name: Pre-commit
+on:
+  workflow_dispatch:
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ./.github/actions/pre-commit
diff --git a/.github/workflows/pull-request-closed.yml b/.github/workflows/pull-request-closed.yml
deleted file mode 100644
index d88cc1973b4..00000000000
--- a/.github/workflows/pull-request-closed.yml
+++ /dev/null
@@ -1,124 +0,0 @@
-name: "Pull Request Closed"
-
-on:
-    pull_request:
-        types:
-            - closed
-        branches:
-            - develop
-    workflow_dispatch:
-
-jobs:
-    if_merged:
-        if: github.event.pull_request.merged == true
-        runs-on: ubuntu-latest
-        steps:
-        - name: Pull repo
-          uses: actions/checkout@v4
-          with:
-            ref: develop
-            fetch-depth: 0
-            token: ${{ secrets.BOT_ACCESS_TOKEN }}
-        - name: Bump version
-          run: ./.github/workflows/version-bumper.sh ./docs/source/bskVersion.txt
-        - name: Commit and push
-          run: |
-              git config user.name "AVSlabBot"
-              git config user.email "cuavslab@gmail.com"
-              git commit -a -m "[AUTO] Bump version number"
-              git push
-
-
-    wait_for_version_bump:
-      name: Wait for version bump
-      needs: if_merged
-      # run even if the version bump failed.  If the merge is from an external fork the bump fails.
-      if: ${{ always() }}
-      runs-on: ubuntu-latest
-      steps:
-        - name: Wait for version number to be bumped
-          run: sleep 15
-
-
-    build-ubuntu-latest-wheels:
-      name: Build ubuntu-latest wheels
-      needs: wait_for_version_bump
-      # Allow for manual runs to generate new wheels
-      if: ${{ always() }}
-      runs-on: ubuntu-22.04
-      strategy:
-        matrix:
-          python-version: ["3.9", "3.10", "3.11"]
-      steps:
-        - name: Checkout code
-          uses: actions/checkout@v4
-        - name: Set up Python ${{ matrix.python-version }}
-          uses: actions/setup-python@v5
-          with:
-            python-version: ${{ matrix.python-version }}
-        - name: "Install swig and cmake"
-          run: sudo apt-get update && sudo apt-get install build-essential swig cmake -y
-        - name: "Install python packages"
-          run: sudo apt-get install python3-setuptools python3-tk python3-venv
-        - name: "Create virtual Environment"
-          run: python3 -m venv .venv
-        - name: "Build basilisk"
-          run: |
-            source .venv/bin/activate
-            pip wheel . -v --wheel-dir /tmp/wheelhouse
-        - uses: actions/upload-artifact@v4
-          with:
-            name: basilisk-wheels_ubuntu-22.04_python${{ matrix.python-version }}
-            path: /tmp/wheelhouse/**/*asilisk*.whl
-
-
-    build_documentation:
-      name: macOS Docs Deployment
-      needs: wait_for_version_bump
-      runs-on: macos-14
-      strategy:
-        matrix:
-          python-version: [ "3.11" ]
-      steps:
-        - name: Checkout code
-          uses: actions/checkout@v4
-        - name: Set up Python ${{ matrix.python-version }}
-          uses: actions/setup-python@v5
-          with:
-            python-version: ${{ matrix.python-version }}
-
-        - name: Install Homebrew
-          run: |
-            /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
-            brew install swig doxygen
-
-        - name: "Create virtual Environment"
-          run: python3 -m venv .venv
-        - name: "Install -r requirements_dev.txt"
-          run: |
-            source .venv/bin/activate
-            pip3 install cmake -r requirements_dev.txt
-
-        - name: "Build basilisk with all options"
-          run: |
-            source .venv/bin/activate
-            python3 conanfile.py --opNav True --allOptPkg --mujoco True --mujocoReplay True
-
-        - name: "Run Python Tests"
-          run: |
-            source .venv/bin/activate
-            cd src
-            pytest -n auto -m "not ciSkip"
-
-        - name: "Build Documentation"
-          run: |
-            source .venv/bin/activate
-            cd docs
-            make html SPHINXOPTS="-W"
-
-        - name: Deploy
-          uses: peaceiris/actions-gh-pages@v3
-          with:
-              github_token: ${{ secrets.GITHUB_TOKEN }}
-              publish_dir: ./docs/build/html
-              force_orphan: true
diff --git a/.github/workflows/pull-request.yml b/.github/workflows/pull-request.yml
index 329440f6763..8788513c12f 100644
--- a/.github/workflows/pull-request.yml
+++ b/.github/workflows/pull-request.yml
@@ -13,281 +13,121 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
-      - uses: actions/setup-python@v5
-        with:
-          python-version: 3.11
-      - id: file_changes
-        uses: tj-actions/changed-files@v44
-      - uses: pre-commit/action@v3.0.1
-        with:
-          extra_args: --files ${{ steps.file_changes.outputs.all_changed_files}}
-
+      - uses: ./.github/actions/pre-commit
 
-  build-linux-3-10:
-    name: Linux 22.04
+  build-linux:
     runs-on: ubuntu-22.04
-    timeout-minutes: 75
+    timeout-minutes: 90
+    needs: pre-commit
     strategy:
+      fail-fast: false
       matrix:
-        python-version: ["3.8", "3.9", "3.10"]
+        python: ["3.13"]
+    name: Linux (${{ matrix.python }})
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-      - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v5
+      - uses: actions/checkout@v4
+      - uses: ./.github/actions/build
         with:
-          python-version: ${{ matrix.python-version }}
-      - name: "Install swig"
-        run: sudo apt-get update && sudo apt-get install build-essential swig -y
-      - name: "Install python packages"
-        run: sudo apt-get install python3-setuptools python3-tk python3.10-venv
-      - name: "Create virtual Environment"
-        run: python3 -m venv .venv
-      - name: "Install requirements_dev.txt"
-        run: source .venv/bin/activate && pip3 install -r requirements_dev.txt pytest-timeout
-      - name: "Build basilisk"
-        run: source .venv/bin/activate && python3 conanfile.py
-      - name: "Run Python Tests"
+          python-version: ${{ matrix.python }}
+          conan-args: --opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True
+      - name: Pytest
+        working-directory: src
         run: |
-          source .venv/bin/activate
-          cd src && pytest -n auto -m "not ciSkip" -rs --dist=loadscope -v
-
-      - name: "Run C/C++ Tests"
-        working-directory: ./dist3
-        run: ctest
+          pip install pytest-error-for-skips
+          pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
+      - name: CTest
         if: ${{ always() }}
-
-
-  build-linux-3-11:
-    name: Linux 22.04 All Tests
-    runs-on: ubuntu-22.04
-    timeout-minutes: 75
-    strategy:
-      matrix:
-        python-version: ["3.11"]
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-      - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v5
-        with:
-          python-version: ${{ matrix.python-version }}
-
-      - name: "Install libgtk2.0"
-        run: sudo apt-get update && sudo apt-get install build-essential libgtk2.0 -y
-      - name: Install SWIG 4.2.1
-        uses: mmomtchev/setup-swig@v3
-        with:
-          version: v4.2.1
-      - name: "Install python packages"
-        run: sudo apt-get install python3-setuptools python3-tk python3.11-venv
-      - name: "Create virtual Environment"
-        run: python3 -m venv .venv
-      - name: "Install requirements_dev.txt"
-        run: source .venv/bin/activate && pip3 install -r requirements_dev.txt pytest-error-for-skips pytest-timeout
-      - name: "Update 'default' conan profile to allow installing system packages"
-        run: |
-          source .venv/bin/activate
-          python3 -m conans.conan profile detect --exist-ok
-          echo -e "\n[conf]\ntools.system.package_manager:mode=install\ntools.system.package_manager:sudo=True\n" >> $(python3 -m conans.conan profile path default)
-      - name: "Build basilisk"
-        run: source .venv/bin/activate && python3 conanfile.py --opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True
-
-      - name: "Run Python Tests"
-        run: |
-          source .venv/bin/activate
-          cd src && pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
-
-      - name: "Run C/C++ Tests"
-        working-directory: ./dist3
+        working-directory: dist3
         run: ctest
-        if: ${{ always() }}
-
-  build-linux-3-11-pip:
-    name: Linux 22.04 pip
-    runs-on: ubuntu-22.04
-    timeout-minutes: 75
-    strategy:
-      matrix:
-        python-version: ["3.11"]
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-      - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v5
-        with:
-          python-version: ${{ matrix.python-version }}
-
-      - name: "Install swig"
-        run: sudo apt-get update && sudo apt-get install build-essential swig -y
-      - name: "Install python packages"
-        run: sudo apt-get install python3-setuptools python3-tk python3.11-venv
-      - name: "Create virtual Environment"
-        run: python3 -m venv .venv
-      - name: "Build basilisk"
-        run: |
-          source .venv/bin/activate
-          pip install -r requirements_dev.txt
-          pip install . -v
-          bskLargeData
-      - name: "Run Python Tests"
-        run: |
-          source .venv/bin/activate
-          pip install pytest pytest-xdist
-          cd src && pytest -n auto -m "not ciSkip" -rs --dist=loadscope -v
-
 
   build-windows:
-    name: Windows All Tests
     runs-on: windows-2025
-    timeout-minutes: 100
+    timeout-minutes: 90
+    needs: pre-commit
     strategy:
+      fail-fast: false
       matrix:
-        python-version: ["3.11"]
+        python: ["3.13"]
+    name: Windows (${{ matrix.python }})
     env:
       MPLBACKEND: agg
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-      - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v5
+      - uses: actions/checkout@v4
+      - uses: ./.github/actions/build
         with:
-          python-version: ${{ matrix.python-version }}
-#      - name: Choco help
-#        uses: crazy-max/ghaction-chocolatey@v3
-#        with:
-#          args: -h
-#      - name: "Install swig"
-#        shell: pwsh
-#        run: choco install swig -y
-      - name: "Install SWIG 4.2.1"
-        shell: pwsh
-        run: |
-            $swigDir = "C:\Program Files\SWIG"
-            if (!(Test-Path $swigDir)) {New-Item -ItemType Directory -Path $swigDir | Out-Null}
-            $swigZip = "$swigDir\swigwin-4.2.1.zip"
-            $swigUrl = "https://sourceforge.net/projects/swig/files/swigwin/swigwin-4.2.1/swigwin-4.2.1.zip/download"
-            Start-Process -NoNewWindow -Wait -FilePath "curl.exe" -ArgumentList "-L -o `"$swigZip`" `"$swigUrl`""
-            if (!(Test-Path $swigZip) -or ((Get-Item $swigZip).Length -lt 500KB)) { Write-Host "Download failed or file is corrupted." }
-            Expand-Archive -Path $swigZip -DestinationPath $swigDir -Force
-      - name: "Create python virtual env"
-        shell: pwsh
-        run: python -m venv venv
-      - name: "Install requirements_dev.txt"
-        shell: pwsh
-        run: |
-            venv\Scripts\activate
-            pip install -r requirements_dev.txt pytest-error-for-skips pytest-timeout
-      - name: "Add basilisk and swig path to env path"
-        shell: pwsh
-        run: |
-          $oldpath = (Get-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name PATH).path
-          $newPath = “C:\Program Files\SWIG\swigwin-4.2.1;$oldpath;${{ env.GITHUB_WORKSPACE }}\dist3\Basilisk”
-          echo "PATH=$newPath" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
-      - name: "Build basilisk"
+          python-version: ${{ matrix.python }}
+          conan-args: --opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True
+      - name: Pytest
         shell: pwsh
+        working-directory: src
         run: |
-          venv\Scripts\activate
-          python conanfile.py --opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True
-      - name: "Run Python Tests"
-        shell: pwsh
-        run: |
-          Set-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name MPLBACKEND -Value ${MPLBACKEND}
-          venv\Scripts\activate
-          cd src
-          pytest -n auto -m "not ciSkip" -rs --error-for-skips  --dist=loadscope -v
+          pip install pytest-error-for-skips
+          pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
           if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1}
-      - name: "C/C++ Tests"
+      - name: CTest
         if: ${{ always() }}
         shell: pwsh
+        working-directory: dist3
         run: |
-          cd dist3
           ctest
-          if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1}
+          if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) { exit 1 }
 
-  build-macOS:
-    name: macOS All Tests Docs
+  build-macos:
     runs-on: macos-latest
-    timeout-minutes: 75
+    timeout-minutes: 90
+    needs: pre-commit
     strategy:
+      fail-fast: false
       matrix:
-        python-version: [ "3.11", "3.12", "3.13" ]
+        job_suffix: [""]
+        python: ["3.8", "3.9", "3.10", "3.11", "3.12", "3.13"]
+        pytest_flags:
+          ['-n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v']
+        conan_args:
+          [
+            "--opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True",
+          ]
+        include:
+          # An extra Basilisk build to test building without visualization enabled
+          - python: "3.13"
+            pytest_flags: -n auto -m "not ciSkip" -rs --dist=loadscope -v
+            conan_args: --opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True --vizInterface False
+            job_suffix: "--vizInterface False"
+          # Python 3.8 cannot run all tests.
+          # TODO: Once Python 3.8 support is dropped, delete this include and exclude and remove 3.8 from the python
+          # test matrix.
+          - python: "3.8"
+            pytest_flags: -n auto -m "not ciSkip" -rs --dist=loadscope -v -p no:pytest_forbid_skips
+        exclude:
+          - python: "3.8"
+            pytest_flags: '-n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v'
+
+    name: macOS (${{ matrix.python }}) ${{ matrix.job_suffix }}
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-      - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v5
+      - uses: actions/checkout@v4
+      - uses: ./.github/actions/build
         with:
-          python-version: ${{ matrix.python-version }}
-
-      - name: Install Homebrew
-        run: |
-          /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
-          brew install swig doxygen
-
-      - name: "Create virtual Environment"
-        run: python3 -m venv .venv
-      - name: "Install requirements_dev.txt"
-        run: |
-          source .venv/bin/activate
-          pip3 install -r requirements_dev.txt pytest-error-for-skips pytest-timeout
-
-      - name: "Build basilisk with all options"
-        run: |
-          source .venv/bin/activate
-          python3 conanfile.py --opNav True --allOptPkg --mujoco True --mujocoReplay True --recorderPropertyRollback True
-
-      - name: "Run Python Tests"
-        run: |
-          source .venv/bin/activate
-          cd src
-          pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
+          python-version: ${{ matrix.python }}
+          conan-args: --opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True
+      - name: Pytest
+        working-directory: src
+        run: |
+          pip install pytest-error-for-skips
+          pytest ${{ matrix.pytest_flags }}
+      - name: CTest
         if: ${{ always() }}
-      - name: "Run C/C++ Tests"
-        working-directory: ./dist3
+        working-directory: dist3
         run: ctest -C Release
-        if: ${{ always() }}
 
-      - name: "Build Documentation"
-        run: |
-          source .venv/bin/activate
-          cd docs
-          make html SPHINXOPTS="-W"
-        if: ${{ always() }}
-
-  build-macOS-no-vizInterface:
-    name: macOS no vizInterface
+  docs:
+    needs: build-macos
     runs-on: macos-latest
-    timeout-minutes: 75
-    strategy:
-      matrix:
-        python-version: [ "3.11" ]
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-      - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v5
+      - uses: actions/checkout@v4
+      - name: Build Basilisk
+        uses: ./.github/actions/build
         with:
-          python-version: ${{ matrix.python-version }}
-
-      - name: Install Homebrew
-        run: |
-          /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
-          brew install swig
-
-      - name: "Create virtual Environment"
-        run: python3 -m venv .venv
-      - name: "Install requirements_dev.txt"
-        run: |
-          source .venv/bin/activate
-          pip3 install -r requirements_dev.txt
-
-      - name: "Build basilisk without vizInterface"
-        run: source .venv/bin/activate && python3 conanfile.py --vizInterface False
-      - name: "Run Python Tests"
-        run: |
-          source .venv/bin/activate
-          cd src
-          pytest -n auto -m "not ciSkip" -rs --dist=loadscope -v
-
-        if: ${{ always() }}
+          python-version: 3.13
+          conan-args: --opNav True --allOptPkg --mujoco True --mujocoReplay True --recorderPropertyRollback True
+      - name: Build docs
+        uses: ./.github/actions/docs
diff --git a/.gitignore b/.gitignore
index 1413ec07d8b..2b717ce721a 100755
--- a/.gitignore
+++ b/.gitignore
@@ -60,3 +60,5 @@ venv/
 # Python packaging
 *.egg-info
 build/
+!.github/actions/build/
+!.github/actions/build/**
diff --git a/docs/source/Support/bskReleaseNotes.rst b/docs/source/Support/bskReleaseNotes.rst
index 8cbf9f402af..86761c8d5f1 100644
--- a/docs/source/Support/bskReleaseNotes.rst
+++ b/docs/source/Support/bskReleaseNotes.rst
@@ -26,7 +26,10 @@ Basilisk Release Notes
 
 Version |release|
 -----------------
-- text here
+- Removed deprecated use of astro constants from ``src/utilities/astroFunction.py``.
+  Users should be astrodynamics constants from ``Basilisk.architecture.astroConstants``.
+- Refactored the CI build system scripts
+
 
 Version 2.78.0 (August 30, 2025)
 --------------------------------
diff --git a/setup.py b/setup.py
index 5cff6e7a99a..dba17adcc96 100644
--- a/setup.py
+++ b/setup.py
@@ -91,9 +91,10 @@ def get_source_files(self) -> list[str]:
     def run(self) -> None:
         for ext in self.conan_extensions:
             if self.editable_mode:
-                # TODO: Add support for installing in editable mode. For now, we
-                # assume that it has already been built (e.g. by `conanfile.py`)
-                pass
+                # TODO: Add support for installing in editable mode.
+                built = any(Path(ext.build_dir).glob("Basilisk*"))
+                if not built:
+                    run([sys.executable, ext.conanfile] + ext.args, check=True)
             else:
                 # Call the underlying Conanfile with the desired arguments.
                 run([sys.executable, ext.conanfile] + ext.args, check=True)
diff --git a/src/architecture/utilities/tests/test_legacyAstroConstants.py b/src/architecture/utilities/tests/test_legacyAstroConstants.py
deleted file mode 100644
index 893531faf39..00000000000
--- a/src/architecture/utilities/tests/test_legacyAstroConstants.py
+++ /dev/null
@@ -1,85 +0,0 @@
-# ISC License
-#
-# Copyright (c) 2024, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
-#
-# Permission to use, copy, modify, and/or distribute this software for any
-# purpose with or without fee is hereby granted, provided that the above
-# copyright notice and this permission notice appear in all copies.
-#
-# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
-# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
-# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
-# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
-# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
-# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
-# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
-
-
-from Basilisk.utilities import astroFunctions
-import warnings
-from Basilisk.utilities import deprecated
-import numpy as np
-
-def test_legacy_astrofunctions_constants(show_plots):
-    __tracebackhide__ = True
-
-    warnings.filterwarnings("ignore", category=deprecated.BSKDeprecationWarning)
-
-    # check that deprecated astroFunction constants still work
-    # when it is time to remove this deprectated functionality,
-    # go to src/utilities/astroFunctions.py and remove
-    # - from Basilisk.utilities import deprecated
-    # - remove __getattr__() method near end of file
-    # - remove this test file
-
-    # define astroConstant names
-    AU = 1.49597870691e8        # [km]
-    astroConstants = {
-        # Useful conversions
-        'R2D': 180.0 / np.pi,          # [deg]
-        'D2R': np.pi / 180.0,         # [rad]
-        'AU': AU,
-        'SEC2DAY': 1.0 / (3600*24),
-        'DAY2SEC': 1.0 * 3600 * 24,
-        'PI': np.pi,
-
-        # Gravitational parameters  [km^3 / s^2]
-        'mu_S': 1.32712440018e11,
-        'mu_E': 3.986004415e5,
-        'mu_M': 4.28283100e4,
-        'mu_V': 3.24858599e5,
-        'mu_J': 1.26686534e8,
-        'mu_Saturn': 3.79395000e7,
-        'mu_U': 5.79396566e6,
-        'mu_N': 6.83509920e6,
-        'mu_Moon': 4902.799,
-
-        # Planets' Radius   [km]
-        'S_radius': 695508,
-        'J_radius': 71492,
-        'V_radius': 6051.8,
-        'E_radius': 6378.1363,
-        'M_radius': 3396.19,
-        'Saturn_radius': 60268,
-        'U_radius': 25559,
-        'N_radius': 24764,
-        'Moon_radius': 1738.1,
-
-        # Planetary Heliocentric orbits     [km]
-        'a_E': 1.0 * AU,
-        'a_M': 1.52367934 * AU,
-        'a_Mercury': 0.387 * AU,
-        'a_V': 0.723 * AU,
-        'a_J': 5.203 * AU,
-        'a_Saturn': 9.537 * AU,
-        'a_U': 19.191 * AU,
-        'a_N': 30.069 * AU,
-        'a_P': 39.482 * AU,
-    }
-
-    for key in astroConstants:
-        np.testing.assert_almost_equal(getattr(astroFunctions, key), astroConstants[key])
-
-''
-if __name__ == '__main__':
-    test_legacy_astrofunctions_constants(False)
diff --git a/src/utilities/astroFunctions.py b/src/utilities/astroFunctions.py
index 1303ede9df2..51f26644b82 100755
--- a/src/utilities/astroFunctions.py
+++ b/src/utilities/astroFunctions.py
@@ -20,7 +20,6 @@
 import matplotlib.pyplot as plt
 import numpy as np
 from numpy import linalg as la
-from Basilisk.utilities import deprecated
 from Basilisk.architecture import astroConstants
 
 # Reference solar flux at Earth [W/m^2]
@@ -683,61 +682,6 @@ def Tisserand_ESU():
     plt.show()
 
 
-# ------------------------------------------------------------------------------------------------------------------- #
-#                                                DEPRECATED CONSTANTS
-#
-
-def __getattr__(name):
-    """ Special `__getattr__` to handle deprecation warning """
-    AU = 1.49597870691e8        # [km]
-    astroConstants = {
-        # Useful conversions
-        'R2D': 180.0 / np.pi,          # [deg]
-        'D2R': np.pi / 180.0,         # [rad]
-        'AU': AU,
-        'SEC2DAY': 1.0 / (3600*24),
-        'DAY2SEC': 1.0 * 3600 * 24,
-        'PI': np.pi,
-
-        # Gravitational parameters  [km^3 / s^2]
-        'mu_S': 1.32712440018e11,
-        'mu_E': 3.986004415e5,
-        'mu_M': 4.28283100e4,
-        'mu_V': 3.24858599e5,
-        'mu_J': 1.26686534e8,
-        'mu_Saturn': 3.79395000e7,
-        'mu_U': 5.79396566e6,
-        'mu_N': 6.83509920e6,
-        'mu_Moon': 4902.799,
-
-        # Planets' Radius   [km]
-        'S_radius': 695508,
-        'J_radius': 71492,
-        'V_radius': 6051.8,
-        'E_radius': 6378.1363,
-        'M_radius': 3396.19,
-        'Saturn_radius': 60268,
-        'U_radius': 25559,
-        'N_radius': 24764,
-        'Moon_radius': 1738.1,
-
-        # Planetary Heliocentric orbits     [km]
-        'a_E': 1.0 * AU,
-        'a_M': 1.52367934 * AU,
-        'a_Mercury': 0.387 * AU,
-        'a_V': 0.723 * AU,
-        'a_J': 5.203 * AU,
-        'a_Saturn': 9.537 * AU,
-        'a_U': 19.191 * AU,
-        'a_N': 30.069 * AU,
-        'a_P': 39.482 * AU,
-    }
-    if name in astroConstants:
-        deprecated.deprecationWarn(
-            name, '2025/08/31', 'Astro constants should be used from Basilisk.architecture.astroConstants')
-        return astroConstants[name]
-
-
 def main():
     Mars_RV(JulianDate([2018, 10, 16]))