diff --git a/.github/workflows/python-main.yml b/.github/workflows/python-main.yml
index 5ae86935e..f057ee33e 100644
--- a/.github/workflows/python-main.yml
+++ b/.github/workflows/python-main.yml
@@ -59,7 +59,7 @@ jobs:
       - name: Build target 'pybind11_mkdoc'
         run: cmake --build build --target pybind11_mkdoc --parallel 4
       - name: Upload docstring artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: docstrings
           path: bindings/python/docstrings/
@@ -103,7 +103,7 @@ jobs:
         with:
           submodules: 'recursive'
 
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         with:
           name: 'docstrings'
           path: bindings/python/docstrings
@@ -159,7 +159,7 @@ jobs:
   #       with:
   #         submodules: 'recursive'
 
-  #     - uses: actions/download-artifact@v3
+  #     - uses: actions/download-artifact@v4
   #       with:
   #         name: 'docstrings'
   #         path: bindings/python/docstrings
@@ -224,7 +224,7 @@ jobs:
            core.exportVariable('ACTIONS_CACHE_URL', process.env.ACTIONS_CACHE_URL || '');
            core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');
 
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         with:
           name: 'docstrings'
           path: bindings/python/docstrings
@@ -248,10 +248,10 @@ jobs:
       - name: Building wheels
         run: cd bindings/python && python -m pip wheel . -w ./wheelhouse/audited/ --verbose
       - name: Archive wheel artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: audited-wheels
-          path: bindings/python/wheelhouse/audited/
+          name: audited-wheels-windows-${{ matrix.python-version }}
+          path: bindings/python/wheelhouse/audited/*
       - name: Deploy wheels to artifactory (if not a release)
         if: startsWith(github.ref, 'refs/tags/v') != true
         run: cd bindings/python && bash ./ci/upload-artifactory.sh
@@ -295,7 +295,7 @@ jobs:
         with:
           submodules: 'recursive'
 
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         with:
           name: 'docstrings'
           path: bindings/python/docstrings
@@ -320,10 +320,10 @@ jobs:
       - name: Auditing wheels
         run: cd bindings/python && ci/repair-whl-macos.sh `pwd`/wheelhouse/* `pwd`/wheelhouse/audited
       - name: Archive wheel artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: audited-wheels
-          path: bindings/python/wheelhouse/audited/
+          name: audited-wheels-macos-${{ matrix.os }}-${{ matrix.python-version }}
+          path: bindings/python/wheelhouse/audited/*
       - name: Deploy wheels to artifactory (if not a release)
         if: startsWith(github.ref, 'refs/tags/v') != true
         run: cd bindings/python && bash ./ci/upload-artifactory.sh
@@ -356,7 +356,7 @@ jobs:
   #       run: |
   #          brew install opencv
 
-  #     - uses: actions/download-artifact@v3
+  #     - uses: actions/download-artifact@v4
   #       with:
   #         name: 'docstrings'
   #         path: bindings/python/docstrings
@@ -436,7 +436,7 @@ jobs:
       - name: Create folder structure
         run: cd bindings/python && mkdir -p wheelhouse/audited/
 
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         with:
           name: 'docstrings'
           path: bindings/python/docstrings
@@ -459,10 +459,10 @@ jobs:
       - name: Audit wheels
         run: cd bindings/python && for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
       - name: Archive wheel artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: audited-wheels
-          path: bindings/python/wheelhouse/audited/
+          name: audited-wheels-linux-x86_64-${{ matrix.python-set }}
+          path: bindings/python/wheelhouse/audited/*
       - name: Deploy wheels to artifactory (if not a release)
         if: startsWith(github.ref, 'refs/tags/v') != true
         run: cd bindings/python && bash ./ci/upload-artifactory.sh
@@ -521,7 +521,7 @@ jobs:
       - name: Create folder structure
         run: cd bindings/python && mkdir -p wheelhouse/audited/
 
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         with:
           name: 'docstrings'
           path: bindings/python/docstrings
@@ -537,10 +537,10 @@ jobs:
       - name: Auditing wheels
         run: cd bindings/python && for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
       - name: Archive wheel artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
-          name: audited-wheels
-          path: bindings/python/wheelhouse/audited/
+          name: audited-wheels-linux-arm64-${{ matrix.python-set }}
+          path: bindings/python/wheelhouse/audited/*
       - name: Deploy wheels to artifactory (if not a release)
         if: startsWith(github.ref, 'refs/tags/v') != true
         run: cd bindings/python && bash ./ci/upload-artifactory.sh
@@ -577,9 +577,10 @@ jobs:
       - uses: actions/checkout@v3
         with:
           submodules: 'recursive'
-      - uses: actions/download-artifact@v3
+      - uses: actions/download-artifact@v4
         with:
-          name: audited-wheels
+          pattern: audited-wheels*
+          merge-multiple: true
           path: bindings/python/wheelhouse/audited/
       - name: List files
         run: ls -lah
diff --git a/cmake/Depthai/DepthaiDeviceRVC4Config.cmake b/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
index 69acf12c2..68e98cd04 100644
--- a/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
+++ b/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
@@ -4,4 +4,4 @@ set(DEPTHAI_DEVICE_RVC4_MATURITY "snapshot")
 
 # "version if applicable"
 # set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+93f7b75a885aa32f44c5e9f53b74470c49d2b1af")
-set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+fdcf94f7a3eb95715b5a1f54355189ba61ce6bf1")
+set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+5d1371967432dd4cf1742b56afbf4c669417bcfd")