diff --git a/.github/workflows/compile_ubuntu.yml b/.github/workflows/compile_ubuntu.yml
index 47bcc28211..61994162fa 100644
--- a/.github/workflows/compile_ubuntu.yml
+++ b/.github/workflows/compile_ubuntu.yml
@@ -13,24 +13,34 @@ on:
 
 jobs:
   build_and_test:
-    name: Build and Test Ubuntu
-    # strategy:
-    #   fail-fast: false
-    #   matrix:
-    #     version: [ubuntu22, ubuntu24]
-    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu22-full-x64","run-id=${{ github.run_id }}"]
+    name: Build and Test
+    strategy:
+      fail-fast: false
+      matrix:
+        version: ['ubuntu:22.04', 'ubuntu:24.04']
+    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}"]
+    container:
+      image: ${{ matrix.version }}
+      volumes:
+        - /github/workspace:/github/workspace
     steps:
 
+      - name: Fix git in container
+        run: |
+          # we only need this because we are running the job in a container
+          # when checkout pulls git it does it in a shared volume
+          # and file ownership changes between steps
+          # first we install git since its missing from the base image
+          # then we mark the directory as safe for other instances
+          # of git to use.
+          apt update && apt install git -y
+          git config --global --add safe.directory $(realpath .)
+
       - uses: actions/checkout@v4
 
-      - name: Install Dependencies
+      - name: Install Deps, Build, and Make Quick Check
         run: |
+          # we need to install dependencies and build on the same step
+          # given the stateless nature of docker images
           ./Tools/setup/ubuntu.sh
-
-      - name: Make Quick Check
-        run: |
           make quick_check
-
-      # - name: Debug
-      #   if: ${{ failure() }}
-      #   uses: mxschmitt/action-tmate@v3
diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh
index d7b537071d..2beaddb297 100755
--- a/Tools/setup/ubuntu.sh
+++ b/Tools/setup/ubuntu.sh
@@ -33,7 +33,9 @@ if [ -f /.dockerenv ]; then
 	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
 		ca-certificates \
 		gnupg \
-		lsb-core \
+		gosu \
+		lsb-release \
+		software-properties-common \
 		sudo \
 		wget \
 		;
@@ -89,12 +91,17 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"
-if [ -n "$VIRTUAL_ENV" ]; then
-	# virtual environments don't allow --user option
-	python -m pip install -r ${DIR}/requirements.txt
+PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
+REQUIRED_VERSION="3.11"
+if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
+	python3 -m pip install --break-system-packages -r ${DIR}/requirements.txt
 else
-	# older versions of Ubuntu require --user option
-	python3 -m pip install --user -r ${DIR}/requirements.txt
+	if [ -n "$VIRTUAL_ENV" ]; then
+		# virtual environments don't allow --user option
+		python -m pip install -r ${DIR}/requirements.txt
+	else
+		python3 -m pip install --user -r ${DIR}/requirements.txt
+	fi
 fi
 
 # NuttX toolchain (arm-none-eabi-gcc)
@@ -155,51 +162,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		bc \
 		;
 
-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		java_version=11
-	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		java_version=13
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		java_version=11
-	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
-		java_version=11
-	else
-		java_version=14
-	fi
-	# Java (jmavsim)
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		ant \
-		openjdk-$java_version-jre \
-		openjdk-$java_version-jdk \
-		libvecmath-java \
-		;
-
-	# Set Java 11 as default
-	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
-
 	# Gazebo / Gazebo classic installation
-	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		echo "Gazebo (Harmonic) will be installed"
-		echo "Earlier versions will be removed"
-		# Add Gazebo binary repository
-		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-		sudo apt-get update -y --quiet
-
-		# Install Gazebo
-		gazebo_packages="gz-harmonic"
-	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
-		echo "Gazebo (Garden) will be installed"
-		echo "Earlier versions will be removed"
-		# Add Gazebo binary repository
-		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-
-		sudo apt-get update -y --quiet
-
-		# Install Gazebo
-		gazebo_packages="gz-garden"
-	else
+	if [[ "${UBUNTU_RELEASE}" == "18.04" || "${UBUNTU_RELEASE}" == "20.04" ]]; then
 		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 		# Update list, since new gazebo-stable.list has been added
@@ -214,6 +178,32 @@ if [[ $INSTALL_SIM == "true" ]]; then
 			gazebo_classic_version=11
 			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
 		fi
+	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
+		echo "Gazebo (Garden) will be installed"
+		echo "Earlier versions will be removed"
+		# Add Gazebo binary repository
+		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+		sudo apt-get update -y --quiet
+
+		# Install Gazebo
+		gazebo_packages="gz-garden"
+	else
+		# Expects Ubuntu 22.04 > by default
+		echo "Gazebo (Harmonic) will be installed"
+		echo "Earlier versions will be removed"
+		# Add Gazebo binary repository
+		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+		sudo apt-get update -y --quiet
+
+		# Install Gazebo
+		gazebo_packages="gz-harmonic libunwind-dev"
+
+		if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
+			gazebo_packages="$gazebo_packages cppzmq-dev"
+		fi
 	fi
 
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \