diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index aba5ea4..a93abf8 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -1,96 +1,236 @@
 name: Build
 
 on:
-  push:
-    branches:
-      - 'main'
-  pull_request:
-    branches:
-      - '*'
+  [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: false
 
 defaults:
   run:
     shell: bash
 
 jobs:
-  build:
+  # Use WPI provided Docker images to build for Linux ARM32 and ARM64 platforms
+  build-docker:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
+            name: LinuxARM64
+            build-options: "-Ponlylinuxarm64"
+            platform-type: linuxarm64
+            arch: arm64
+          - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
+            name: LinuxARM32
+            build-options: "-Ponlylinuxarm32"
+            platform-type: linuxarm32
+            arch: arm32
+    runs-on: ubuntu-latest
+    name: "Build - ${{ matrix.name }}"
+    container: ${{ matrix.container }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.sha }}
+
+      - name: Setup Java
+        uses: actions/setup-java@v4
+        with:
+          distribution: 'zulu'
+          java-version: 11
+
+      - name: Setup Gradle
+        uses: gradle/actions/setup-gradle@v4
+
+      - name: Build
+        run: |
+          ./gradlew outputVersions publish ${{ matrix.build-options }} -PreleaseMode
+
+      - name: Download WPILib HAL artifacts and headers for ${{ matrix.platform-type }}
+        run : |
+          halVersion=$(cat wpiHalVersion.txt)
+          
+          halPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip
+          utilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip
+
+          curl -o halPlatform.zip "$halPlatformUrl"
+          curl -o utilPlatform.zip "$utilPlatformUrl"
+
+      - name: Unzip WPILib HAL artifacts and headers
+        run: |
+          unzip halPlatform.zip -d halPlatform
+          unzip utilPlatform.zip -d utilPlatform
+          mkdir -p CANBridge-artifacts
+
+      # Put Linux ARM release files together in one directory
+      - name: Create Artifact
+        run: |
+          cp build/libs/cANBridge/static/release/libCANBridge.a CANBridge-artifacts/libCANBridge.a
+          cp build/libs/cANBridge/shared/release/libCANBridge.so CANBridge-artifacts/libCANBridge.so
+          cp halPlatform/linux/${{ matrix.arch }}/shared/libwpiHal.so CANBridge-artifacts/libwpiHal.so
+          cp utilPlatform/linux/${{ matrix.arch }}/shared/libwpiutil.so CANBridge-artifacts/libwpiutil.so
+
+      # Upload build artifact
+      - name: Upload build artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: CANBridge-${{ matrix.platform-type }}-${{ github.sha}}
+          path: CANBridge-artifacts/
+
+  # Use native runners to build for Windows, Linux, and macOS
+  build-native:
     timeout-minutes: 15
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: windows-latest
-            container: ''
-            name: windows64
-    name: "build-${{ matrix.name }}"
+            name: Win64
+            build-options: ""
+            platform-type: windowsx86-64
+          - os: ubuntu-latest
+            name: Linux64
+            platform-type: linuxx86-64
+            build-options: ""
+          - os: macos-latest
+            name: macOS
+            platform-type: osxuniversal
+            build-options: ""
+    name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
-    container: ${{ matrix.container }}
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ github.sha }}
 
       - name: Setup Java
-        uses: actions/setup-java@v3
+        uses: actions/setup-java@v4
         with:
           distribution: 'zulu'
           java-version: 11
 
+      - name: Setup Gradle
+        uses: gradle/actions/setup-gradle@v4
+
       - name: Build
         run: |
           ./gradlew outputVersions publish ${{ matrix.build-options }} -PreleaseMode
 
-      - name: Download WPILib HAL artifacts and headers, gather all needed headers
+      - name: Download WPILib HAL artifacts and headers for ${{ matrix.platform-type }}
         run : |
           halVersion=$(cat wpiHalVersion.txt)
-          
-          # Download WPILib artifacts from Artifactory 
-          halWindowsUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-windowsx86-64.zip
+
+          halPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-${{ matrix.platform-type }}.zip
+          utilPlatformUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-${{ matrix.platform-type }}.zip
+
+          curl -o halPlatform.zip "$halPlatformUrl"
+          curl -o utilPlatform.zip "$utilPlatformUrl"
+
+      - name: Unzip WPILib HAL artifacts and headers
+        run: |
+          unzip halPlatform.zip -d halPlatform
+          unzip utilPlatform.zip -d utilPlatform
+          mkdir -p CANBridge-artifacts
+
+      # Put release files together in one directory based on platform
+      - name: Create Artifact
+        run: |
+          mkdir -p CANBridge-artifacts
+          if [[ "${{ matrix.platform-type }}" == "windowsx86-64" ]]; then
+            cp build/libs/cANBridge/static/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge-static.lib
+            cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.dll CANBridge-artifacts/CANBridge.dll
+            cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge.lib
+            cp halPlatform/windows/x86-64/shared/wpiHal.dll CANBridge-artifacts/wpiHal.dll
+            cp halPlatform/windows/x86-64/shared/wpiHal.lib CANBridge-artifacts/wpiHal.lib
+            cp utilPlatform/windows/x86-64/shared/wpiutil.dll CANBridge-artifacts/wpiutil.dll
+            cp utilPlatform/windows/x86-64/shared/wpiutil.lib CANBridge-artifacts/wpiutil.lib
+          elif [[ "${{ matrix.platform-type }}" == "linuxx86-64" ]]; then
+            cp build/libs/cANBridge/static/linuxx86-64/release/libCANBridge.a CANBridge-artifacts/libCANBridge.a
+            cp build/libs/cANBridge/shared/linuxx86-64/release/libCANBridge.so CANBridge-artifacts/libCANBridge.so
+            cp halPlatform/linux/x86-64/shared/libwpiHal.so CANBridge-artifacts/libwpiHal.so
+            cp utilPlatform/linux/x86-64/shared/libwpiutil.so CANBridge-artifacts/libwpiutil.so
+          elif [[ "${{ matrix.platform-type }}" == "osxuniversal" ]]; then
+            cp build/libs/cANBridge/static/osxuniversal/release/libCANBridge.a CANBridge-artifacts/libCANBridge.a
+            cp build/libs/cANBridge/shared/osxuniversal/release/libCANBridge.dylib CANBridge-artifacts/libCANBridge.dylib
+            cp halPlatform/osx/universal/shared/libwpiHal.dylib CANBridge-artifacts/libwpiHal.dylib
+            cp utilPlatform/osx/universal/shared/libwpiutil.dylib CANBridge-artifacts/libwpiutil.dylib
+          fi
+
+      # Upload build artifact
+      - name: Upload build artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: CANBridge-${{ matrix.platform-type }}-${{ github.sha}}
+          path: CANBridge-artifacts/
+
+  # Upload combined headers for WPILib from HAL and WPIUtil
+  wpi-headers:
+    runs-on: ubuntu-latest
+    name: "WPILib Headers"
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.sha }}
+      - name: Download WPILib HAL artifacts and headers
+        run : |
+          halVersion=$(cat wpiHalVersion.txt)
+
           halHeadersUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/hal/hal-cpp/"$halVersion"/hal-cpp-"$halVersion"-headers.zip
-          utilWindowsUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-windowsx86-64.zip
           utilHeadersUrl=https://frcmaven.wpi.edu/artifactory/release/edu/wpi/first/wpiutil/wpiutil-cpp/"$halVersion"/wpiutil-cpp-"$halVersion"-headers.zip
-          curl -o halWindows.zip "$halWindowsUrl"
+
           curl -o halHeaders.zip "$halHeadersUrl"
-          curl -o utilWindows.zip "$utilWindowsUrl"
           curl -o utilHeaders.zip "$utilHeadersUrl"
-          unzip halWindows.zip -d halWindows
+
+      - name: Unzip WPILib HAL artifacts and headers
+        run: |
           unzip halHeaders.zip -d halHeaders
-          unzip utilWindows.zip -d utilWindows
           unzip utilHeaders.zip -d utilHeaders
 
-          # Gather all of the the needed headers
+      - name: Gather all needed headers
+        run: |
           mkdir headers-for-artifact
           cp -r halHeaders/hal headers-for-artifact
           cp -r utilHeaders/wpi headers-for-artifact
           cp -r src/main/native/include/* headers-for-artifact
 
-          # Zip the needed headers and put them in the appropriate location for artifact upload
-          mkdir -p CANBridge-artifacts
-          7z a CANBridge-artifacts/headers.zip ./headers-for-artifact/*
-
-      # Put release files together in one directory
-      - name: Create Artifact
-        run: |
-          mkdir -p CANBridge-artifacts
-          cp build/libs/cANBridge/static/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge-static.lib
-          cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.dll CANBridge-artifacts/CANBridge.dll
-          cp build/libs/cANBridge/shared/windowsx86-64/release/CANBridge.lib CANBridge-artifacts/CANBridge.lib
-          cp halWindows/windows/x86-64/shared/wpiHal.dll CANBridge-artifacts/wpiHal.dll
-          cp halWindows/windows/x86-64/shared/wpiHal.lib CANBridge-artifacts/wpiHal.lib
-          cp utilWindows/windows/x86-64/shared/wpiutil.dll CANBridge-artifacts/wpiutil.dll
-          cp utilWindows/windows/x86-64/shared/wpiutil.lib CANBridge-artifacts/wpiutil.lib
-
       # Upload build artifact
       - name: Upload build artifact
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: CANBridge-${{ github.sha }}
-          path: CANBridge-artifacts/
+          path: headers-for-artifact
+          name: headers
+
+  # Upload version file, used for versioning
+  version:
+    runs-on: ubuntu-latest
+    name: "Version"
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.sha }}
+
+      - name: Setup Java
+        uses: actions/setup-java@v4
+        with:
+          distribution: 'zulu'
+          java-version: 11
 
-      # Upload version.txt
-      - name: Upload version artifact
-        uses: actions/upload-artifact@v3
+      - name: Setup Gradle
+        uses: gradle/actions/setup-gradle@v4
+
+      - name: Build
+        run: |
+          ./gradlew outputVersions -PreleaseMode
+
+      - name: Upload build artifact
+        uses: actions/upload-artifact@v4
         with:
           name: version
-          path: build/allOutputs/version.txt
+          path: build/allOutputs/version.txt
\ No newline at end of file
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 0c00949..d550195 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -3,33 +3,39 @@ name: Create release
 on:
   push:
     tags:
-      - 'v*'
+      - 'v**'
+
+permissions:
+  contents: write
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: false
 
 defaults:
   run:
     shell: bash
 
 jobs:
-  check-versions:
+  # Checks previous build workflow and gets the version from publish.gradle
+  check-build:
+    name: Check build and publish versions
     runs-on: ubuntu-latest
     outputs:
       TAG_NAME: ${{ env.TAG_NAME }}
       VERSION: ${{ steps.get_version.outputs.version }}
     steps:
-      - name: Wait for build to finish
-        uses: lewagon/wait-on-check-action@v1.3.1
+      - name: Wait for build workflow to finish
+        uses: lewagon/wait-on-check-action@v1.3.4
         with:
           ref: ${{ github.ref }}
-          check-name: 'build-windows64'
+          check-regexp: 'Build|WPILib Headers|Version'
           repo-token: ${{ secrets.GITHUB_TOKEN }}
           wait-interval: 10
-      - name: Get tag name
-        run: |
-          echo "TAG_NAME=${GITHUB_REF#refs/*/}" >> $GITHUB_ENV
 
       # Download artifacts from build workflow
       - name: Download workflow artifacts
-        uses: dawidd6/action-download-artifact@v2
+        uses: dawidd6/action-download-artifact@v6
         with:
           workflow: build.yml
           commit: ${{ github.sha }}
@@ -37,38 +43,36 @@ jobs:
 
       # Get publish.gradle version
       - name: Get publish.gradle version
-        id: get_version
+        id: get-version
         run: |
           echo "version=$(cat version/version.txt)" >> $GITHUB_OUTPUT
           echo "expectedTagName=v$(cat version/version.txt)" >> $GITHUB_OUTPUT
 
-      # Check publish.gradle version
-      - name: publish.gradle version check FAILED
-        if: ${{ steps.get_version.outputs.expectedTagName != env.TAG_NAME }}
-        run: |
-          echo Tag name: ${{ env.TAG_NAME }}
-          echo publish.gradle version: ${{ steps.get_version.outputs.version }}
-          exit 1
-
+  # Creates a release draft with the artifacts from the build workflow
   prepare-release:
+    name: Prepare release
     runs-on: ubuntu-latest
-    needs: check-versions
+    needs: check-build
     steps:
       # Download API, docs, and version.txt
       - name: Download workflow artifacts
-        uses: dawidd6/action-download-artifact@v2
+        uses: dawidd6/action-download-artifact@v6
         with:
           workflow: build.yml
           commit: ${{ github.sha }}
           path: '.'
+          skip_unpack: true
+
+      # This step is to check what files are downloaded and how they are structured, as well as binary sizes for releases
+      - name: List files
+        run: |
+          ls -Rlh
 
       # Create new release draft
       - name: Create release
-        id: create_release
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          VERSION=${{ needs.check-versions.outputs.version }}
-          TAG=v$VERSION
-          ls --recursive -l
-          gh release create $TAG CANBridge-${{ github.sha }}/* --repo $GITHUB_REPOSITORY --draft --title "Version $VERSION"
+        uses: softprops/action-gh-release@v2
+        with:
+          draft: true
+          generate_release_notes: true
+          files: |
+            **/**
\ No newline at end of file
diff --git a/config.gradle b/config.gradle
index 7a59e9d..1c8fcb6 100644
--- a/config.gradle
+++ b/config.gradle
@@ -8,7 +8,7 @@ nativeUtils {
       // When updating WPILib, be sure to also update wpiHalVersion.txt
       wpiVersion = "2023.+"
       niLibVersion = "2023.3.0"
-      googleTestVersion = "1.11.0-3"
+      googleTestVersion = "1.11.0-4"
     }
   }
 }
diff --git a/gradlew b/gradlew
old mode 100644
new mode 100755