diff --git a/.gitlab-ci/docker-ros.yml b/.gitlab-ci/docker-ros.yml
index cc55018..4f71a3e 100644
--- a/.gitlab-ci/docker-ros.yml
+++ b/.gitlab-ci/docker-ros.yml
@@ -25,7 +25,7 @@ variables:
   REGISTRY_PASSWORD:          ${CI_REGISTRY_PASSWORD}                 # Docker registry password
   ENABLE_INDUSTRIAL_CI:       'false'                                 # Enable industrial_ci
   ENABLE_SLIM:                'true'                                  # Enable an extra slimmed run image via slim (only if run stage is targeted)
-  SLIM_BUILD_ARGUMENTS:       '--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false'  # Arguments to `slim build` (except for `--target` and `--tag`)
+  SLIM_BUILD_ARGS:            '--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false'  # Arguments to `slim build` (except for `--target` and `--tag`)
   ENABLE_SINGLEARCH_PUSH:     'false'                                 # Enable push of single arch images with [-amd64|-arm64] postfix
   ENABLE_PUSH_AS_LATEST:      'false'                                 # Push images with tag `latest`/`latest-dev` in addition to the configured image names
   RMW_IMPLEMENTATION:         'rmw_cyclonedds_cpp'                    # RMW implementation to use (only for ROS 2)
@@ -250,7 +250,7 @@ Test run-arm64:
     - docker login -u ${REGISTRY_USER} -p ${REGISTRY_PASSWORD} ${REGISTRY}
     - docker pull ${FAT_IMAGE}
   script:
-    - ./slim build --target ${FAT_IMAGE} --tag ${SLIM_IMAGE} ${SLIM_BUILD_ARGUMENTS}
+    - ./slim build --target ${FAT_IMAGE} --tag ${SLIM_IMAGE} ${SLIM_BUILD_ARGS}
     - docker push ${SLIM_IMAGE}
 
 Slim run-amd64:
diff --git a/action.yml b/action.yml
index 0f1cd58..882c82c 100644
--- a/action.yml
+++ b/action.yml
@@ -126,7 +126,7 @@ inputs:
     description: "Enable an extra slimmed run image via slim (only if run stage is targeted)"
     default: true
 
-  slim-build-arguments:
+  slim-build-args:
     description: "Arguments to `slim build` (except for `--target` and `--tag`)"
     default: '--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false'
 
@@ -222,6 +222,10 @@ runs:
         IMAGE_TAG: ${{ inputs.image-tag }}
         DEV_IMAGE_NAME: ${{ steps.dev-image-name.outputs.lowercase }}
         DEV_IMAGE_TAG: ${{ inputs.dev-image-tag }}
+        SLIM_IMAGE_NAME: ${{ steps.slim-image-name.outputs.lowercase }}
+        SLIM_IMAGE_TAG: ${{ inputs.slim-image-tag }}
+        ENABLE_SLIM: ${{ inputs.enable-slim }}
+        SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
         GIT_HTTPS_SERVER: ${{ inputs.git-https-server }}
@@ -260,16 +264,6 @@ runs:
         DOCKER_IMAGE: ${{ steps.build-images.outputs.INDUSTRIAL_CI_IMAGE }}
         DOCKER_PULL: false
 
-    - name: Slim images
-      if: ${{ inputs.enable-slim == 'true' && contains(inputs.target, 'run') }}
-      shell: bash
-      working-directory: ${{ inputs.build-context }}
-      run: |
-        curl -L -o ds.tar.gz https://github.com/slimtoolkit/slim/releases/download/1.40.11/dist_linux.tar.gz
-        tar -xvf ds.tar.gz
-        cd dist_linux*
-        ./slim build --target ${{ steps.image-name.outputs.lowercase }}:${{ inputs.image-tag }} --tag ${{ steps.slim-image-name.outputs.lowercase }}:${{ inputs.slim-image-tag }} ${{ inputs.slim-build-arguments }}
-
     - name: Slugify ref name
       id: slugify-ref-name
       uses: gacts/github-slug@v1
@@ -292,6 +286,7 @@ runs:
         SLIM_IMAGE_NAME: ${{ steps.slim-image-name.outputs.lowercase }}
         SLIM_IMAGE_TAG: ${{ inputs.slim-image-tag }}
         ENABLE_SLIM: ${{ inputs.enable-slim }}
+        SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
         ENABLE_SINGLEARCH_PUSH: ${{ inputs.enable-singlearch-push }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
@@ -331,6 +326,7 @@ runs:
         SLIM_IMAGE_NAME: ${{ steps.slim-image-name.outputs.lowercase }}
         SLIM_IMAGE_TAG: latest-slim
         ENABLE_SLIM: ${{ inputs.enable-slim }}
+        SLIM_BUILD_ARGS: ${{ inputs.slim-build-args }}
         ENABLE_SINGLEARCH_PUSH: ${{ inputs.enable-singlearch-push }}
         RMW_IMPLEMENTATION: ${{ inputs.rmw-implementation }}
         ROS_DISTRO: ${{ inputs.ros-distro }}
diff --git a/scripts/ci.sh b/scripts/ci.sh
index 52b869f..7bc4672 100755
--- a/scripts/ci.sh
+++ b/scripts/ci.sh
@@ -23,6 +23,7 @@ IMAGE="${IMAGE_NAME}:${IMAGE_TAG}"
 DEV_IMAGE="${DEV_IMAGE_NAME}:${DEV_IMAGE_TAG}"
 SLIM_IMAGE="${SLIM_IMAGE_NAME}:${SLIM_IMAGE_TAG}"
 ENABLE_SLIM="${ENABLE_SLIM:-true}"
+SLIM_BUILD_ARGS="${SLIM_BUILD_ARGS:-'--sensor-ipc-mode proxy --continue-after=10 --show-clogs --http-probe=false'}"
 ENABLE_SINGLEARCH_PUSH="${ENABLE_SINGLEARCH_PUSH:-false}"
 RMW_IMPLEMENTATION="${RMW_IMPLEMENTATION:-}"
 ROS_DISTRO="${ROS_DISTRO:-}"
@@ -68,6 +69,10 @@ fi
 unset TARGET
 unset PLATFORM
 
+# prepare slim
+curl -L -o ds.tar.gz https://github.com/slimtoolkit/slim/releases/download/1.40.11/dist_linux.tar.gz
+tar -xvf ds.tar.gz
+
 # loop over targets and platforms to build images
 for PLATFORM in "${PLATFORMS[@]}"; do
     for TARGET in "${TARGETS[@]}"; do
@@ -79,11 +84,23 @@ for PLATFORM in "${PLATFORMS[@]}"; do
         IMAGE="${image}" build_image
         close_log_group
     done
-done
 
-# push slim images
-if [[ "${ENABLE_SLIM}" == "true" && "${_ENABLE_IMAGE_PUSH}" == "true" && "${TARGET}" == *"run"* ]]; then
-    open_log_group "Push slim image"
-    docker push "${SLIM_IMAGE}"
-    close_log_group
-fi
+    # slim image
+    if [[ "${ENABLE_SLIM}" == "true" && "${TARGET}" == "run" ]]; then
+        open_log_group "Slim image (${PLATFORM})"
+        image="${IMAGE}"
+        slim_image="${SLIM_IMAGE}"
+        [[ -n "${_IMAGE_POSTFIX}" ]] && image="${image}${_IMAGE_POSTFIX}"
+        [[ -n "${_IMAGE_POSTFIX}" ]] && slim_image="${slim_image}${_IMAGE_POSTFIX}"
+        [[ "${_ENABLE_IMAGE_PUSH}" != "true" || "${ENABLE_SINGLEARCH_PUSH}" == "true" ]] && image="${image}-${PLATFORM}"
+        [[ "${_ENABLE_IMAGE_PUSH}" != "true" || "${ENABLE_SINGLEARCH_PUSH}" == "true" ]] && slim_image="${slim_image}-${PLATFORM}"
+        if [[ "${_ENABLE_IMAGE_PUSH}" == "true" || "${ENABLE_SINGLEARCH_PUSH}" == "true" ]]; then
+            docker push "${slim_image}"
+        else
+            cd dist_linux*
+            ./slim build --target "${image}" --tag "${slim_image}" ${SLIM_BUILD_ARGS}
+            cd -
+        fi
+        close_log_group
+    fi
+done