diff --git a/.github/workflows/codeql.yml b/.github/workflows/codeql.yml
index f3db9fcd..857e2173 100644
--- a/.github/workflows/codeql.yml
+++ b/.github/workflows/codeql.yml
@@ -46,6 +46,12 @@ jobs:
         language: ["cpp", "python"]
 
     steps:
+      - name: Setup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+
       - name: Checkout repository
         uses: actions/checkout@v4
         with:
@@ -66,3 +72,9 @@ jobs:
         uses: github/codeql-action/analyze@v3
         with:
           category: "/language:${{matrix.language}}"
+
+      - name: Cleanup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          rm -rf /opt/Autonomy_Software
diff --git a/.github/workflows/deploy_autonomy.yml b/.github/workflows/deploy_autonomy.yml
index 3e430827..c2d98921 100644
--- a/.github/workflows/deploy_autonomy.yml
+++ b/.github/workflows/deploy_autonomy.yml
@@ -32,6 +32,12 @@ jobs:
     runs-on: ${{ matrix.os }}
 
     steps:
+      - name: Setup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+
       - name: Checkout repository
         uses: actions/checkout@v4
         with:
@@ -68,13 +74,27 @@ jobs:
           name: Autonomy-${{ matrix.architecture }}
           path: /opt/Autonomy_Software/build/Autonomy_Software_${{ matrix.architecture }}.sh
 
+      - name: Cleanup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          rm -rf /opt/Autonomy_Software
+
   create-release:
     runs-on: [self-hosted, linux, X64]
     needs: build-and-upload
 
     steps:
+      - name: Setup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+
       - name: Checkout repository
         uses: actions/checkout@v4
+        with:
+          submodules: recursive
 
       - name: Fix Dubious Ownership
         run: git config --global --add safe.directory /opt/Autonomy_Software
@@ -105,3 +125,9 @@ jobs:
           files: "/opt/Autonomy_Software/artifacts/**"
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Cleanup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          rm -rf /opt/Autonomy_Software
diff --git a/.github/workflows/deploy_docker.yml b/.github/workflows/deploy_docker.yml
index 00e5c77d..2ed64c0a 100644
--- a/.github/workflows/deploy_docker.yml
+++ b/.github/workflows/deploy_docker.yml
@@ -102,6 +102,12 @@ jobs:
       quill-amd64: ${{ steps.changes.outputs.quill-amd64 }}
 
     steps:
+      - name: Setup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+
       # This step is used to checkout the repository. It is needed so that the package build scripts can be
       # checked for changes.
       - name: Checkout Repository
@@ -133,6 +139,12 @@ jobs:
             quill-amd64:
               - 'tools/package-builders/quill/quill-amd64-pkg.sh'
 
+      - name: Cleanup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          rm -rf /opt/Autonomy_Software
+
   # This job is to rebuild the updated AMD64 packages and push them to the package repository. It is run on a
   # self-hosted runner because there is not an NVIDIA GPU available on the GitHub runners. It gets the list of
   # packages that need to be rebuilt from the previous job. It outputs a variable for each package that is set
@@ -162,6 +174,12 @@ jobs:
           - quill
 
     steps:
+      - name: Setup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+
       # This step is used to checkout the repository. It is needed so that the package build scripts can be
       # checked for changes.
       - name: Checkout Repository
@@ -228,6 +246,12 @@ jobs:
         if: steps.rebuild_pkg.outputs.rebuilding_pkg == 'true'
         run: rm -rf /tmp/pkg/*
 
+      - name: Cleanup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          rm -rf /opt/Autonomy_Software
+
   # This job is used to check if any of the packages for ARM64 need to be rebuilt. If any of the package build
   # scripts have been updated, then the packages need to be rebuilt in the next job. This job is run on a self-
   # hosted runner because there is not an NVIDIA GPU available on the GitHub runners. It outputs a variable for
@@ -250,6 +274,12 @@ jobs:
       quill-arm64: ${{ steps.changes.outputs.quill-arm64 }}
 
     steps:
+      - name: Setup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+
       # This step is used to checkout the repository. It is needed so that the package build scripts can be
       # checked for changes.
       - name: Checkout Repository
@@ -281,6 +311,12 @@ jobs:
             quill-arm64:
               - 'tools/package-builders/quill/quill-arm64-pkg.sh'
 
+      - name: Cleanup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          rm -rf /opt/Autonomy_Software
+
   # This job is to rebuild the updated ARM64 packages and push them to the package repository. It is run on a
   # self-hosted runner because there is not an NVIDIA GPU available on the GitHub runners. It gets the list of
   # packages that need to be rebuilt from the previous job. It outputs a variable for each package that is set
@@ -309,6 +345,12 @@ jobs:
           - quill
 
     steps:
+      - name: Setup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+
       # This step is used to checkout the repository. It is needed so that the package build scripts can be
       # checked for changes.
       - name: Checkout Repository
@@ -375,6 +417,12 @@ jobs:
         if: steps.rebuild_pkg.outputs.rebuilding_pkg == 'true'
         run: rm -rf /tmp/pkg/*
 
+      - name: Cleanup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          rm -rf /opt/Autonomy_Software
+
   # This job is used to build and push the new jammy docker image. It is run on a self-hosted runner because
   # there is not an NVIDIA GPU available on the GitHub runners. If this is being run on a pull request, then
   # the image is tagged with the date and time. If this is being run on a push, then the image is tagged with
@@ -388,6 +436,12 @@ jobs:
     if: ${{ always() && !failure() && !cancelled() }}
 
     steps:
+      - name: Setup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+
       # This step is used to checkout the repository. It is needed so that the package build scripts can be
       # checked for changes.
       - name: Checkout Repository
@@ -461,6 +515,12 @@ jobs:
           cache-from: type=registry,ref=ghcr.io/missourimrdt/autonomy-jammy:buildcache
           cache-to: type=registry,ref=ghcr.io/missourimrdt/autonomy-jammy:buildcache,mode=max
 
+      - name: Cleanup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          rm -rf /opt/Autonomy_Software
+
   # This job is used to build and push the new jetpack docker image. It is run on a self-hosted runner because
   # there is not an NVIDIA GPU available on the GitHub runners. If this is being run on a pull request, then
   # the image is tagged with the date and time. If this is being run on a push, then the image is tagged with
@@ -474,6 +534,12 @@ jobs:
     if: ${{ always() && !failure() && !cancelled() }}
 
     steps:
+      - name: Setup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+
       # This step is used to checkout the repository. It is needed so that the package build scripts can be
       # checked for changes.
       - name: Checkout Repository
@@ -546,3 +612,9 @@ jobs:
           push: true
           cache-from: type=registry,ref=ghcr.io/missourimrdt/autonomy-jetpack:buildcache
           cache-to: type=registry,ref=ghcr.io/missourimrdt/autonomy-jetpack:buildcache,mode=max
+
+      - name: Cleanup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          rm -rf /opt/Autonomy_Software
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index e9fcf2e3..09007ccd 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -21,6 +21,12 @@ jobs:
     runs-on: [self-hosted, linux, X64]
 
     steps:
+      - name: Setup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+
       - name: Checkout repository
         uses: actions/checkout@v4
         with:
@@ -65,3 +71,9 @@ jobs:
         run: |
           cd /opt/Autonomy_Software/build
           if test -f "Autonomy_Software_${{ matrix.type }}Tests"; then ./Autonomy_Software_${{ matrix.type }}Tests ; else echo "No ${{ matrix.type }} Tests Exist" ; fi
+
+      - name: Cleanup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          rm -rf /opt/Autonomy_Software
diff --git a/.github/workflows/valgrind.yml b/.github/workflows/valgrind.yml
index 0866810a..c6a1a8c4 100644
--- a/.github/workflows/valgrind.yml
+++ b/.github/workflows/valgrind.yml
@@ -16,6 +16,12 @@ jobs:
     runs-on: [self-hosted, linux, X64]
 
     steps:
+      - name: Setup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          if [ ! -d "Autonomy_Software" ]; then git clone --recurse-submodules -j8 https://github.com/MissouriMRDT/Autonomy_Software.git; fi
+
       - name: Checkout repository
         uses: actions/checkout@v4
         with:
@@ -97,3 +103,9 @@ jobs:
           name: valgrind.rpt
           path: /opt/Autonomy_Software/tools/valgrind/valgrind.rpt
           retention-days: 1
+
+      - name: Cleanup Action Environment
+        if: always()
+        run: |
+          cd /opt
+          rm -rf /opt/Autonomy_Software