diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 0d57713e0..fb36c928b 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -2,28 +2,30 @@ name: Release
 
 on:
   workflow_dispatch:
+    inputs:
+      version:
+        description: 'The type of version bump. Select "nobump" for no version change. See https://github.com/npm/node-semver#functions'
+        type: choice
+        required: true
+        default: nobump
+        options:
+          - major
+          - minor
+          - patch
+          - premajor
+          - preminor
+          - prepatch
+          - nobump # this action is custom for this action and does not exist in npm
 
 jobs:
   prepare:
-    if: github.repository_owner == 'viamrobotics' && startsWith(github.ref_name, 'rc-')
+    if: github.repository_owner == 'viamrobotics'
     runs-on: ubuntu-latest
     container:
       image: ghcr.io/viamrobotics/canon:amd64
     outputs:
       version: ${{ steps.which_version.outputs.version }}
     steps:
-      - name: Check if organization member
-        id: is_organization_member
-        uses: jamessingleton/is-organization-member@1.0.1
-        with:
-          organization: viamrobotics
-          username: ${{ github.actor }}
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Cancelling - not an organization member
-        uses: andymckay/cancel-action@0.2
-        if: steps.is_organization_member.outputs.result == 'false'
-
       - name: Checkout Code
         uses: actions/checkout@v4
 
@@ -34,7 +36,8 @@ jobs:
 
       - name: Bump Version
         shell: bash
-        run: npm version $(npm pkg get version | sed -e 's/\"//g' -e 's/-rc.*//g') --no-git-tag-version
+        run: npm version ${{ inputs.version }} --no-git-tag-version
+        if: inputs.version != 'nobump'
 
       - name: Which Version
         id: which_version
@@ -58,19 +61,18 @@ jobs:
       - name: Add + Commit
         uses: EndBug/add-and-commit@v9
         with:
-          new_branch: rc-${{ steps.which_version.outputs.version }}
+          new_branch: release/v${{ steps.which_version.outputs.version }}
           message: Bump version to ${{ steps.which_version.outputs.version }}
 
       - name: Open PR
-        uses: repo-sync/pull-request@v2
-        with:
-          destination_branch: 'main'
-          pr_title: ${{ steps.which_version.outputs.version }}
-          pr_body: This is an auto-generated PR to merge the rc branch back into main upon successful release.
+        run: |
+          gh pr create -t "v${{ steps.which_version.outputs.version }}" -b "This is an auto-generated PR to merge the release branch back into main upon successful release" -B "main" -H "release/v${{ steps.which_version.outputs.version }}"
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
   build:
     needs: prepare
-    if: github.repository_owner == 'viamrobotics' && startsWith(github.ref_name, 'rc-')
+    if: github.repository_owner == 'viamrobotics'
     runs-on: ubuntu-latest
     container:
       image: ghcr.io/viamrobotics/canon:amd64
@@ -78,7 +80,7 @@ jobs:
       - name: Checkout Code
         uses: actions/checkout@v4
         with:
-          ref: rc-${{ needs.prepare.outputs.version }}
+          ref: release/v${{ needs.prepare.outputs.version }}
 
       - name: Build + Pack
         run: |
@@ -95,7 +97,7 @@ jobs:
 
   release:
     needs: [prepare, build]
-    if: github.repository_owner == 'viamrobotics' && startsWith(github.ref_name, 'rc-')
+    if: github.repository_owner == 'viamrobotics'
     runs-on: ubuntu-latest
     container:
       image: ghcr.io/viamrobotics/canon:amd64
@@ -111,7 +113,7 @@ jobs:
           draft: true
           prerelease: false
           fail_on_unmatched_files: true
-          target_commitish: rc-${{ needs.prepare.outputs.version }}
+          target_commitish: release/v${{ needs.prepare.outputs.version }}
 
       - name: Publish Docs
         uses: peaceiris/actions-gh-pages@v3
diff --git a/.github/workflows/release_candidate.yml b/.github/workflows/release_candidate.yml
deleted file mode 100644
index 13bb765b9..000000000
--- a/.github/workflows/release_candidate.yml
+++ /dev/null
@@ -1,151 +0,0 @@
-name: Release Candidate
-
-on:
-  workflow_dispatch:
-    inputs:
-      version:
-        description: 'The type of version bump. Select "nobump" for no version change. `rc` version bumps will happen automatically, so select the type of version bump for the final release. See https://github.com/npm/node-semver#functions'
-        type: choice
-        required: true
-        default: nobump
-        options:
-          - premajor
-          - preminor
-          - prepatch
-          - nobump # this action is custom for this action and does not exist in npm
-    secrets:
-      NPM_TOKEN:
-        required: true
-
-jobs:
-  prepare:
-    if: github.repository_owner == 'viamrobotics'
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/viamrobotics/canon:amd64
-    outputs:
-      rc_version: ${{ steps.which_version.outputs.rc_version }}
-      version: ${{ steps.which_version.outputs.version }}
-    steps:
-      - name: Check if organization member
-        id: is_organization_member
-        uses: jamessingleton/is-organization-member@1.0.1
-        with:
-          organization: viamrobotics
-          username: ${{ github.actor }}
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Cancelling - not an organization member
-        uses: andymckay/cancel-action@0.2
-        if: steps.is_organization_member.outputs.result == 'false'
-
-      - name: Install GH CLI
-        run: |
-          type -p curl >/dev/null || (sudo apt update && sudo apt install curl -y)
-          curl -fsSL https://cli.github.com/packages/githubcli-archive-keyring.gpg | sudo dd of=/usr/share/keyrings/githubcli-archive-keyring.gpg \
-          && sudo chmod go+r /usr/share/keyrings/githubcli-archive-keyring.gpg \
-          && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main" | sudo tee /etc/apt/sources.list.d/github-cli.list > /dev/null \
-          && sudo apt update \
-          && sudo apt install gh -y
-
-      - name: Checkout Code
-        uses: actions/checkout@v4
-
-      - name: Build + Lint + Test
-        run: |
-          sudo chown -R testbot .
-          sudo -u testbot bash -lc 'make build lint test'
-
-      - name: Current version
-        id: current_version
-        shell: bash
-        run: |
-          echo "current_version=$(npm pkg get version)" >> $GITHUB_OUTPUT
-
-      - name: Bump Version
-        id: bump_version
-        shell: bash
-        run: |
-          if ${{ contains(steps.current_version.outputs.current_version, 'rc') }} ; then
-            npm version prerelease --preid=rc --no-git-tag-version
-          elif ${{ contains(steps.current_version.outputs.current_version, 'next') && inputs.version == 'prepatch' }} ; then
-            npm version prerelease --preid=rc --no-git-tag-version
-          else
-            npm version ${{ inputs.version }} --preid=rc --no-git-tag-version
-          fi
-        if: inputs.version != 'nobump'
-
-      - name: Which Version
-        id: which_version
-        shell: bash
-        run: |
-          echo "rc_version=$(npm pkg get version | sed 's/\"//g')" >> $GITHUB_OUTPUT
-          echo "version=$(npm pkg get version | sed -e 's/\"//g' -e 's/-rc.*//g')" >> $GITHUB_OUTPUT
-
-      - name: Check if release exists
-        uses: cardinalby/git-get-release-action@1.2.4
-        id: release_exists
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        with:
-          releaseName: v${{ steps.which_version.outputs.rc_version }}
-          doNotFailIfNotFound: 'true'
-
-      - name: Cancelling - release already exists
-        uses: andymckay/cancel-action@0.2
-        if: steps.release_exists.outputs.id != ''
-
-      - name: Add + Commit
-        uses: EndBug/add-and-commit@v9
-        with:
-          new_branch: rc-${{ steps.which_version.outputs.version }}
-          message: Bump version to ${{ steps.which_version.outputs.rc_version }}
-
-      - name: Open PR
-        run: |
-          gh pr create -t "rc-${{ steps.which_version.outputs.version }}" -b "This is an auto-generated PR to merge the RC branch back into main upon successful release" -B "main" -H "rc-${{ steps.which_version.outputs.version }}"
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-  build:
-    needs: prepare
-    if: github.repository_owner == 'viamrobotics'
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/viamrobotics/canon:amd64
-    steps:
-      - name: Checkout Code
-        uses: actions/checkout@v4
-        with:
-          ref: rc-${{ needs.prepare.outputs.version }}
-
-      - name: Build + Pack
-        run: |
-          sudo chown -R testbot .
-          sudo -u testbot bash -lc 'make build pack'
-
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v3
-        with:
-          name: dist
-          path: viamrobotics-sdk-*.tgz
-
-  release:
-    needs: [prepare, build]
-    if: github.repository_owner == 'viamrobotics'
-    runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/viamrobotics/canon:amd64
-
-    steps:
-      - uses: actions/download-artifact@v3
-
-      - name: Release
-        uses: softprops/action-gh-release@v1
-        with:
-          tag_name: v${{ needs.prepare.outputs.rc_version }}
-          files: dist/*
-          draft: true
-          prerelease: true
-          fail_on_unmatched_files: true
-          target_commitish: rc-${{ needs.prepare.outputs.version }}