diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
deleted file mode 100644
index c9c1d17..0000000
--- a/.github/workflows/main.yml
+++ /dev/null
@@ -1,15 +0,0 @@
-name: Build and Publish Latest
-
-concurrency: 
-  group: ${{ github.workflow }}-${{ github.ref }}
-
-on:
-  workflow_dispatch:
-  push:
-    branches: [ 'main' ]
-    paths-ignore:
-      - 'README.md'
-
-jobs:
-  test:
-    uses: ./.github/workflows/test.yml
diff --git a/.github/workflows/pr-labeler.yml b/.github/workflows/pr-labeler.yml
deleted file mode 100644
index 92db2aa..0000000
--- a/.github/workflows/pr-labeler.yml
+++ /dev/null
@@ -1,41 +0,0 @@
-name: PR Test Label Manager
-
-on:
-  pull_request_target:
-    branches: [ main ]
-    types: [ opened, synchronize, reopened ]
-
-jobs:
-  pr_test_label_manager:
-    name: PR Test Label Manager
-    runs-on: ubuntu-latest
-    if: |
-      github.event_name == 'pull_request_target' &&
-      contains(fromJson('["opened", "synchronize", "reopened"]'), github.event.action)
-    steps:
-      - name: "Check Membership and Label PR"
-        uses: actions/github-script@v6
-        id: check-membership
-        with:
-          github-token: ${{ secrets.PR_TOKEN }}
-          script: |
-            let prNumber = context.payload.pull_request && context.payload.pull_request.number;
-            try {
-              await github.rest.issues.removeLabel({owner: "viam-modules", repo: "wit-motion", issue_number: prNumber, name: "safe to test"});
-            } catch (err) {
-              core.info(`Non-fatal error ${err}, while trying to remove 'safe to test' label.`);
-            }
-            let orgResp = await github.rest.orgs.checkMembershipForUser({org: "viam-modules", username: context.payload.sender.login});
-            if (orgResp.status === 204) {
-              // order of labeling events must be preserved, so two seperate calls
-              await github.rest.issues.addLabels({owner: "viam-modules", repo: "wit-motion", issue_number: prNumber, labels: ["safe to test"]});
-              return true;
-            }
-            return false;
-
-      - name: Add Unsafe PR Comment
-        if: steps.check-membership.outputs.result != 'true'
-        uses: marocchino/sticky-pull-request-comment@v2
-        with:
-          recreate: true
-          message: For security reasons, this PR must be labeled with `safe to test` in order for tests to run.
diff --git a/.github/workflows/pullrequest-trusted.yml b/.github/workflows/pullrequest-trusted.yml
deleted file mode 100644
index 9f2aa57..0000000
--- a/.github/workflows/pullrequest-trusted.yml
+++ /dev/null
@@ -1,21 +0,0 @@
-name: Pull Request Update
-
-concurrency:
-  group: pullrequest-${{ github.head_ref }}
-  cancel-in-progress: true
-
-on:
-  pull_request_target:
-    branches: [ main ]
-    types: [ labeled ]
-
-jobs:
-  test:
-    if: (github.event.label.name == 'safe to test' || github.event.label.name == 'appimage')
-    uses: viam-modules/wit-motion/.github/workflows/test.yml@main
-    secrets:
-      MONGODB_TEST_OUTPUT_URI: ${{ secrets.MONGODB_TEST_OUTPUT_URI }}
-      DOCKER_PUBLIC_READONLY_PAT: ${{ secrets.DOCKER_PUBLIC_READONLY_PAT }}
-
-  license_finder:
-    uses: viam-modules/wit-motion/.github/workflows/license_finder.yml@main
diff --git a/.github/workflows/pullrequest.yml b/.github/workflows/pullrequest.yml
new file mode 100644
index 0000000..800aba3
--- /dev/null
+++ b/.github/workflows/pullrequest.yml
@@ -0,0 +1,15 @@
+name: Pull Request Update
+
+concurrency:
+  group: pullrequest-${{ github.head_ref }}
+  cancel-in-progress: true
+
+on:
+  pull_request_target:
+
+jobs:
+  test:
+    uses: ./.github/workflows/test.yml
+
+  license_finder:
+    uses: ./.github/workflows/license_finder.yml
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 2624ce6..4004020 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -17,6 +17,7 @@ jobs:
     uses: ./.github/workflows/test.yml
 
   publish:
+    needs: test
     strategy:
       matrix:
         include:
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 3b7cbb9..4ede5a5 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -50,6 +50,10 @@ jobs:
             exit 1
         fi
 
+    - name: Run go unit tests
+      run: |
+        sudo -u testbot bash -lc 'make test'
+
     - name: make build
       run: |
         sudo -u testbot bash -lc 'make build'
\ No newline at end of file
diff --git a/Makefile b/Makefile
index 96f4619..951cfdb 100644
--- a/Makefile
+++ b/Makefile
@@ -40,4 +40,7 @@ test-go: tool-install
 	go test -race ./...
 
 clean-all:
-	git clean -fxd
\ No newline at end of file
+	git clean -fxd
+
+license-check:
+	license_finder
\ No newline at end of file
diff --git a/doc/dependency_decisions.yml b/doc/dependency_decisions.yml
new file mode 100644
index 0000000..46d67da
--- /dev/null
+++ b/doc/dependency_decisions.yml
@@ -0,0 +1,225 @@
+---
+- - :permit
+  - MIT
+  - :who:
+    :why:
+    :versions: []
+    :when: 2022-08-01 21:53:06.561636718 Z
+- - :permit
+  - New BSD
+  - :who:
+    :why:
+    :versions: []
+    :when: 2022-08-15 13:09:14.673806968 Z
+- - :permit
+  - Apache 2.0
+  - :who:
+    :why:
+    :versions: []
+    :when: 2022-08-15 13:15:11.855751606 Z
+- - :permit
+  - Simplified BSD
+  - :who:
+    :why:
+    :versions: []
+    :when: 2022-08-15 13:17:08.745016552 Z
+- - :permit
+  - ISC
+  - :who:
+    :why:
+    :versions: []
+    :when: 2022-08-15 13:37:40.979906881 Z
+- - :license
+  - github.com/ajstarks/svgo
+  - Creative Commons Attribution 4.0 International Public License
+  - :who:
+    :license_links: https://github.com/ajstarks/svgo/blob/1546f124cd8b0cba8d505fa2ddb110c211670c59/LICENSE
+    :versions: []
+    :when: 2022-08-15 14:34:00.115389050 Z
+- - :license
+  - github.com/go-fonts/liberation
+  - New BSD
+  - :who:
+    :license_links: https://github.com/go-fonts/liberation/blob/0c2fdab5e932afd0923f4f71ae23691a66305ef6/LICENSE
+    :versions: []
+    :when: 2022-08-15 14:47:01.153930427 Z
+- - :license
+  - github.com/go-gl/mathgl
+  - New BSD
+  - :who:
+    :license_links: https://github.com/go-gl/mathgl/blob/45f44e1fbc36e29eb200186c5fd63828a2ffc540/LICENSE
+    :versions: []
+    :when: 2022-08-15 14:51:09.537862545 Z
+- - :license
+  - github.com/go-latex/latex
+  - New BSD
+  - :who:
+    :why: 'TODO(RSDK-583): why is license finder unable to detect this license automatically?'
+    :license_links: https://github.com/go-latex/latex/blob/c0d11ff05a81a63afdffbba6e577b2a3a6e69c85/LICENSE
+    :versions: []
+    :when: 2022-08-15 14:55:14.011453253 Z
+- - :license
+  - github.com/improbable-eng/grpc-web
+  - Apache License 2.0
+  - :who:
+    :why: 'TODO(RSDK-583): why is license finder unable to detect this license automatically?'
+    :license_links: https://github.com/improbable-eng/grpc-web/blob/90ce72a31aa7bdfd6eae03fc735953902949c0de/LICENSE.txt
+    :versions: []
+    :when: 2022-08-15 14:58:14.484806455 Z
+- - :license
+  - github.com/jmespath/go-jmespath
+  - Apache License 2.0
+  - :who:
+    :why: 'TODO(RSDK-583): why is license finder unable to detect this license automatically?'
+    :license_links: https://github.com/jmespath/go-jmespath/blob/b0104c826a24d7c202da8e1dbfb9ea4cfa35d774/LICENSE
+    :versions: []
+    :when: 2022-08-15 15:00:22.812116090 Z
+- - :license
+  - github.com/xdg-go/pbkdf2
+  - Apache License 2.0
+  - :who:
+    :why: 'TODO(RSDK-583): why is license finder unable to detect this license automatically?'
+    :license_links: https://github.com/xdg-go/pbkdf2/blob/7f452ef1dac88350356f1bb84a23748205e64b96/LICENSE
+    :versions: []
+    :when: 2022-08-15 15:02:55.419786268 Z
+- - :license
+  - github.com/xdg-go/scram
+  - Apache License 2.0
+  - :who:
+    :why: 'TODO(RSDK-583): why is license finder unable to detect this license automatically?'
+    :license_links: https://github.com/xdg-go/scram/blob/ef29d5590bacede26100601bb2f7d9bb08bacc75/LICENSE
+    :versions: []
+    :when: 2022-08-15 15:48:55.549018227 Z
+- - :license
+  - github.com/xdg-go/stringprep
+  - Apache License 2.0
+  - :who:
+    :why: 'TODO(RSDK-583): why is license finder unable to detect this license automatically?'
+    :license_links: https://github.com/xdg-go/stringprep/blob/eb5c8f240eb1ea3fe0144fd4d3e0c305492d8eb1/LICENSE
+    :versions: []
+    :when: 2022-08-15 15:50:08.659677721 Z
+- - :license
+  - go-hep.org/x/hep
+  - New BSD
+  - :who:
+    :why: 'TODO(RSDK-583): why is license finder unable to detect this license automatically?'
+    :license_links: https://github.com/go-hep/hep/blob/535619c28f900dcd37c522f2b9d593ec61b7b8dd/LICENSE
+    :versions: []
+    :when: 2022-08-15 15:53:36.138009630 Z
+- - :license
+  - gonum.org/v1/plot
+  - New BSD
+  - :who:
+    :why: 'TODO(RSDK-583): why is license finder unable to detect this license automatically?'
+    :license_links: https://github.com/gonum/plot/blob/c2b63591159b9dceb2cbf953702691d2a2fe7a6d/LICENSE
+    :versions: []
+    :when: 2022-08-15 15:56:25.026774237 Z
+- - :permit
+  - Creative Commons Attribution 4.0 International Public License
+  - :who:
+    :why:
+    :versions: []
+    :when: 2022-08-29 22:26:18.925886068 Z
+- - :permit
+  - GPLv3
+  - :who:
+    :why:
+    :versions: []
+    :when: 2022-08-30 15:22:06.823924964 Z
+- - :license
+  - github.com/gen2brain/malgo
+  - The Unlicense
+  - :who:
+    :license_links: https://github.com/gen2brain/malgo/blob/6af716cf2273f0675789cc1366977970e31b2239/LICENSE
+    :versions: []
+    :when: 2022-08-30 15:37:02.011437856 Z
+- - :license
+  - github.com/goburrow/modbus
+  - New BSD
+  - :who:
+    :why: https://github.com/goburrow/modbus/blob/606c02f4eef527a1d4cf7d8733d5fd7ba34f91d8/LICENSE
+    :versions: []
+    :when: 2022-09-14 16:27:17.872831000 Z
+- - :approve
+  - github.com/ziutek/mymysql
+  - :who:
+    :why: license language is compatible with AGPL
+    :versions: []
+    :when: 2022-09-14 16:27:17.872831000 Z
+    :license_links: https://github.com/ziutek/mymysql/blob/fffb8880277462abe6f4526dbd69a1982f9437b6/LICENSE
+- - :license
+  - github.com/golang/freetype
+  - GPLv2+
+  - :who:
+    :why: we are allowed to choose one of two licenses (freetype or GPL version 2
+      or higher) - we are choosing the latter
+    :versions: []
+    :when: 2022-08-30 16:08:52.919938114 Z
+    :license_links: https://github.com/golang/freetype/blob/e2365dfdc4a05e4b8299a783240d4a7d5a65d4e4/LICENSE
+- - :permit
+  - The Unlicense
+  - :who:
+    :why:
+    :versions: []
+    :when: 2022-08-30 16:12:12.044846522 Z
+    :license_links: https://unlicense.org
+- - :license
+  - github.com/gonum/blas
+  - New BSD
+  - :who:
+    :why: 'TODO(RSDK-582): this library is deprecated but still an indirect dependency
+      to RDK'
+    :license_links: https://github.com/gonum/license/blob/59758bd3db1383fa1f02f88eceee1f8568a87039/LICENSE
+    :versions: []
+    :when: 2022-08-30 16:24:12.727870628 Z
+- - :license
+  - github.com/gonum/lapack
+  - New BSD
+  - :who:
+    :why: 'TODO(RSDK-582): this library is deprecated but still an indirect dependency
+      to RDK'
+    :license_links: https://github.com/gonum/license/blob/59758bd3db1383fa1f02f88eceee1f8568a87039/LICENSE
+    :versions: []
+    :when: 2022-08-30 16:24:20.022268639 Z
+- - :license
+  - github.com/gonum/matrix
+  - New BSD
+  - :who:
+    :why: 'TODO(RSDK-582): this library is deprecated but still an indirect dependency
+      to RDK'
+    :license_links: https://github.com/gonum/license/blob/59758bd3db1383fa1f02f88eceee1f8568a87039/LICENSE
+    :versions: []
+    :when: 2022-08-30 16:24:26.855308650 Z
+- - :license
+  - "@viamrobotics/rpc"
+  - MIT
+  - :who:
+    :why: 'TODO(RSDK-583): why is license finder unable to detect this license automatically?'
+    :license_links: https://github.com/viamrobotics/goutils/blob/6684974ace14045e04d479777852602817e03313/LICENSE
+    :versions: []
+    :when: 2022-08-31 20:08:14.585047144 Z
+- - :approve
+  - github.com/viamrobotics/evdev
+  - :who:
+    :why: license language is compatible with AGPL
+    :license_links: https://github.com/viamrobotics/evdev/blob/5a415229fba9557cca9bfedc7ba89cb48f28fab0/LICENSE
+    :versions: []
+    :when: 2022-08-31 20:13:08.147340927 Z
+- - :permit
+  - GPLv2+
+  - :who:
+    :why:
+    :versions: []
+    :when: 2022-09-16 15:13:54.129990412 Z
+- - :approve
+  - github.com/opencensus-integrations/gomongowrapper
+  - :who:
+    :why:
+    :versions: []
+    :when: 2023-01-30 21:31:27.476042000 Z
+- - :approve
+  - go.viam.com/rdk
+  - :who:
+    :why:
+    :versions: []
+    :when: 2024-12-03 20:21:04.946556000 Z