diff --git a/.config/nextest.toml b/.config/nextest.toml
new file mode 100644
index 000000000..2c1df2856
--- /dev/null
+++ b/.config/nextest.toml
@@ -0,0 +1,12 @@
+[profile.ci]
+# Print out output for failing tests as soon as they fail, and also at the end
+# of the run (for easy scrollability).
+failure-output = "immediate-final"
+# Show skipped tests in the CI output.
+status-level = "skip"
+# Do not cancel the test run on the first failure.
+fail-fast = false
+# Mark tests as slow after 5mins, kill them after 20mins
+slow-timeout = { period = "300s", terminate-after = 4 }
+# Retry failed tests once, marked flaky if test then passes
+retries = 1
\ No newline at end of file
diff --git a/.github/dependabot.yml b/.github/dependabot.yml
new file mode 100644
index 000000000..98e028a25
--- /dev/null
+++ b/.github/dependabot.yml
@@ -0,0 +1,18 @@
+version: 2
+updates:
+  - package-ecosystem: cargo
+    directory: /
+    pull-request-branch-name:
+      separator: "-"
+    schedule:
+      interval: weekly
+    groups:
+      rust-dependencies:
+        patterns:
+          - "*"
+    open-pull-requests-limit: 5
+
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "weekly"
diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index ba4ed36ed..d9bcd31ef 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -1,36 +1,62 @@
 name: Build and Test Nova
 
 on:
+  merge_group:
   push:
-    branches: [ main ]
+    branches: [ dev ]
   pull_request:
-    branches: [ main ]
+    types: [opened, synchronize, reopened, ready_for_review]
+    branches: [ dev ]
+
+env:
+  CARGO_TERM_COLOR: always
+  CARGO_INCREMENTAL: 0
+  CARGO_NET_RETRY: 10
+  RUSTUP_MAX_RETRIES: 10
+  RUST_BACKTRACE: short
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
 
 jobs:
   build:
     runs-on: ubuntu-latest
+    env:
+      RUSTFLAGS: -D warnings
     steps:
     - uses: actions/checkout@v2
-    - name: Install
-      run: rustup default stable
-    - name: Install rustfmt Components
-      run: rustup component add rustfmt
-    - name: Install clippy
-      run: rustup component add clippy
-    - name: Install Wasm target
-      run: rustup target add wasm32-unknown-unknown
-    - name: Build
-      run: cargo build --verbose
-    - name: Wasm build
-      run: cargo build --target wasm32-unknown-unknown
-    - name: Build examples
-      run: cargo build --examples --verbose
-    - name: Build benches
-      run: cargo build --benches --verbose
-    - name: Run tests
-      run: cargo +stable test --release --verbose
-    - name: Check Rustfmt Code Style
-      run: cargo fmt --all -- --check
-    - name: Check clippy warnings
-      run: cargo clippy --all-targets -- -D warnings
+    - name: Setup Rust
+      uses: actions-rs/toolchain@v1
+    - uses: taiki-e/install-action@nextest
+    - uses: Swatinem/rust-cache@v2
+    - name: Build, with benches & examples
+      run: cargo build --profile dev-ci --benches --examples 
+    - name: Linux Tests in parallel, with nextest profile ci and cargo profile dev-ci
+      run: |
+        cargo nextest run --profile ci --workspace --cargo-profile dev-ci
 
+  misc:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    env:
+      RUSTFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions-rs/toolchain@v1
+        with:
+          components: rustfmt, clippy
+      - uses: Swatinem/rust-cache@v2
+      - run: rustup target add wasm32-unknown-unknown
+      - name: Wasm build 
+        run: cargo build --target wasm32-unknown-unknown
+      - name: Check Rustfmt Code Style
+        uses: actions-rs/cargo@v1
+        with:
+          command: fmt
+          args: --all -- --check
+      - name: Check clippy warnings
+        run: cargo clippy --all-targets -- -D warnings
+      - name: Doctests
+        run: cargo test --doc --workspace
diff --git a/Cargo.toml b/Cargo.toml
index d6d77f604..3c56ffce7 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -36,7 +36,7 @@ halo2curves = { version = "0.4.0", features = ["derive_serde"] }
 group = "0.13.0"
 log = "0.4.17"
 abomonation = "0.7.3"
-abomonation_derive = { git = "https://github.com/winston-h-zhang/abomonation_derive.git" }
+abomonation_derive = { git = "https://github.com/lurk-lab/abomonation_derive.git" }
 
 [target.'cfg(any(target_arch = "x86_64", target_arch = "aarch64"))'.dependencies]
 pasta-msm = { git="https://github.com/lurk-lab/pasta-msm", branch="dev", version = "0.1.4" }
@@ -88,3 +88,11 @@ supernova = []
 # This is needed to ensure halo2curves, which imports pasta-curves, uses the *same* traits in bn256_grumpkin
 [patch.crates-io]
 pasta_curves = { git="https://github.com/lurk-lab/pasta_curves", branch="dev" }
+
+[profile.dev-ci]
+inherits = "dev"
+# By compiling dependencies with optimizations, performing tests gets much faster.
+opt-level = 3
+lto = "thin"
+incremental = false
+codegen-units = 16
diff --git a/examples/minroot_serde.rs b/examples/minroot_serde.rs
index a92fede5a..377f7a696 100644
--- a/examples/minroot_serde.rs
+++ b/examples/minroot_serde.rs
@@ -36,7 +36,7 @@ unsafe fn entomb_F<F: PrimeField, W: Write>(f: &F, bytes: &mut W) -> std::io::Re
 }
 
 /// this is **incredibly, INCREDIBLY** dangerous
-unsafe fn exhume_F<'a, 'b, F: PrimeField>(f: &mut F, bytes: &'a mut [u8]) -> Option<&'a mut [u8]> {
+unsafe fn exhume_F<'a, F: PrimeField>(f: &mut F, bytes: &'a mut [u8]) -> Option<&'a mut [u8]> {
   let (mine, rest) = bytes.split_at_mut(size_of::<F>());
   let mine = (mine as *const [u8]) as *const F;
   std::ptr::write(f, std::ptr::read(mine));
@@ -60,7 +60,7 @@ impl<F: PrimeField> abomonation::Abomonation for MinRootIteration<F> {
     Ok(())
   }
 
-  unsafe fn exhume<'a, 'b>(&'a mut self, bytes: &'b mut [u8]) -> Option<&'b mut [u8]> {
+  unsafe fn exhume<'b>(&mut self, bytes: &'b mut [u8]) -> Option<&'b mut [u8]> {
     let bytes = exhume_F(&mut self.x_i, bytes)?;
     let bytes = exhume_F(&mut self.y_i, bytes)?;
     let bytes = exhume_F(&mut self.x_i_plus_1, bytes)?;
@@ -195,7 +195,7 @@ fn main() {
       TrivialTestCircuit<<G2 as Group>::Scalar>,
     >::setup(&circuit_primary, &circuit_secondary);
     assert!(result.clone() == pp, "not equal!");
-    assert!(remaining.len() == 0);
+    assert!(remaining.is_empty());
   } else {
     println!("Something terrible happened");
   }
diff --git a/rust-toolchain b/rust-toolchain
new file mode 100644
index 000000000..832e9afb6
--- /dev/null
+++ b/rust-toolchain
@@ -0,0 +1 @@
+1.70.0
diff --git a/src/gadgets/r1cs.rs b/src/gadgets/r1cs.rs
index 4ab4ddf96..2b1dfcd92 100644
--- a/src/gadgets/r1cs.rs
+++ b/src/gadgets/r1cs.rs
@@ -385,6 +385,7 @@ pub fn conditionally_select_alloc_relaxed_r1cs<
   Ok(c)
 }
 
+#[allow(dead_code)]
 /// c = cond ? a: b, where a, b: vec[AllocatedRelaxedR1CSInstance]
 pub fn conditionally_select_vec_allocated_relaxed_r1cs_instance<
   G: Group,