diff --git a/.github/workflows/c.yaml b/.github/workflows/c.yaml
index ce95541b7d..d70ef9b283 100644
--- a/.github/workflows/c.yaml
+++ b/.github/workflows/c.yaml
@@ -12,34 +12,9 @@ on:
       - "c/**"
       - .github/workflows/c.yaml
 jobs:
-  coverage:
-    name: Code Coverage
-    runs-on: ubuntu-18.04
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          submodules: recursive
-          fetch-depth: 0
-
-      - name: Setup
-        run: |
-          sudo apt-get -qq update
-          sudo apt-get -qq install lcov libeigen3-dev libserialport-dev
-
-      - name: Run tests
-        run: make test-c
-        env:
-          CMAKEFLAGS: -DCODE_COVERAGE=ON -DCMAKE_BUILD_TYPE=Debug -DBUILD_EXAMPLES=true
-
-      - name: Build examples
-        run: make -C c/build examples
-
-      - name: Upload coverage to codecov.io
-        run: |
-          bash <(curl -s https://codecov.io/bash) -s c/build || echo "Codecov did not collect coverage reports";
-
 
   ubuntu-lts:
+
     strategy:
       matrix:
         build_type: [ "Debug", "Release" ]
@@ -51,19 +26,30 @@ jobs:
         exclude: [
           { build_type: "Debug", compiler: { c: "gcc-6", cxx: "g++-6" }, build_shared_libraries: false }
         ]
+
     name: "Ubuntu 18.04 (Build: ${{ matrix.build_type }}, Compilers: ${{ matrix.compiler.c }}/${{ matrix.compiler.cxx }}, Shared Library: ${{ matrix.build_shared_libraries }})"
-    runs-on: ubuntu-18.04
+
+    runs-on: ubuntu-latest
+    container: ubuntu:18.04
+
     steps:
+
+      - name: Setup
+        run: |
+          apt-get -qq update
+          apt-get -qq install software-properties-common gpg wget
+          add-apt-repository -y ppa:git-core/ppa
+          wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
+          echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ bionic-rc main' \
+            | tee -a /etc/apt/sources.list.d/kitware.list >/dev/null
+          apt-get -qq update
+          apt-get -qq install libeigen3-dev libserialport-dev git cmake build-essential ${{ matrix.compiler.package }}
+
       - uses: actions/checkout@v2
         with:
           submodules: recursive
           fetch-depth: 0
 
-      - name: Setup
-        run: |
-          sudo apt-get -qq update
-          sudo apt-get -qq install libeigen3-dev libserialport-dev ${{ matrix.compiler.package }}
-
       - name: Configure
         run: |
           cmake -S c -B build \
@@ -71,15 +57,15 @@ jobs:
             -DCMAKE_C_COMPILER=${{ matrix.compiler.c }} \
             -DCMAKE_CXX_COMPILER=${{ matrix.compiler.cxx }} \
             -DBUILD_SHARED_LIBS=${{ matrix.build_shared_libraries }} \
-            -DCMAKE_INSTALL_PREFIX="${{ github.workspace }}/install" \
+            -DCMAKE_INSTALL_PREFIX="$PWD/install" \
             -DINSTALL_GTEST=false \
             -DBUILD_EXAMPLES=true
 
       - name: Build
-        run: cmake --build build
+        run: cmake --build build --parallel 
 
       - name: Example
-        run: cmake --build build --target examples
+        run: cmake --build build --parallel --target examples
 
       - name: Test
         run: cmake --build build --target do-all-tests
@@ -89,12 +75,11 @@ jobs:
 
       - name: Test Package
         run: |
-          cmake -S c/test_package -B c/test_package/build -DCMAKE_PREFIX_PATH="${{ github.workspace }}/install"
+          cmake -S c/test_package -B c/test_package/build -DCMAKE_PREFIX_PATH="$PWD/install"
           cmake --build c/test_package/build
 
-
   macos:
-    name: macOS Big Sur
+    name: macOS
     runs-on: macos-11
     steps:
       - uses: actions/checkout@v2
@@ -128,7 +113,7 @@ jobs:
 
   big-endian:
     name: Test Big Endian
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
         with:
diff --git a/.github/workflows/generator.yaml b/.github/workflows/generator.yaml
index be73011480..d19f6c6d7d 100644
--- a/.github/workflows/generator.yaml
+++ b/.github/workflows/generator.yaml
@@ -18,7 +18,7 @@ on:
 jobs:
   generation:
     name: Generated artifacts
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
         with:
diff --git a/.github/workflows/haskell.yaml b/.github/workflows/haskell.yaml
index 002ed5d3a1..16bc500e13 100644
--- a/.github/workflows/haskell.yaml
+++ b/.github/workflows/haskell.yaml
@@ -14,7 +14,7 @@ on:
 jobs:
   build:
     name: Build
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
 
diff --git a/.github/workflows/java.yaml b/.github/workflows/java.yaml
index a66beaf713..59aa3344bc 100644
--- a/.github/workflows/java.yaml
+++ b/.github/workflows/java.yaml
@@ -14,7 +14,7 @@ on:
 jobs:
   tests-java-1_8:
     name: Test
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
 
diff --git a/.github/workflows/javascript.yaml b/.github/workflows/javascript.yaml
index b2d5de4392..b4b4eaf64b 100644
--- a/.github/workflows/javascript.yaml
+++ b/.github/workflows/javascript.yaml
@@ -17,7 +17,7 @@ on:
 jobs:
   coverage:
     name: Test
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
 
diff --git a/.github/workflows/rust.yaml b/.github/workflows/rust.yaml
index 4356b8eaae..d1e0f2a190 100644
--- a/.github/workflows/rust.yaml
+++ b/.github/workflows/rust.yaml
@@ -68,7 +68,7 @@ jobs:
     strategy:
       matrix:
         os:
-          - ubuntu-18.04
+          - ubuntu-20.04
           - macos-12
           - windows-2022
     runs-on: ${{ matrix.os }}