diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index fbdf2b0c..dccb0f44 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -94,10 +94,10 @@ jobs:
       run: |
         sudo -u testbot bash -lc 'go test -v -race -run TestCartographerIntegration'
 
-    - name: make setup-cpp-debug test-cpp-valgrind
+    - name: make setup-cpp-full-mod test-cpp-full-mod-valgrind
       # Currently we only run valgrind on arm64 as x86
       # doesn't valgrind clean due to what appears to be a bug in GLOG
       # https://github.com/viamrobotics/viam-cartographer/actions/runs/5156238014/jobs/9287413446
       if: matrix.platform != 'linux/amd64'
       run: |
-        sudo -u testbot bash -lc 'make setup-cpp-debug test-cpp-valgrind'
+        sudo -u testbot bash -lc 'make setup-cpp-full-mod test-cpp-full-mod-valgrind'
diff --git a/Makefile b/Makefile
index e6c1ac5d..f8d07cda 100644
--- a/Makefile
+++ b/Makefile
@@ -117,21 +117,28 @@ build-asan: build-debug
 build-debug: EXTRA_CMAKE_FLAGS += -DCMAKE_BUILD_TYPE=Debug -DFORCE_DEBUG_BUILD=True
 build-debug: build
 
+test-cpp:
+	viam-cartographer/build/unit_tests -p -l all
+
+# Linux only
+setup-cpp-full-mod: 
+	sudo apt install -y valgrind gdb
+
 setup-cpp-debug: 
 	sudo apt install -y valgrind gdb
 
 # Linux only
-test-cpp-asan: build-asan
+test-cpp-full-mod-asan: build-asan
 	viam-cartographer/build/unit_tests -p -l all
 
-test-cpp-valgrind: build-debug
+test-cpp-full-mod-valgrind: build-debug
 	valgrind --error-exitcode=1 --leak-check=full -s viam-cartographer/build/unit_tests -p -l all
 
 # Linux only
-test-cpp-gdb: build-debug
+test-cpp-full-mod-gdb: build-debug
 	gdb --batch --ex run --ex bt --ex q --args viam-cartographer/build/unit_tests -p -l all
 
-test-cpp: build-debug
+test-cpp-full-mod: build-debug
 	viam-cartographer/build/unit_tests -p -l all
 
 test-go: