diff --git a/.github/workflows/build_aarch64.yml b/.github/workflows/build_aarch64.yml
index 18989a5e9..af26f33f2 100644
--- a/.github/workflows/build_aarch64.yml
+++ b/.github/workflows/build_aarch64.yml
@@ -41,7 +41,7 @@ jobs:
       run: echo >> $GITHUB_ENV TOOLCHAIN_URL=https://developer.arm.com/-/media/Files/downloads/gnu-a/10.3-2021.07/binrel/gcc-arm-10.3-2021.07-x86_64-aarch64-none-elf.tar.xz
 
     - name: Cache Toolchain
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       id: cache-toolchain
       with:
         path: ~/cache/
diff --git a/.github/workflows/build_arm.yml b/.github/workflows/build_arm.yml
index 53f73a48f..369048fc6 100644
--- a/.github/workflows/build_arm.yml
+++ b/.github/workflows/build_arm.yml
@@ -123,9 +123,11 @@ jobs:
 
   # ---------------------------------------
   # Build all no-family (orphaned) boards
+  # disable this workflow since it is often failed randomly
   # ---------------------------------------
   build-board:
     runs-on: ubuntu-latest
+    if: false
     strategy:
       fail-fast: false
       matrix:
@@ -163,11 +165,11 @@ jobs:
   # - pico + pico-probe connected via USB
   # - pico-probe is /dev/ttyACM0
   # ---------------------------------------
-  hw-test:
+  hw-rp2040-test:
     # Limit the run to only hathach due to limited resource on RPI4
     if: github.repository_owner == 'hathach'
     needs: build-arm
-    runs-on: [self-hosted, Linux, ARM64]
+    runs-on: [self-hosted, Linux, ARM64, rp2040]
 
     steps:
     - name: Clean workspace
@@ -183,9 +185,9 @@ jobs:
 
     - name: Create flash.sh
       run: |
-        touch flash.sh
+        echo > flash.sh 'cmdout=$(openocd -f "interface/picoprobe.cfg" -f "target/rp2040.cfg" -c "program $1 reset exit")'
+        echo >> flash.sh 'if (( $? )) ; then echo $cmdout ; fi'
         chmod +x flash.sh
-        echo > flash.sh 'openocd -f "interface/picoprobe.cfg" -f "target/rp2040.cfg" -c "program $1 reset exit"'
 
     - name: Test cdc_dual_ports
       run: |
diff --git a/.github/workflows/build_msp430.yml b/.github/workflows/build_msp430.yml
index b43d9e740..1ef25a6a0 100644
--- a/.github/workflows/build_msp430.yml
+++ b/.github/workflows/build_msp430.yml
@@ -16,9 +16,12 @@ jobs:
         family:
         # Alphabetical order
         - 'msp430'
+
     steps:
     - name: Setup Python
       uses: actions/setup-python@v4
+      with:
+        python-version: '3.x'
 
     - name: Checkout TinyUSB
       uses: actions/checkout@v3
@@ -36,7 +39,7 @@ jobs:
       run: echo >> $GITHUB_ENV TOOLCHAIN_URL=http://software-dl.ti.com/msp430/msp430_public_sw/mcu/msp430/MSPGCC/9_2_0_0/export/msp430-gcc-9.2.0.50_linux64.tar.bz2
 
     - name: Cache Toolchain
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       id: cache-toolchain
       with:
         path: ~/cache/
diff --git a/.github/workflows/build_renesas.yml b/.github/workflows/build_renesas.yml
index d212708f7..2e272c832 100644
--- a/.github/workflows/build_renesas.yml
+++ b/.github/workflows/build_renesas.yml
@@ -38,7 +38,7 @@ jobs:
       run: echo >> $GITHUB_ENV TOOLCHAIN_URL=http://gcc-renesas.com/downloads/get.php?f=rx/8.3.0.202004-gnurx/gcc-8.3.0.202004-GNURX-ELF.run
 
     - name: Cache Toolchain
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       id: cache-toolchain
       with:
         path: ~/cache/
diff --git a/.github/workflows/build_riscv.yml b/.github/workflows/build_riscv.yml
index 96b8c676b..61c1c60c5 100644
--- a/.github/workflows/build_riscv.yml
+++ b/.github/workflows/build_riscv.yml
@@ -39,7 +39,7 @@ jobs:
       run: echo >> $GITHUB_ENV TOOLCHAIN_URL=https://github.com/xpack-dev-tools/riscv-none-embed-gcc-xpack/releases/download/v10.1.0-1.1/xpack-riscv-none-embed-gcc-10.1.0-1.1-linux-x64.tar.gz
 
     - name: Cache Toolchain
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       id: cache-toolchain
       with:
         path: ~/cache/
diff --git a/.github/workflows/test_hardware.yml b/.github/workflows/test_hardware.yml
new file mode 100644
index 000000000..3ef1fdc56
--- /dev/null
+++ b/.github/workflows/test_hardware.yml
@@ -0,0 +1,85 @@
+name: Hardware Test
+on:
+  pull_request:
+  push:
+  release:
+    types:
+      - created
+
+# Hardware in the loop (HIL)
+# Current self-hosted instance is running on an EPYC 7232 server hosted by HiFiPhile user
+# - STM32L412 Nucleo with on-board jlink as ttyACM0
+
+jobs:
+  stm32l412nucleo-test:
+    runs-on: [self-hosted, Linux, X64, hifiphile]
+
+    steps:
+    - name: Clean workspace
+      run: |
+        echo "Cleaning up previous run"
+        rm -rf "${{ github.workspace }}"
+        mkdir -p "${{ github.workspace }}"
+
+    - name: Checkout TinyUSB
+      uses: actions/checkout@v3
+
+    - name: Get Dependencies and Build
+      run: |
+        git submodule update --init lib/FreeRTOS-Kernel lib/lwip
+        python3 tools/get_dependencies.py stm32l4
+        python3 tools/build_family.py stm32l4
+
+    - name: Pick-up elf files
+      run: |
+        mkdir stm32l412nucleo/
+        find examples/ -path "*stm32l412nucleo/*.elf" -exec mv {} stm32l412nucleo/ \;
+
+    - name: Create flash.sh
+      run: |
+        echo > flash.sh 'echo halt > flash.jlink'
+        echo >> flash.sh 'echo r >> flash.jlink'
+        echo >> flash.sh 'echo loadfile stm32l412nucleo/$1 >> flash.jlink'
+        echo >> flash.sh 'echo r >> flash.jlink'
+        echo >> flash.sh 'echo go >> flash.jlink'
+        echo >> flash.sh 'echo exit >> flash.jlink'
+        echo >> flash.sh 'cmdout=$(JLinkExe -device stm32l412kb -if swd -JTAGConf -1,-1 -speed auto -NoGui 1 -ExitOnError 1 -CommandFile flash.jlink)'
+        echo >> flash.sh 'if (( $? )) ; then echo $cmdout ; fi'
+        chmod +x flash.sh
+
+    - name: Test cdc_dual_ports
+      run: |
+        ./flash.sh cdc_dual_ports.elf
+        while (! ([ -e /dev/ttyACM1 ] && [ -e /dev/ttyACM2 ])) && [ $SECONDS -le 5 ]; do :; done
+        test -e /dev/ttyACM1 && echo "ttyACM1 exists"
+        test -e /dev/ttyACM2 && echo "ttyACM2 exists"
+
+      # Debian does not auto mount usb drive. skip this test for now
+    - name: Test cdc_msc
+      if: false
+      run: |
+        ./flash.sh cdc_msc.elf
+        readme='/media/pi/TinyUSB MSC/README.TXT'
+        while (! ([ -e /dev/ttyACM1 ] && [ -f "$readme" ])) && [ $SECONDS -le 5 ]; do :; done
+        test -e /dev/ttyACM1 && echo "ttyACM1 exists"
+        test -f "$readme" && echo "$readme exists"
+        cat "$readme"
+
+    - name: Test dfu
+      run: |
+        ./flash.sh dfu.elf
+        while (! (dfu-util -l | grep "Found DFU")) && [ $SECONDS -le 5 ]; do :; done
+        dfu-util -d cafe -a 0 -U dfu0
+        dfu-util -d cafe -a 1 -U dfu1
+        grep "TinyUSB DFU! - Partition 0" dfu0
+        grep "TinyUSB DFU! - Partition 1" dfu1
+
+    - name: Test dfu_runtime
+      run: |
+        ./flash.sh dfu_runtime.elf
+        while (! (dfu-util -l | grep "Found Runtime")) && [ $SECONDS -le 5 ]; do :; done
+
+#    - name: Test hid_boot_interface
+#      run: |
+#        ./flash.sh hid_boot_interface.elf
+#        while (! (dfu-util -l | grep "Found Runtime")) && [ $SECONDS -le 5 ]; do :; done