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The ESP32 workflow set up its whole toolchain from scratch on every run: apt deps, an ESP-IDF clone, and install.sh downloading the toolchain into ~/.espressif (~5-10 min), then compiled with ccache installed but never wired into the ESP-IDF build. Run the job inside the new ardupilot/ardupilot-dev-esp32 image (ESP-IDF toolchain baked in) and drop the manual setup. Enable ccache for the ESP-IDF build via IDF_CCACHE_ENABLE and persist it with the shared setup-ccache/save-ccache actions (CCACHE_MAXSIZE bumped to 1G since the plane+copter object set exceeds the 400M default). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>