diff --git a/.github/workflows/cache_cleanup.yml b/.github/workflows/cache_cleanup.yml
index dfc73eebb223c..6cb2403f2b622 100644
--- a/.github/workflows/cache_cleanup.yml
+++ b/.github/workflows/cache_cleanup.yml
@@ -15,7 +15,7 @@ jobs:
       contents: read
     steps:
       - name: Check out code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Cleanup
         run: |
diff --git a/.github/workflows/cygwin_build.yml b/.github/workflows/cygwin_build.yml
index 4b17472160359..9ae7ffba31fac 100644
--- a/.github/workflows/cygwin_build.yml
+++ b/.github/workflows/cygwin_build.yml
@@ -144,7 +144,7 @@ jobs:
     runs-on: 'windows-latest'
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       - name: Prepare ccache timestamp
diff --git a/.github/workflows/esp32_build.yml b/.github/workflows/esp32_build.yml
index adad8f8e0c3e5..c2a438891f7da 100644
--- a/.github/workflows/esp32_build.yml
+++ b/.github/workflows/esp32_build.yml
@@ -155,7 +155,7 @@ jobs:
         gcc: [10]
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       - name: Install Prerequisites
diff --git a/.github/workflows/macos_build.yml b/.github/workflows/macos_build.yml
index 67e736006e902..7dba405b0300e 100644
--- a/.github/workflows/macos_build.yml
+++ b/.github/workflows/macos_build.yml
@@ -151,7 +151,7 @@ jobs:
         ]
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       - name: Install Prerequisites
diff --git a/.github/workflows/test_ccache.yml b/.github/workflows/test_ccache.yml
index c92011818eb95..c00521bc7b9df 100644
--- a/.github/workflows/test_ccache.yml
+++ b/.github/workflows/test_ccache.yml
@@ -136,7 +136,7 @@ jobs:
         gcc: [10]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       - name: ccache test
diff --git a/.github/workflows/test_chibios.yml b/.github/workflows/test_chibios.yml
index e86a6dd27b2dd..3fe7c730eac02 100644
--- a/.github/workflows/test_chibios.yml
+++ b/.github/workflows/test_chibios.yml
@@ -168,7 +168,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
diff --git a/.github/workflows/test_coverage.yml b/.github/workflows/test_coverage.yml
index 553110fb3fb23..dda488770f776 100644
--- a/.github/workflows/test_coverage.yml
+++ b/.github/workflows/test_coverage.yml
@@ -38,7 +38,7 @@ jobs:
             type: coverage
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
diff --git a/.github/workflows/test_dds.yml b/.github/workflows/test_dds.yml
index b4487d4731597..c8e63c33eda02 100644
--- a/.github/workflows/test_dds.yml
+++ b/.github/workflows/test_dds.yml
@@ -152,7 +152,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
diff --git a/.github/workflows/test_environment.yml b/.github/workflows/test_environment.yml
index c7ee632a2d9e0..f724c1db964d4 100644
--- a/.github/workflows/test_environment.yml
+++ b/.github/workflows/test_environment.yml
@@ -73,7 +73,7 @@ jobs:
           esac
 
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
             submodules: 'recursive'
       - name: test install environment ${{matrix.os}}.${{matrix.name}}
diff --git a/.github/workflows/test_linux_sbc.yml b/.github/workflows/test_linux_sbc.yml
index ef7e6db1ba2eb..d55a75b3f42c1 100644
--- a/.github/workflows/test_linux_sbc.yml
+++ b/.github/workflows/test_linux_sbc.yml
@@ -167,7 +167,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
diff --git a/.github/workflows/test_replay.yml b/.github/workflows/test_replay.yml
index 7778c56c6c26f..86cd8ba3b307b 100644
--- a/.github/workflows/test_replay.yml
+++ b/.github/workflows/test_replay.yml
@@ -161,7 +161,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
diff --git a/.github/workflows/test_scripting.yml b/.github/workflows/test_scripting.yml
index 972e7f42e9b64..fab7a226deba1 100644
--- a/.github/workflows/test_scripting.yml
+++ b/.github/workflows/test_scripting.yml
@@ -25,7 +25,7 @@ jobs:
     container: ardupilot/ardupilot-dev-base:v0.1.3
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
 
diff --git a/.github/workflows/test_scripts.yml b/.github/workflows/test_scripts.yml
index 458d2938715fb..b2e0c7bc6d139 100644
--- a/.github/workflows/test_scripts.yml
+++ b/.github/workflows/test_scripts.yml
@@ -22,7 +22,7 @@ jobs:
        ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       - name: test ${{matrix.config}}
diff --git a/.github/workflows/test_sitl_blimp.yml b/.github/workflows/test_sitl_blimp.yml
index e5c5f9e05a344..c43546273c50c 100644
--- a/.github/workflows/test_sitl_blimp.yml
+++ b/.github/workflows/test_sitl_blimp.yml
@@ -173,7 +173,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -220,7 +220,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
index d586947019d50..0a379980978e6 100644
--- a/.github/workflows/test_sitl_copter.yml
+++ b/.github/workflows/test_sitl_copter.yml
@@ -171,7 +171,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -224,7 +224,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -279,7 +279,7 @@ jobs:
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -320,7 +320,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
diff --git a/.github/workflows/test_sitl_periph.yml b/.github/workflows/test_sitl_periph.yml
index 669ae1b5baa70..0f4b5453fbef4 100644
--- a/.github/workflows/test_sitl_periph.yml
+++ b/.github/workflows/test_sitl_periph.yml
@@ -163,7 +163,7 @@ jobs:
     container: ardupilot/ardupilot-dev-periph:v0.1.3
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -212,7 +212,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
index f87a2e6d45d4c..18b1f0a801901 100644
--- a/.github/workflows/test_sitl_plane.yml
+++ b/.github/workflows/test_sitl_plane.yml
@@ -172,7 +172,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -220,7 +220,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index a12722f3ec5b6..d17c0d154e16e 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -171,7 +171,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -220,7 +220,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
index 22e0e41495aef..65812b31b79e5 100644
--- a/.github/workflows/test_sitl_sub.yml
+++ b/.github/workflows/test_sitl_sub.yml
@@ -174,7 +174,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -221,7 +221,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
index 4fc48f178b7a0..e9e20eccfd8ae 100644
--- a/.github/workflows/test_sitl_tracker.yml
+++ b/.github/workflows/test_sitl_tracker.yml
@@ -174,7 +174,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
@@ -221,7 +221,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build
diff --git a/.github/workflows/test_size.yml b/.github/workflows/test_size.yml
index aa24582e051ba..f8015bc88a717 100644
--- a/.github/workflows/test_size.yml
+++ b/.github/workflows/test_size.yml
@@ -86,7 +86,7 @@ jobs:
           - config: disco
             toolchain: chibios
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ github.event.pull_request.base.ref }}
           path: base_branch
@@ -175,7 +175,7 @@ jobs:
 
           echo [`date`] Built ${{ github.event.pull_request.base.ref }} with no versions
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
           path: 'pr'
diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml
index 95693485fed5f..609e30386c1ca 100644
--- a/.github/workflows/test_unit_tests.yml
+++ b/.github/workflows/test_unit_tests.yml
@@ -117,7 +117,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build