diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
index 57295955e5..30bd74d9ac 100644
--- a/.github/workflows/cmake.yml
+++ b/.github/workflows/cmake.yml
@@ -25,7 +25,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     container: ${{ matrix.container }}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Install opencv (macOS)
         run: brew install opencv
@@ -56,7 +56,7 @@ jobs:
     name: "Build - Windows"
     runs-on: windows-2019
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Install CMake
         uses: lukka/get-cmake@v3.23.0
diff --git a/.github/workflows/comment-command.yml b/.github/workflows/comment-command.yml
index 2f54739022..9a12ce5036 100644
--- a/.github/workflows/comment-command.yml
+++ b/.github/workflows/comment-command.yml
@@ -19,7 +19,7 @@ jobs:
               comment_id: context.payload.comment.id,
               content: "rocket",
             });
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Fetch all history and metadata
         run: |
           git fetch --prune --unshallow
diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml
index 4d23eea6d5..4500881a26 100644
--- a/.github/workflows/documentation.yml
+++ b/.github/workflows/documentation.yml
@@ -16,7 +16,7 @@ jobs:
     if: github.repository_owner == 'wpilibsuite' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
     concurrency: ci-docs-publish
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
           persist-credentials: false
diff --git a/.github/workflows/gazebo.yml b/.github/workflows/gazebo.yml
index d08f6ad638..40ffcab9c3 100644
--- a/.github/workflows/gazebo.yml
+++ b/.github/workflows/gazebo.yml
@@ -10,9 +10,9 @@ jobs:
   build:
     name: "Build"
     runs-on: ubuntu-latest
-    container: wpilib/gazebo-ubuntu:18.04
+    container: wpilib/gazebo-ubuntu:20.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - name: Build with Gradle
diff --git a/.github/workflows/gradle-wrapper-validation.yml b/.github/workflows/gradle-wrapper-validation.yml
index c433132e0c..d678bc4cf6 100644
--- a/.github/workflows/gradle-wrapper-validation.yml
+++ b/.github/workflows/gradle-wrapper-validation.yml
@@ -10,5 +10,5 @@ jobs:
     name: "Validation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - uses: gradle/wrapper-validation-action@v1
diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml
index fcd5d62d47..25d60ebfae 100644
--- a/.github/workflows/gradle.yml
+++ b/.github/workflows/gradle.yml
@@ -12,23 +12,23 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/roborio-cross-ubuntu:2022-18.04
+          - container: wpilib/roborio-cross-ubuntu:2022-20.04
             artifact-name: Athena
             build-options: "-Ponlylinuxathena"
-          - container: wpilib/raspbian-cross-ubuntu:10-18.04
+          - container: wpilib/raspbian-cross-ubuntu:10-20.04
             artifact-name: Raspbian
             build-options: "-Ponlylinuxraspbian"
-          - container: wpilib/aarch64-cross-ubuntu:bionic-18.04
+          - container: wpilib/aarch64-cross-ubuntu:bionic-20.04
             artifact-name: Aarch64
             build-options: "-Ponlylinuxaarch64bionic"
-          - container: wpilib/ubuntu-base:18.04
+          - container: wpilib/ubuntu-base:20.04
             artifact-name: Linux
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ubuntu-latest
     container: ${{ matrix.container }}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - name: Set release environment variable
@@ -60,7 +60,7 @@ jobs:
     name: "Build - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v1
@@ -104,7 +104,7 @@ jobs:
     name: "Build - Documentation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v1
@@ -130,7 +130,7 @@ jobs:
     needs: [build-docker, build-host, build-documentation]
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           repository: wpilibsuite/build-tools
       - uses: actions/download-artifact@v2
diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml
index 33d5b847a5..e893c58faa 100644
--- a/.github/workflows/lint-format.yml
+++ b/.github/workflows/lint-format.yml
@@ -15,9 +15,10 @@ jobs:
     name: "wpiformat"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Fetch all history and metadata
         run: |
+          git config --global --add safe.directory /__w/allwpilib/allwpilib
           git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
@@ -49,9 +50,10 @@ jobs:
     runs-on: ubuntu-latest
     container: wpilib/roborio-cross-ubuntu:2022-20.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Fetch all history and metadata
         run: |
+          git config --global --add safe.directory /__w/allwpilib/allwpilib
           git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
@@ -75,11 +77,15 @@ jobs:
   javaformat:
     name: "Java format"
     runs-on: ubuntu-latest
-    container: wpilib/ubuntu-base:18.04
+    container: wpilib/ubuntu-base:20.04
     steps:
-      - uses: actions/checkout@v2
-        with:
-          fetch-depth: 0
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git config --global --add safe.directory /__w/allwpilib/allwpilib
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
       - name: Run Java format
         run: ./gradlew javaFormat spotbugsMain spotbugsTest spotbugsDev
       - name: Check output
@@ -91,7 +97,7 @@ jobs:
     name: "Documentation"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v1
diff --git a/.github/workflows/sanitizers.yml b/.github/workflows/sanitizers.yml
index 9fc1ff6682..17ea475a35 100644
--- a/.github/workflows/sanitizers.yml
+++ b/.github/workflows/sanitizers.yml
@@ -28,7 +28,7 @@ jobs:
     runs-on: ubuntu-latest
     container: wpilib/roborio-cross-ubuntu:2022-20.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Install Dependencies
         run: |
diff --git a/.github/workflows/upstream-utils.yml b/.github/workflows/upstream-utils.yml
index 0369916364..30d14352c1 100644
--- a/.github/workflows/upstream-utils.yml
+++ b/.github/workflows/upstream-utils.yml
@@ -15,7 +15,7 @@ jobs:
     name: "Update"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Fetch all history and metadata
         run: |
           git fetch --prune --unshallow