diff --git a/.github/workflows/build_all_targets.yml b/.github/workflows/build_all_targets.yml
index 0aa6ce92e5..4ace13de52 100644
--- a/.github/workflows/build_all_targets.yml
+++ b/.github/workflows/build_all_targets.yml
@@ -6,15 +6,22 @@
 name: Build all targets
 
 on:
+  workflow_dispatch:
+    inputs:
+      tag:
+        required: true
+        description: release version
   push:
+    tags:
+      - 'v*'
     branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
   pull_request:
     branches:
-    - '*'
+      - '*'
 
 jobs:
   group_targets:
@@ -24,6 +31,7 @@ jobs:
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
       timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
+      tagname: ${{ steps.set-tag.outputs.tagname }}
     steps:
       - uses: actions/checkout@v4
 
@@ -38,8 +46,22 @@ jobs:
       - id: set-timestamp
         run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
 
+      # This job is also triggered with versioned tags
+      #   Creating a and pushing a tag starting with "v" just as "v1.0.0"
+      #   will trigger this workflow and when all builds are done create a Github Release
+      #   then it will upload all binaries built as assets
+      # Additionally, we can also trigger this step manually
+      #   From the Github Actions tab for this repository:
+      #   https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml
+      #   You can now click a "Run Workflow" button that will prompt you for a tag name
+      #   This tag name has to match an existing tag otherwise the new release will be detached
+      #   Note: Only developers with "write" permission to the repository can use this feature
+      - id: set-tag
+        if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
+        run: echo "::set-output name=tagname::${{ github.event_name == 'workflow_dispatch' && inputs.tag || github.ref_name }}"
+
   setup:
-    name: ${{ matrix.group }}
+    name: Build Group [${{ matrix.group }}]
     # runs-on: ubuntu-latest
     runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
     needs: group_targets
@@ -73,7 +95,7 @@ jobs:
             ccache -s
             ccache -z
 
-      - name: build target group
+      - name: building [${{ matrix.group }}]
         run: |
             ./Tools/ci_build_all_runner.sh ${{matrix.targets}}
 
@@ -88,3 +110,26 @@ jobs:
 
       - name: ccache post-run
         run: ccache -s
+
+  release:
+    name: Release and Upload
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
+    needs: [setup, group_targets]
+    if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+
+      - name: Arrange Binaries
+        run: |
+          mkdir artifacts
+          cp **/**/*.px4 artifacts/
+
+      - name: Upload Binaries
+        uses: softprops/action-gh-release@v2
+        with:
+          name: ${{ needs.group_targets.outputs.tagname }}
+          tag_name: ${{ needs.group_targets.outputs.tagname }}
+          draft: true
+          files: artifacts/*.px4