diff --git a/.github/scripts/boost.sh b/.github/scripts/boost.sh
deleted file mode 100644
index 3c7e01274..000000000
--- a/.github/scripts/boost.sh
+++ /dev/null
@@ -1,18 +0,0 @@
-### Script to install Boost
-BOOST_FOLDER=boost_${BOOST_VERSION//./_}
-
-# Download Boost
-wget https://boostorg.jfrog.io/artifactory/main/release/${BOOST_VERSION}/source/${BOOST_FOLDER}.tar.gz
-
-# Unzip
-tar -zxf ${BOOST_FOLDER}.tar.gz
-
-# Bootstrap
-cd ${BOOST_FOLDER}/
-./bootstrap.sh --with-libraries=serialization,filesystem,thread,system,atomic,date_time,timer,chrono,program_options,regex
-
-# Build and install
-sudo ./b2 -j$(nproc) install
-
-# Rebuild ld cache
-sudo ldconfig
diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh
index 1676ad537..c48921504 100644
--- a/.github/scripts/unix.sh
+++ b/.github/scripts/unix.sh
@@ -58,8 +58,10 @@ function configure()
   fi
 
   # GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs
+  # CMAKE_CXX_FLAGS="-w": Suppress warnings to avoid IO latency in CI logs
   cmake $SOURCE_DIR \
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
+      -DCMAKE_CXX_FLAGS="-w" \
       -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \
       -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
@@ -70,11 +72,9 @@ function configure()
       -DGTSAM_POSE3_EXPMAP=${GTSAM_POSE3_EXPMAP:-ON} \
       -DGTSAM_USE_SYSTEM_EIGEN=${GTSAM_USE_SYSTEM_EIGEN:-OFF} \
       -DGTSAM_USE_SYSTEM_METIS=${GTSAM_USE_SYSTEM_METIS:-OFF} \
+      -DGTSAM_FORCE_SHARED_LIB=${GTSAM_FORCE_SHARED_LIB:-OFF} \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-      -DGTSAM_SINGLE_TEST_EXE=OFF \
-      -DBOOST_ROOT=$BOOST_ROOT \
-      -DBoost_NO_SYSTEM_PATHS=ON \
-      -DBoost_ARCHITECTURE=-x64
+      -DGTSAM_SINGLE_TEST_EXE=OFF
 }
 
 
@@ -97,7 +97,7 @@ function build ()
 
   if [ "$(uname)" == "Linux" ]; then
     if (($(nproc) > 2)); then
-      make -j$(nproc)
+      make -j4
     else
       make -j2
     fi
diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index b678a71db..129b5aaaf 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -1,6 +1,6 @@
 name: Linux CI
 
-on: [push, pull_request]
+on: [pull_request]
 
 jobs:
   build:
@@ -12,7 +12,6 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
-      BOOST_VERSION: 1.67.0
 
     strategy:
       fail-fast: true
@@ -82,7 +81,7 @@ jobs:
 
       - name: Install Boost
         run: |
-          bash .github/scripts/boost.sh
+          sudo apt-get -y install libboost-all-dev
 
       - name: Build and Test
         run: bash .github/scripts/unix.sh -t
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index 442e26e47..f09d589dc 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -53,6 +53,7 @@ jobs:
     steps:
       - name: Checkout
         uses: actions/checkout@v3
+
       - name: Install (Linux)
         if: runner.os == 'Linux'
         run: |
@@ -79,6 +80,7 @@ jobs:
             echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
             echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
           fi
+
       - name: Install (macOS)
         if: runner.os == 'macOS'
         run: |
@@ -88,22 +90,27 @@ jobs:
           sudo xcode-select -switch /Applications/Xcode.app
           echo "CC=clang" >> $GITHUB_ENV
           echo "CXX=clang++" >> $GITHUB_ENV
+
       - name: Set GTSAM_WITH_TBB Flag
         if: matrix.flag == 'tbb'
         run: |
           echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV
           echo "GTSAM Uses TBB"
+
       - name: Set Swap Space
         if: runner.os == 'Linux'
         uses: pierotofy/set-swap-space@master
         with:
           swap-size-gb: 6
+
       - name: Install Dependencies
         run: |
           bash .github/scripts/python.sh -d
+
       - name: Build
         run: |
           bash .github/scripts/python.sh -b
+
       - name: Test
         run: |
           bash .github/scripts/python.sh -t
diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml
index 7582bf41c..0d1cd5bdd 100644
--- a/.github/workflows/build-special.yml
+++ b/.github/workflows/build-special.yml
@@ -12,7 +12,7 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       GTSAM_BUILD_UNSTABLE: ON
-      BOOST_VERSION: 1.67.0
+      GTSAM_FORCE_SHARED_LIB: ON  # Make shared library to save memory on CI
 
     strategy:
       fail-fast: false
@@ -93,14 +93,20 @@ jobs:
 
           sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libicu-dev
 
-          sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
-          echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
-          echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
+          if [ "${{ matrix.compiler }}" = "gcc" ]; then
+            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
+            echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
+            echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
+          else
+            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
+            echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV
+            echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV
+          fi
 
       - name: Install Boost
         if: runner.os == 'Linux'
         run: |
-          bash .github/scripts/boost.sh
+          sudo apt-get -y install libboost-all-dev
 
       - name: Install (macOS)
         if: runner.os == 'macOS'
@@ -151,6 +157,12 @@ jobs:
           echo "GTSAM_USE_BOOST_FEATURES=OFF" >> $GITHUB_ENV
           echo "GTSAM will not use BOOST"
 
+      - name: Set Swap Space
+        if: runner.os == 'Linux'
+        uses: pierotofy/set-swap-space@master
+        with:
+          swap-size-gb: 12
+
       - name: Build & Test
         run: |
           bash .github/scripts/unix.sh -t