diff --git a/.github/workflows/build_all_targets.yml b/.github/workflows/build_all_targets.yml
index 264502229c..06c79d233b 100644
--- a/.github/workflows/build_all_targets.yml
+++ b/.github/workflows/build_all_targets.yml
@@ -92,13 +92,6 @@ jobs:
             ccache -s
             ccache -z
 
-      - name: Missing dependencies for ${{ matrix.arch }}
-        if: contains(fromJSON('["aarch64", "armhf"]'), matrix.arch)
-        run: |
-          apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
-            g++-aarch64-linux-gnu \
-            g++-arm-linux-gnueabihf
-
       - name: Building [${{ matrix.group }}]
         run: |
             ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
diff --git a/Tools/setup/docker-entrypoint.sh b/Tools/setup/docker-entrypoint.sh
index 0412558902..083a4c9f24 100755
--- a/Tools/setup/docker-entrypoint.sh
+++ b/Tools/setup/docker-entrypoint.sh
@@ -1,19 +1,27 @@
 #!/bin/bash
 
+GREEN='\033[0;32m'
+NC='\033[0m' # No Color
+FILE_DESCRIPTOR="${GREEN}[docker-entrypoint.sh]${NC}"
+
+echo -e "$FILE_DESCRIPTOR Starting"
+
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
 #   running Xvfb and attach their screen
 if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
-	echo "[docker-entrypoint.sh] Starting Xvfb"
+	echo -e "$FILE_DESCRIPTOR Starting Xvfb"
 	Xvfb :99 -screen 0 1600x1200x24+32 &
 fi
 
 # Check if the ROS_DISTRO is passed and use it
 # to source the ROS environment
 if [ -n "${ROS_DISTRO}" ]; then
-	echo "[docker-entrypoint.sh] ROS: ${ROS_DISTRO}"
+	echo -e "$FILE_DESCRIPTOR ROS: ${ROS_DISTRO}"
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi
 
+echo -e "$FILE_DESCRIPTOR ($( uname -m ))"
+
 exec "$@"
diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh
index e641a82da3..1df4e415b5 100755
--- a/Tools/setup/ubuntu.sh
+++ b/Tools/setup/ubuntu.sh
@@ -27,9 +27,12 @@ do
 	fi
 done
 
+echo "[ubuntu.sh] Starting..."
+echo "[ubuntu.sh] arch: ${GREEN}$INSTALL_ARCH${NC}"
+
 # detect if running in docker
 if [ -f /.dockerenv ]; then
-	echo "Running within docker, installing initial dependencies";
+	echo "[ubuntu.sh] Running within docker, installing initial dependencies";
 	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
 		ca-certificates \
 		gnupg \
@@ -47,7 +50,7 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 # check requirements.txt exists (script not run in source tree)
 REQUIREMENTS_FILE="requirements.txt"
 if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
-	echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
+	echo "[ubuntu.sh] FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
 	return 1
 fi
 
@@ -55,10 +58,8 @@ fi
 # check ubuntu version
 # otherwise warn and point to docker?
 UBUNTU_RELEASE="`lsb_release -rs`"
-echo "Ubuntu ${UBUNTU_RELEASE}"
-
-echo
-echo "Installing PX4 general dependencies"
+echo "[ubuntu.sh] Ubuntu ${GREEN}${UBUNTU_RELEASE}${NC}"
+echo "[ubuntu.sh] Installing PX4 general dependencies"
 
 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -91,7 +92,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 
 # Python3 dependencies
 echo
-echo "Installing PX4 Python3 dependencies"
+echo "[ubuntu.sh] Installing PX4 Python3 dependencies"
 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
@@ -109,8 +110,8 @@ fi
 if [[ $INSTALL_NUTTX == "true" ]]; then
 
 	echo
-	echo "Installing NuttX dependencies"
-
+	echo "[ubuntu.sh] NuttX Installing Dependencies"
+	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		automake \
 		binutils-dev \
@@ -118,9 +119,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		build-essential \
 		curl \
 		flex \
-		g++-multilib \
-		gcc-arm-none-eabi \
-		gcc-multilib \
 		gdb-multiarch \
 		genromfs \
 		gettext \
@@ -147,6 +145,25 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		vim-common \
 		;
 
+
+	echo
+	echo "[ubuntu.sh] NuttX Installing Dependencies ($INSTALL_ARCH)"
+
+	if [[ "${INSTALL_ARCH}" == "x86_64" ]]; then
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+			g++-multilib \
+			gcc-arm-none-eabi \
+			gcc-multilib \
+			;
+	fi
+
+	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+			g++-aarch64-linux-gnu \
+			g++-arm-linux-gnueabihf \
+			;
+	fi
+
 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
 		sudo usermod -aG dialout $USER
@@ -157,7 +174,7 @@ fi
 if [[ $INSTALL_SIM == "true" ]]; then
 
 	echo
-	echo "Installing PX4 simulation dependencies"
+	echo "[ubuntu.sh] Installing PX4 simulation dependencies"
 
 	# General simulation dependencies
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -182,8 +199,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		fi
 	else
 		# Expects Ubuntu 22.04 > by default
-		echo "Gazebo (Harmonic) will be installed"
-		echo "Earlier versions will be removed"
+		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
+		echo "[ubuntu.sh] Earlier versions will be removed"
 		# Add Gazebo binary repository
 		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
 		echo "deb [arch=$(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