diff --git a/.circleci/config.yml b/.circleci/config.yml
index 18f89ae5d2..07be99e0c9 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -8,11 +8,6 @@ setup-env: &setup-env
   RUST_LOG: info
 
 executors:
-  default:
-    machine:
-      image: ubuntu-2004:202101-01
-    working_directory: ~/lurk
-    resource_class: xlarge
   arm64:
     machine:
       image: ubuntu-2004:202101-01
@@ -99,191 +94,47 @@ commands:
             cargo --version
             rustc --version
 
-  save_rustup_cache:
-    steps:
-      - save_cache:
-          name: "Save rustup cache"
-          key: cargo-v2-{{ checksum "rust-toolchain" }}-{{ checksum "Cargo.toml" }}-{{ checksum "Cargo.lock" }}-{{ arch }}
-          paths:
-            - "~/.cargo"
-            - "~/.rustup"
-
-  restore_rustup_cache:
-      steps:
-        - restore_cache:
-            keys:
-              - cargo-v2-{{ checksum "rust-toolchain" }}-{{ checksum "Cargo.toml" }}-{{ checksum "Cargo.lock" }}-{{ arch }}
-
-  install_gpu_deps:
-    steps:
-      - run: sudo apt update && sudo apt install -y ocl-icd-opencl-dev curl build-essential
-
 jobs:
-  cargo_fetch:
-    executor: default
-    environment: *setup-env
+  test:
+    parameters:
+     os:
+       type: executor
+    executor: << parameters.os >>
     steps:
       - checkout
       - run:
           name: Update submodules
           command: |
             git submodule update --init --recursive
-      - restore_rustup_cache
-      - set_env_path
-      - set_versions_n_runners
-      - run: cargo fetch
-      - run: rm -rf .git
-      - persist_to_workspace:
-          root: ~/
-          paths:
-            - lurk
-      - save_rustup_cache
-
-  linux_release:
-    executor: default
-    environment: *setup-env
-    steps:
-      - checkout
       - attach_workspace:
           at: "~/"
-      - restore_rustup_cache
-      - set_env_path
-      - setup-sccache
-      - install_gpu_deps
-      - restore-sccache-cache
-      - run:
-          name: Linux Tests
-          command: cargo nextest run --profile ci --workspace --cargo-profile dev-ci --run-ignored ignored-only -E 'all() - test(groth16::tests::outer_prove_recursion) - test(test_make_fcomm_examples) - test(test_functional_commitments_demo) - test(test_chained_functional_commitments_demo)'
-      - run:
-          name: Benches build successfully
-          command: cargo bench --no-run --profile dev-ci
-      - run:
-          name: Linux Doc Tests
-          command: cargo test --doc --workspace --profile dev-ci
-      - save-sccache-cache
-      - run:
-          name: Print sccache stats
-          command: sccache -s
-
-  linux_exhaustive:
-    executor: default
-    environment: *setup-env
-    steps:
-      - checkout
-      - attach_workspace:
-          at: "~/"
-      - restore_rustup_cache
-      - set_env_path
-      - install_gpu_deps
-      - restore-sccache-cache
-      - run:
-          name: Linux Tests
-          command: cargo nextest run --profile ci --workspace --cargo-profile dev-ci --run-ignored all
-      - run:
-          name: Benches build successfully
-          command: cargo bench --no-run --profile dev-ci
-      - run:
-          name: Linux Doc Tests
-          command: cargo test --doc --workspace --profile dev-ci
-      - save-sccache-cache
-      - run:
-          name: Print sccache stats
-          command: sccache -s
-
-  arm64:
-    executor: arm64
-    environment: *setup-env
-    steps:
-      - checkout
-      - run:
-          name: Update submodules
-          command: |
-            git submodule update --init --recursive
-      - attach_workspace:
-          at: "~/"
-      - set_versions_n_runners
-      - set_env_path
-      - install_gpu_deps
-      - setup-sccache
-      - restore-sccache-cache
-      - run:
-          name: Arm64 Tests
-          command: cargo nextest run --profile ci --workspace --cargo-profile dev-ci
-          no_output_timeout: 120m
-      - run:
-          name: Benches build successfully
-          command: cargo bench --no-run --profile dev-ci
-      - run:
-          name: Arm64 Doc Tests
-          command: cargo test --doc --workspace --profile dev-ci
-      - save-sccache-cache
-      - run:
-          name: Print sccache stats
-          command: sccache -s
-
-  mac:
-    executor: darwin
-    environment: *setup-env
-    steps:
-      - checkout
-      - run:
-          name: Update submodules
-          command: git submodule update --init --recursive
-      - attach_workspace:
-           at: "~/"
       - set_versions_n_runners
       - set_env_path
       - setup-sccache
       - restore-sccache-cache
       - run:
-          name: MacOS Tests
+          name: Run cargo tests
           command: cargo nextest run --profile ci --workspace --cargo-profile dev-ci
           no_output_timeout: 120m
       - run:
           name: Benches build successfully
           command: cargo bench --no-run --profile dev-ci
       - run:
-          name: MacOS Doc Tests
+          name: Doc Tests
           command: cargo test --doc --workspace --profile dev-ci
       - save-sccache-cache
       - run:
           name: Print sccache stats
           command: sccache -s
 
-  clippy:
-    executor: default
-    environment: *setup-env
-    steps:
-      - checkout
-      - set_env_path
-      - attach_workspace:
-          at: "~/"
-      - restore_rustup_cache
-      - run: cargo clippy --all -- -D warnings
-
-  rustfmt:
-    executor: default
-    environment: *setup-env
-    steps:
-      - checkout
-      - set_env_path
-      - attach_workspace:
-          at: "~/"
-      - restore_rustup_cache
-      - run: cargo fmt --all -- --check
 
 workflows:
   test-all:
     jobs:
-      - cargo_fetch:
-          filters:
-            branches:
-                ignore:
-                  - gh-pages
-                  - staging.tmp
-                  - trying.tmp
-                  - staging-squash-merge.tmp
-      - arm64:
+      - test:
+          matrix:
+            parameters:
+              os: [arm64, darwin]
           filters:
             branches:
                 ignore:
@@ -292,58 +143,3 @@ workflows:
                   - staging.tmp
                   - trying.tmp
                   - staging-squash-merge.tmp
-      - mac:
-          filters:
-            branches:
-                ignore:
-                  - master
-                  - gh-pages
-                  - staging.tmp
-                  - trying.tmp
-                  - staging-squash-merge.tmp
-      - linux_release:
-          requires:
-            - cargo_fetch
-          filters:
-            branches:
-                ignore:
-                  - master
-                  - gh-pages
-                  - staging.tmp
-                  - trying.tmp
-                  - staging-squash-merge.tmp
-      - rustfmt:
-          requires:
-            - cargo_fetch
-          filters:
-            branches:
-                ignore:
-                  - master
-                  - gh-pages
-                  - staging.tmp
-                  - trying.tmp
-                  - staging-squash-merge.tmp
-      - clippy:
-          requires:
-            - cargo_fetch
-          filters:
-            branches:
-                ignore:
-                  - master
-                  - gh-pages
-                  - staging.tmp
-                  - trying.tmp
-                  - staging-squash-merge.tmp
-  nightly:
-    triggers:
-        - schedule:
-            cron: "0 0 * * *"
-            filters:
-              branches:
-                only:
-                  - master
-    jobs:
-        - cargo_fetch
-        - linux_exhaustive:
-            requires:
-              - cargo_fetch
diff --git a/.github/workflows/pr-bench.yml b/.github/workflows/bench_pr_comment.yml
similarity index 94%
rename from .github/workflows/pr-bench.yml
rename to .github/workflows/bench_pr_comment.yml
index 29b944669f..9ace2bd86c 100644
--- a/.github/workflows/pr-bench.yml
+++ b/.github/workflows/bench_pr_comment.yml
@@ -1,3 +1,4 @@
+# Creates a PR benchmark comment with a comparison to master
 name: Benchmark pull requests
 on:
   issue_comment:
diff --git a/.github/workflows/pr-test.yml b/.github/workflows/ci.yml
similarity index 97%
rename from .github/workflows/pr-test.yml
rename to .github/workflows/ci.yml
index 39429d0c8d..54977951e2 100644
--- a/.github/workflows/pr-test.yml
+++ b/.github/workflows/ci.yml
@@ -1,4 +1,4 @@
-name: Lurk CI tests
+name: CI tests
 
 on:
   merge_group:
@@ -52,7 +52,7 @@ jobs:
       - name: Linux Gadget Tests w/o debug assertions
         run: |
           cargo nextest run --profile ci --workspace --cargo-profile dev-no-assertions -E 'test(circuit::gadgets)'
-  
+
   misc:
     runs-on: ${{ matrix.os }}
     strategy:
@@ -77,7 +77,7 @@ jobs:
         run: cargo build --benches
       - name: Doctests
         run: |
-          cargo test --doc
+          cargo test --doc --workspace --profile dev-ci
   
   clippy:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/ci_ignored.yml b/.github/workflows/ci_ignored.yml
new file mode 100644
index 0000000000..97c3d17861
--- /dev/null
+++ b/.github/workflows/ci_ignored.yml
@@ -0,0 +1,23 @@
+# Run ignored tests only when attempting to merge
+name: Linux ignored tests
+
+on:
+  merge_group:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
+jobs:
+  linux_ignored:
+    runs-on: [self-hosted, test]
+    env:
+      RUSTFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions-rs/toolchain@v1
+      - uses: taiki-e/install-action@nextest
+      - uses: Swatinem/rust-cache@v2
+      - name: Linux Tests
+        run: |
+          cargo nextest run --profile ci --workspace --cargo-profile dev-ci --run-ignored ignored-only -E 'all() - test(groth16::tests::outer_prove_recursion) - test(test_make_fcomm_examples) - test(test_functional_commitments_demo) - test(test_chained_functional_commitments_demo)'
diff --git a/.github/workflows/rust.yml b/.github/workflows/gpu.yml
similarity index 58%
rename from .github/workflows/rust.yml
rename to .github/workflows/gpu.yml
index 52a42fe912..ea4246ffaa 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/gpu.yml
@@ -1,9 +1,11 @@
-name: Rust
+# Runs the test suite on a self-hosted GPU machine with CUDA and OpenCL enabled
+name: GPU tests
 
 on:
   push:
     branches:
       - master
+
 env:
   CARGO_TERM_COLOR: always
   # Disable incremental compilation.
@@ -25,21 +27,19 @@ env:
   RUSTUP_MAX_RETRIES: 10
   # Don't emit giant backtraces in the CI logs.
   RUST_BACKTRACE: short
+  RUSTFLAGS: -D warnings
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
   cancel-in-progress: true
 
 jobs:
-  test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os:
-          - ubuntu-latest
-      fail-fast: false
+  cuda:
+    name: Rust tests on CUDA
+    runs-on: [self-hosted, gpu]
     env:
-      RUSTFLAGS: -D warnings
+      NVIDIA_VISIBLE_DEVICES: all
+      NVIDIA_DRIVER_CAPABILITITES: compute,utility
     steps:
       - uses: actions/checkout@v3
         with:
@@ -47,34 +47,28 @@ jobs:
       - uses: actions-rs/toolchain@v1
       - uses: taiki-e/install-action@nextest
       - uses: Swatinem/rust-cache@v2
-      # make sure benches don't bit-rot
-      - name: build benches
-        run: cargo build --benches --release
-      - name: cargo test
-        run: |
-          cargo nextest run --profile ci --workspace --cargo-profile dev-ci --run-ignored all -E 'all() - test(groth16::tests::outer_prove_recursion) - test(test_make_fcomm_examples) - test(test_functional_commitments_demo) - test(test_chained_functional_commitments_demo)'
-      - name: Doctests
+      # Check we have access to the machine's Nvidia drivers
+      - run: nvidia-smi
+      # The `compute`/`sm` number corresponds to the Nvidia GPU architecture
+      # In this case, the self-hosted machine uses the Ampere architecture, but we want this to be configurable
+      # See https://arnon.dk/matching-sm-architectures-arch-and-gencode-for-various-nvidia-cards/
+      - name: Set env for CUDA compute
+        run: echo "CUDA_ARCH=$(nvidia-smi --query-gpu=compute_cap --format=csv,noheader | sed 's/\.//g')" >> $GITHUB_ENV
+      - name: set env for EC_GPU
+        run: echo 'EC_GPU_CUDA_NVCC_ARGS=--fatbin --gpu-architecture=sm_${{ env.CUDA_ARCH }} --generate-code=arch=compute_${{ env.CUDA_ARCH }},code=sm_${{ env.CUDA_ARCH }}' >> $GITHUB_ENV
+      - run: echo "${{ env.EC_GPU_CUDA_NVCC_ARGS}}"
+      # Check that CUDA is installed with a driver-compatible version
+      # This must also be compatible with the GPU architecture, see above link
+      - run: nvcc --version
+      - name: CUDA tests
+        env: 
+          EC_GPU_FRAMEWORK: cuda
+        # Temporarily skipping CLI test due to cudaMallocAsync error: https://github.com/lurk-lab/lurk-rs/issues/596
         run: |
-          cargo test --doc
-
-  msrv:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v3
-      - name: Install rustup
-        uses: actions-rs/toolchain@v1
-        with:
-          toolchain: stable
-          override: true
-      - uses: Swatinem/rust-cache@v2
-      - name: Install cargo-msrv
-        run: cargo install cargo-msrv
-      - name: Check Rust MSRV
-        run: cargo msrv verify
+          cargo nextest run --profile ci --cargo-profile dev-ci --features cuda -E 'all() - test(test_prove_and_verify)'
 
-  # Runs the test suite on a self-hosted GPU machine with CUDA enabled
-  test-gpu:
-    name: Rust tests on CUDA
+  opencl:
+    name: Rust tests on OpenCL
     runs-on: [self-hosted, gpu]
     env:
       NVIDIA_VISIBLE_DEVICES: all
@@ -99,37 +93,11 @@ jobs:
       # Check that CUDA is installed with a driver-compatible version
       # This must also be compatible with the GPU architecture, see above link
       - run: nvcc --version
-      # The use of `gcc-10`/`g++-10` is a hack to work around a pasta-msm error with CUDA 11.5 and gcc 11.3:
-      # https://github.com/NVlabs/instant-ngp/issues/119#issuecomment-1231890237
-      # We could also update to CUDA 11.8+ but it breaks the self-hosted runner
-      - name: CUDA tests
-        env: 
-          EC_GPU_FRAMEWORK: cuda
-        run: |
-          CC=gcc-10 CXX=g++-10 cargo nextest run --profile ci --cargo-profile dev-ci --features cuda
       # Check that we can access the OpenCL headers
       - run: clinfo
       - name: OpenCL tests
         env:
           EC_GPU_FRAMEWORK: opencl
+        # Temporarily skipping CLI test due to cudaMallocAsync error: https://github.com/lurk-lab/lurk-rs/issues/596
         run: |
-          CC=gcc-10 CXX=g++-10 cargo nextest run --profile ci --cargo-profile dev-ci --features cuda,opencl
-
-  rustfmt_n_clippy:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v3
-        with:
-          submodules: recursive
-      - uses: actions-rs/toolchain@v1
-        with:
-          components: rustfmt, clippy
-      - uses: Swatinem/rust-cache@v2
-      - name: rustfmt
-        uses: actions-rs/cargo@v1
-        with:
-          command: fmt
-          args: --all --check
-      # See '.cargo/config' for list of enabled/disabled clippy lints
-      - name: cargo clippy
-        run: cargo xclippy -D warnings
+          cargo nextest run --profile ci --cargo-profile dev-ci --features cuda,opencl -E 'all() - test(test_prove_and_verify)'
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
new file mode 100644
index 0000000000..c08363ec27
--- /dev/null
+++ b/.github/workflows/nightly.yml
@@ -0,0 +1,47 @@
+name: Nightly tests on master
+
+on:
+  schedule:
+    - cron:  '0 0 * * *'
+
+env:
+  CARGO_TERM_COLOR: always
+  # Disable incremental compilation.
+  #
+  # Incremental compilation is useful as part of an edit-build-test-edit cycle,
+  # as it lets the compiler avoid recompiling code that hasn't changed. However,
+  # on CI, we're not making small edits; we're almost always building the entire
+  # project from scratch. Thus, incremental compilation on CI actually
+  # introduces *additional* overhead to support making future builds
+  # faster...but no future builds will ever occur in any given CI environment.
+  #
+  # See https://matklad.github.io/2021/09/04/fast-rust-builds.html#ci-workflow
+  # for details.
+  CARGO_INCREMENTAL: 0
+  # Allow more retries for network requests in cargo (downloading crates) and
+  # rustup (installing toolchains). This should help to reduce flaky CI failures
+  # from transient network timeouts or other issues.
+  CARGO_NET_RETRY: 10
+  RUSTUP_MAX_RETRIES: 10
+  # Don't emit giant backtraces in the CI logs.
+  RUST_BACKTRACE: short
+
+jobs:
+  linux_exhaustive:
+    runs-on: [self-hosted, test]
+    env:
+      RUSTFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions-rs/toolchain@v1
+      - uses: taiki-e/install-action@nextest
+      - uses: Swatinem/rust-cache@v2
+      - name: Linux Tests
+        run: |
+          cargo nextest run --profile ci --workspace --cargo-profile dev-ci --run-ignored all
+      - name: Benches build successfully
+        run: |
+          cargo bench --no-run --profile dev-ci
+      - name: Linux Doc Tests
+        run: |
+         cargo test --doc --workspace --profile dev-ci