diff --git a/.bazelrc b/.bazelrc
index cdc4a9f..5a940c3 100644
--- a/.bazelrc
+++ b/.bazelrc
@@ -1,4 +1,6 @@
 try-import user.bazelrc
+try-import .buildbuddy-auth.rc
+
 import .bazelrc-cc
 import .bazelrc-java
 import .bazelrc-buildbuddy
diff --git a/.bazelrc-buildbuddy b/.bazelrc-buildbuddy
index 8407ec6..6f1cbe3 100644
--- a/.bazelrc-buildbuddy
+++ b/.bazelrc-buildbuddy
@@ -1,10 +1,19 @@
 build:remote --bes_results_url=https://app.buildbuddy.io/invocation/
 build:remote --bes_backend=grpcs://remote.buildbuddy.io
 build:remote --remote_cache=grpcs://remote.buildbuddy.io
-build:remote --remote_download_toplevel # Helps remove network bottleneck if caching is enabled
 build:remote --remote_timeout=3600
 
+# Additional suggestions from buildbuddy for speed
+build:remote --experimental_remote_cache_compression
+build:remote --experimental_remote_cache_compression_threshold=100
+build:remote --noslim_profile
+build:remote --experimental_profile_include_target_label
+build:remote --experimental_profile_include_primary_output
+build:remote --nolegacy_important_outputs
+
 build --experimental_inmemory_jdeps_files
 build --experimental_inmemory_dotd_files
 
+build:ci --config=remote
 build:ci --build_metadata=ROLE=CI
+build:ci --remote_download_minimal
diff --git a/.bazelrc-cc b/.bazelrc-cc
index 12cbb14..7ca7094 100644
--- a/.bazelrc-cc
+++ b/.bazelrc-cc
@@ -7,6 +7,7 @@ build:windows --copt=/wd5105
 build:windows --cxxopt=/wd4146
 build:windows --cxxopt=/wd4267
 build:windows --cxxopt=/wd4244
+build:windows --cxxopt=/utf-8
 
 # Windows Arm
 build:windows_arm --copt=/W3
@@ -17,6 +18,7 @@ build:windows_arm --copt=/wd5105
 build:windows_arm --cxxopt=/wd4146
 build:windows_arm --cxxopt=/wd4267
 build:windows_arm --cxxopt=/wd4244
+build:windows_arm --cxxopt=/utf-8
 build:windows_arm --cpu=arm64_windows
 
 # Linux
diff --git a/.bazelversion b/.bazelversion
index 0ee843c..643916c 100644
--- a/.bazelversion
+++ b/.bazelversion
@@ -1 +1 @@
-7.2.0
+7.3.1
diff --git a/.github/actions/setup-build-buddy/action.yml b/.github/actions/setup-build-buddy/action.yml
new file mode 100644
index 0000000..e9bff9d
--- /dev/null
+++ b/.github/actions/setup-build-buddy/action.yml
@@ -0,0 +1,36 @@
+name: 'Setup BuildBuddy acache'
+description: 'Sets up the build buddy cache to be readonly / writing based on the presence of environment variables'
+
+inputs:
+  token:
+    description: 'Build Buddy API token'
+  readonly_token:
+    description: 'Build Buddy API readonly token'
+    required: true
+
+runs:
+  using: "composite"
+  steps:
+    - name: Setup without key
+      env:
+        API_KEY: ${{ inputs.token }}
+        READONLY_KEY: ${{ inputs.readonly_token }}
+      if: ${{ env.API_KEY == '' }}
+      shell: bash
+      run: |
+          echo "No API key secret detected, will setup readonly cache"
+          echo "build:ci --noremote_upload_local_results" > .buildbuddy-auth.rc
+          echo "build:ci --remote_header=x-buildbuddy-api-key=${{ env.READONLY_KEY }}" >> .buildbuddy-auth.rc
+
+          echo "build:ci --noremote_upload_local_results" > tests/.buildbuddy-auth.rc
+          echo "build:ci --remote_header=x-buildbuddy-api-key=${{ env.READONLY_KEY }}" >> tests/.buildbuddy-auth.rc
+
+    - name: Set with key
+      env:
+        API_KEY: ${{ inputs.token }}
+      if: ${{ env.API_KEY != '' }}
+      shell: bash
+      run: |
+          echo "API Key detected!"
+          echo "build:ci --remote_header=x-buildbuddy-api-key=${{ env.API_KEY }}" > .buildbuddy-auth.rc
+          echo "build:ci --remote_header=x-buildbuddy-api-key=${{ env.API_KEY }}" > tests/.buildbuddy-auth.rc
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 19ad407..31aa264 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -32,13 +32,18 @@ jobs:
         distribution: 'zulu'
         java-version: 17
         architecture: ${{ matrix.java_arch }}
-    - run: bazel ${{ matrix.bazel_options }} build -k ${{ matrix.config }} --config=remote @bzlmodrio-pathplannerlib//...
+    - id: setup_build_buddy
+      uses: ./.github/actions/setup-build-buddy
+      with:
+        token: ${{ secrets.BUILDBUDDY_API_KEY }}
+        readonly_token: ${{ secrets.BUILDBUDDY_READONLY }}
+    - run: bazel ${{ matrix.bazel_options }} build -k ${{ matrix.config }} --config=ci @bzlmodrio-pathplannerlib//...
       working-directory: tests
     - name: Build and allow failure # TODO Sometimes symlinks don't get created correctly the first time around
-      run: bazel ${{ matrix.bazel_options }} build -k ${{ matrix.config }} --verbose_failures --config=remote //... || true
+      run: bazel ${{ matrix.bazel_options }} build -k ${{ matrix.config }} --verbose_failures --config=ci //... || true
       working-directory: tests
     - name: Build
-      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=remote
+      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=ci
       working-directory: tests
 
 
@@ -67,11 +72,16 @@ jobs:
         distribution: 'zulu'
         java-version: 17
         architecture: ${{ matrix.java_arch }}
+    - id: setup_build_buddy
+      uses: ./.github/actions/setup-build-buddy
+      with:
+        token: ${{ secrets.BUILDBUDDY_API_KEY }}
+        readonly_token: ${{ secrets.BUILDBUDDY_READONLY }}
     - name: Build and allow failure # TODO Sometimes symlinks don't get created correctly the first time around
-      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=remote || true
+      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=ci || true
       working-directory: tests
     - name: Build
-      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=remote
+      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=ci
       working-directory: tests
 
   build_bullseye32:
@@ -99,11 +109,16 @@ jobs:
         distribution: 'zulu'
         java-version: 17
         architecture: ${{ matrix.java_arch }}
+    - id: setup_build_buddy
+      uses: ./.github/actions/setup-build-buddy
+      with:
+        token: ${{ secrets.BUILDBUDDY_API_KEY }}
+        readonly_token: ${{ secrets.BUILDBUDDY_READONLY }}
     - name: Build and allow failure # TODO Sometimes symlinks don't get created correctly the first time around
-      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=remote || true
+      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=ci || true
       working-directory: tests
     - name: Build
-      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=remote
+      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=ci
       working-directory: tests
 
 
@@ -132,9 +147,14 @@ jobs:
         distribution: 'zulu'
         java-version: 17
         architecture: ${{ matrix.java_arch }}
+    - id: setup_build_buddy
+      uses: ./.github/actions/setup-build-buddy
+      with:
+        token: ${{ secrets.BUILDBUDDY_API_KEY }}
+        readonly_token: ${{ secrets.BUILDBUDDY_READONLY }}
     - name: Build and allow failure # TODO Sometimes symlinks don't get created correctly the first time around
-      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=remote || true
+      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=ci || true
       working-directory: tests
     - name: Build
-      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=remote
+      run: bazel ${{ matrix.bazel_options }} ${{ matrix.command }} //... -k ${{ matrix.config }} --verbose_failures --config=ci
       working-directory: tests
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index dc634cc..39eff4a 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -61,7 +61,7 @@ jobs:
         run: git diff HEAD > buildifier-fixes.patch
         if: ${{ failure() }}
 
-      - uses: actions/upload-artifact@v2
+      - uses: actions/upload-artifact@v4
         with:
           name: buildifier fixes
           path: buildifier-fixes.patch
diff --git a/.gitignore b/.gitignore
index e4fab7d..8e41b2a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
 bazel-*
 *.pyc
 user.bazelrc
+.buildbuddy-auth.rc
 .DS_Store
diff --git a/MODULE.bazel b/MODULE.bazel
index b645e5e..b3e29d2 100644
--- a/MODULE.bazel
+++ b/MODULE.bazel
@@ -6,7 +6,7 @@ module(
 
 bazel_dep(name = "platforms", version = "0.0.9")
 bazel_dep(name = "rules_cc", version = "0.0.9")
-bazel_dep(name = "rules_java", version = "7.6.1")
+bazel_dep(name = "rules_java", version = "7.6.5")
 bazel_dep(name = "rules_bazelrio", version = "0.0.14")
 bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2024-1")
 bazel_dep(name = "bzlmodrio-allwpilib", version = "2024.1.1")
diff --git a/maven_cpp_deps.bzl b/maven_cpp_deps.bzl
index 8c59698..ee82b69 100644
--- a/maven_cpp_deps.bzl
+++ b/maven_cpp_deps.bzl
@@ -7,6 +7,12 @@ cc_library_headers = """cc_library(
     includes = ["."],
     visibility = ["//visibility:public"],
 )
+
+filegroup(
+    name = "header_files",
+    srcs = glob(["**"]),
+    visibility = ["//visibility:public"],
+)
 """
 
 cc_library_sources = """filegroup(
diff --git a/private/cpp/PathplannerLib-cpp/BUILD.bazel b/private/cpp/PathplannerLib-cpp/BUILD.bazel
index d63f68b..079e307 100644
--- a/private/cpp/PathplannerLib-cpp/BUILD.bazel
+++ b/private/cpp/PathplannerLib-cpp/BUILD.bazel
@@ -1,5 +1,11 @@
 load("@rules_cc//cc:defs.bzl", "cc_library")
 
+alias(
+    name = "header_files",
+    actual = "@bazelrio_com_pathplanner_lib_pathplannerlib-cpp_headers//:header_files",
+    visibility = ["@bzlmodrio-pathplannerlib//:__subpackages__"],
+)
+
 cc_library(
     name = "shared_interface",
     srcs = select({
@@ -15,8 +21,8 @@ cc_library(
     deps = ["@bazelrio_com_pathplanner_lib_pathplannerlib-cpp_headers//:headers"],
 )
 
-cc_library(
-    name = "shared",
+filegroup(
+    name = "shared_raw",
     srcs = select({
         "@rules_bazelrio//conditions:linux_x86_64": ["@bazelrio_com_pathplanner_lib_pathplannerlib-cpp_linuxx86-64//:shared"],
         "@rules_bazelrio//conditions:osx": ["@bazelrio_com_pathplanner_lib_pathplannerlib-cpp_osxuniversal//:shared"],
@@ -24,7 +30,14 @@ cc_library(
         "@rules_bzlmodrio_toolchains//constraints/is_bullseye32:bullseye32": ["@bazelrio_com_pathplanner_lib_pathplannerlib-cpp_linuxarm32//:shared"],
         "@rules_bzlmodrio_toolchains//constraints/is_bullseye64:bullseye64": ["@bazelrio_com_pathplanner_lib_pathplannerlib-cpp_linuxarm64//:shared"],
         "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@bazelrio_com_pathplanner_lib_pathplannerlib-cpp_linuxathena//:shared"],
+        "//conditions:default": [],
     }),
+    visibility = ["@bzlmodrio-pathplannerlib//:__subpackages__"],
+)
+
+cc_library(
+    name = "shared",
+    srcs = [":shared_raw"],
     target_compatible_with = select({
         "@rules_bzlmodrio_toolchains//constraints/is_raspi32:raspi32": ["@platforms//:incompatible"],
         "//conditions:default": [],
diff --git a/private/non_bzlmod_dependencies/download_dependencies.bzl b/private/non_bzlmod_dependencies/download_dependencies.bzl
index 9557cb8..f583107 100644
--- a/private/non_bzlmod_dependencies/download_dependencies.bzl
+++ b/private/non_bzlmod_dependencies/download_dependencies.bzl
@@ -4,8 +4,8 @@ def download_dependencies():
     # Rules Java
     http_archive(
         name = "rules_java",
-        sha256 = "f8ae9ed3887df02f40de9f4f7ac3873e6dd7a471f9cddf63952538b94b59aeb3",
-        url = "https://github.com/bazelbuild/rules_java/releases/download/7.6.1/rules_java-7.6.1.tar.gz",
+        sha256 = "8afd053dd2a7b85a4f033584f30a7f1666c5492c56c76e04eec4428bdb2a86cf",
+        url = "https://github.com/bazelbuild/rules_java/releases/download/7.6.5/rules_java-7.6.5.tar.gz",
     )
 
     # JVM External
diff --git a/tests/.bazelrc b/tests/.bazelrc
index cdc4a9f..5a940c3 100644
--- a/tests/.bazelrc
+++ b/tests/.bazelrc
@@ -1,4 +1,6 @@
 try-import user.bazelrc
+try-import .buildbuddy-auth.rc
+
 import .bazelrc-cc
 import .bazelrc-java
 import .bazelrc-buildbuddy
diff --git a/tests/.bazelrc-buildbuddy b/tests/.bazelrc-buildbuddy
index 8407ec6..6f1cbe3 100644
--- a/tests/.bazelrc-buildbuddy
+++ b/tests/.bazelrc-buildbuddy
@@ -1,10 +1,19 @@
 build:remote --bes_results_url=https://app.buildbuddy.io/invocation/
 build:remote --bes_backend=grpcs://remote.buildbuddy.io
 build:remote --remote_cache=grpcs://remote.buildbuddy.io
-build:remote --remote_download_toplevel # Helps remove network bottleneck if caching is enabled
 build:remote --remote_timeout=3600
 
+# Additional suggestions from buildbuddy for speed
+build:remote --experimental_remote_cache_compression
+build:remote --experimental_remote_cache_compression_threshold=100
+build:remote --noslim_profile
+build:remote --experimental_profile_include_target_label
+build:remote --experimental_profile_include_primary_output
+build:remote --nolegacy_important_outputs
+
 build --experimental_inmemory_jdeps_files
 build --experimental_inmemory_dotd_files
 
+build:ci --config=remote
 build:ci --build_metadata=ROLE=CI
+build:ci --remote_download_minimal
diff --git a/tests/.bazelrc-cc b/tests/.bazelrc-cc
index 12cbb14..7ca7094 100644
--- a/tests/.bazelrc-cc
+++ b/tests/.bazelrc-cc
@@ -7,6 +7,7 @@ build:windows --copt=/wd5105
 build:windows --cxxopt=/wd4146
 build:windows --cxxopt=/wd4267
 build:windows --cxxopt=/wd4244
+build:windows --cxxopt=/utf-8
 
 # Windows Arm
 build:windows_arm --copt=/W3
@@ -17,6 +18,7 @@ build:windows_arm --copt=/wd5105
 build:windows_arm --cxxopt=/wd4146
 build:windows_arm --cxxopt=/wd4267
 build:windows_arm --cxxopt=/wd4244
+build:windows_arm --cxxopt=/utf-8
 build:windows_arm --cpu=arm64_windows
 
 # Linux
diff --git a/tests/.bazelversion b/tests/.bazelversion
index 0ee843c..643916c 100644
--- a/tests/.bazelversion
+++ b/tests/.bazelversion
@@ -1 +1 @@
-7.2.0
+7.3.1
diff --git a/tests/MODULE.bazel b/tests/MODULE.bazel
index 697486c..30af0e8 100644
--- a/tests/MODULE.bazel
+++ b/tests/MODULE.bazel
@@ -6,7 +6,7 @@ local_path_override(
 
 bazel_dep(name = "googletest", version = "1.14.0")
 bazel_dep(name = "rules_cc", version = "0.0.9")
-bazel_dep(name = "rules_java", version = "7.6.1")
+bazel_dep(name = "rules_java", version = "7.6.5")
 bazel_dep(name = "rules_jvm_external", version = "6.1")
 bazel_dep(name = "rules_bazelrio", version = "0.0.14")
 bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2024-1")