diff --git a/.github/scripts/boost.sh b/.github/scripts/boost.sh
index 647a846281..3c7e012748 100644
--- a/.github/scripts/boost.sh
+++ b/.github/scripts/boost.sh
@@ -9,10 +9,10 @@ tar -zxf ${BOOST_FOLDER}.tar.gz
 
 # Bootstrap
 cd ${BOOST_FOLDER}/
-./bootstrap.sh
+./bootstrap.sh --with-libraries=serialization,filesystem,thread,system,atomic,date_time,timer,chrono,program_options,regex
 
 # Build and install
-sudo ./b2 install
+sudo ./b2 -j$(nproc) install
 
 # Rebuild ld cache
 sudo ldconfig
diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh
index 55a8ac372b..6abbb55965 100644
--- a/.github/scripts/unix.sh
+++ b/.github/scripts/unix.sh
@@ -92,7 +92,11 @@ function build ()
 
   configure
 
-  make -j2
+  if [ "$(uname)" == "Linux" ]; then
+    make -j$(nproc)
+  elif [ "$(uname)" == "Darwin" ]; then
+    make -j$(sysctl -n hw.physicalcpu)
+  fi
 
   finish
 }
@@ -105,8 +109,12 @@ function test ()
 
   configure
 
-  # Actual build:
-  make -j2 check
+  # Actual testing
+  if [ "$(uname)" == "Linux" ]; then
+    make -j$(nproc)
+  elif [ "$(uname)" == "Darwin" ]; then
+    make -j$(sysctl -n hw.physicalcpu)
+  fi
 
   finish
 }
diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index 5483c32cfd..f52e5eec36 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -47,8 +47,7 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v2
 
-      - name: Install (Linux)
-        if: runner.os == 'Linux'
+      - name: Install Dependencies
         run: |
           # LLVM (clang) 9 is not in Bionic's repositories so we add the official LLVM repository.
           if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then
@@ -63,7 +62,7 @@ jobs:
           fi
           sudo apt-get -y update
 
-          sudo apt-get install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
+          sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
@@ -79,7 +78,5 @@ jobs:
         run: |
           bash .github/scripts/boost.sh
 
-      - name: Build and Test (Linux)
-        if: runner.os == 'Linux'
-        run: |
-          bash .github/scripts/unix.sh -t
+      - name: Build and Test
+        run: bash .github/scripts/unix.sh -t
diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
index ed8f8563b7..462723222f 100644
--- a/.github/workflows/build-macos.yml
+++ b/.github/workflows/build-macos.yml
@@ -34,8 +34,7 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v2
 
-      - name: Install (macOS)
-        if: runner.os == 'macOS'
+      - name: Install Dependencies
         run: |
           brew install cmake ninja
           brew install boost
@@ -48,7 +47,5 @@ jobs:
             echo "CC=clang" >> $GITHUB_ENV
             echo "CXX=clang++" >> $GITHUB_ENV
           fi
-      - name: Build and Test (macOS)
-        if: runner.os == 'macOS'
-        run: |
-          bash .github/scripts/unix.sh -t
+      - name: Build and Test
+        run: bash .github/scripts/unix.sh -t
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index addde8c64c..3fc2d662f8 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -81,7 +81,7 @@ jobs:
           fi
           sudo apt-get -y update
           
-          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev
+          sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev
           
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml
index 6427e13bc8..3bb3fa2988 100644
--- a/.github/workflows/build-special.yml
+++ b/.github/workflows/build-special.yml
@@ -70,7 +70,7 @@ jobs:
           fi
           sudo apt-get -y update
 
-          sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
+          sudo apt-get -y install cmake build-essential pkg-config libpython-dev python-numpy libicu-dev
 
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index a564dade9d..5dfdcd0132 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -12,42 +12,46 @@ jobs:
       CTEST_PARALLEL_LEVEL: 2
       CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
       GTSAM_BUILD_UNSTABLE: ${{ matrix.build_unstable }}
+      BOOST_VERSION: 1.72.0
+      BOOST_EXE: boost_1_72_0-msvc-14.2
+
     strategy:
       fail-fast: false
       matrix:
         # Github Actions requires a single row to be added to the build matrix.
         # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
         name: [
-          #TODO This build keeps timing out, need to understand why.
-          # windows-2016-cl,
-          windows-2019-cl,
-        ]
+            #TODO This build fails, need to understand why.
+            # windows-2016-cl,
+            windows-2019-cl,
+          ]
 
         build_type: [Debug, Release]
         build_unstable: [ON]
         include:
-
-          #TODO This build keeps timing out, need to understand why.
+          #TODO This build fails, need to understand why.
           # - name: windows-2016-cl
           #   os: windows-2016
           #   compiler: cl
+          #   platform: 32
 
           - name: windows-2019-cl
             os: windows-2019
             compiler: cl
+            platform: 64
 
     steps:
-      - name: Checkout
-        uses: actions/checkout@v2
-      - name: Install (Windows)
-        if: runner.os == 'Windows'
+      - name: Install Dependencies
         shell: powershell
         run: |
           Invoke-Expression (New-Object System.Net.WebClient).DownloadString('https://get.scoop.sh')
+          scoop install cmake --global  # So we don't get issues with CMP0074 policy
           scoop install ninja --global
+
           if ("${{ matrix.compiler }}".StartsWith("clang")) {
             scoop install llvm --global
           }
+
           if ("${{ matrix.compiler }}" -eq "gcc") {
             # Chocolatey GCC is broken on the windows-2019 image.
             # See: https://github.com/DaanDeMeyer/doctest/runs/231595515
@@ -55,27 +59,38 @@ jobs:
             scoop install gcc --global
             echo "CC=gcc" >> $GITHUB_ENV
             echo "CXX=g++" >> $GITHUB_ENV
+
           } elseif ("${{ matrix.compiler }}" -eq "clang") {
             echo "CC=clang" >> $GITHUB_ENV
             echo "CXX=clang++" >> $GITHUB_ENV
+
           } else {
-            echo "CC=${{ matrix.compiler }}" >> $GITHUB_ENV
-            echo "CXX=${{ matrix.compiler }}" >> $GITHUB_ENV
+            echo "CC=${{ matrix.compiler }}" >> $env:GITHUB_ENV
+            echo "CXX=${{ matrix.compiler }}" >> $env:GITHUB_ENV
+
           }
+
           # Scoop modifies the PATH so we make the modified PATH global.
-          echo "$env:PATH" >> $GITHUB_PATH
-
-      - name: Download and install Boost
-        uses: MarkusJx/install-boost@v1.0.1
-        id: install-boost
-        with:
-          boost_version: 1.72.0
-          toolset: msvc14.2
-
-      - name: Build (Windows)
-        if: runner.os == 'Windows'
-        env:
-          BOOST_ROOT: ${{ steps.install-boost.outputs.BOOST_ROOT }}
+          echo "$env:PATH" >> $env:GITHUB_PATH
+
+      - name: Install Boost
+        shell: powershell
+        run: |
+          # Snippet from: https://github.com/actions/virtual-environments/issues/2667
+          $BOOST_PATH = "C:\hostedtoolcache\windows\Boost\$env:BOOST_VERSION\x86_64"
+
+          # Use the prebuilt binary for Windows
+          $Url = "https://sourceforge.net/projects/boost/files/boost-binaries/$env:BOOST_VERSION/$env:BOOST_EXE-${{matrix.platform}}.exe"
+          (New-Object System.Net.WebClient).DownloadFile($Url, "$env:TEMP\boost.exe")
+          Start-Process -Wait -FilePath "$env:TEMP\boost.exe" "/SILENT","/SP-","/SUPPRESSMSGBOXES","/DIR=$BOOST_PATH"
+
+          # Set the BOOST_ROOT variable
+          echo "BOOST_ROOT=$BOOST_PATH" >> $env:GITHUB_ENV
+
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Build
         run: |
           cmake -E remove_directory build
           cmake -B build -S . -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DBOOST_ROOT="${env:BOOST_ROOT}" -DBOOST_INCLUDEDIR="${env:BOOST_ROOT}\boost\include" -DBOOST_LIBRARYDIR="${env:BOOST_ROOT}\lib"