diff --git a/.github/actions/citra/action.yml b/.github/actions/citra/action.yml
deleted file mode 100644
index 18441f0..0000000
--- a/.github/actions/citra/action.yml
+++ /dev/null
@@ -1,12 +0,0 @@
-name: 'Run 3DS Executable'
-description: 'Run a given 3DS executable with citra and GDB'
-inputs:
-  executable:
-    description: >
-      The 3DS executable(s) to run. Globs and space separated lists allowed.
-    required: true
-runs:
-  using: docker
-  image: ../../../Dockerfile
-  args:
-    - ${{ inputs.executable }}
diff --git a/.github/actions/setup/action.yml b/.github/actions/setup/action.yml
index 95629df..b5a7f37 100644
--- a/.github/actions/setup/action.yml
+++ b/.github/actions/setup/action.yml
@@ -10,14 +10,6 @@ inputs:
 runs:
   using: composite
   steps:
-    # https://github.com/nektos/act/issues/917#issuecomment-1074421318
-    - if: ${{ env.ACT }}
-      shell: bash
-      name: Hack container for local development
-      run: |
-          curl -fsSL https://deb.nodesource.com/setup_lts.x | sudo -E bash -
-          sudo apt-get install -y nodejs
-
     - name: Setup default Rust toolchain
       # Use this helper action so we get matcher support
       # https://github.com/actions-rust-lang/setup-rust-toolchain/pull/15
@@ -25,6 +17,7 @@ runs:
       with:
         components: clippy, rustfmt, rust-src
         toolchain: ${{ inputs.toolchain }}
+        rustflags: ""
 
     - name: Set up Rust cache
       uses: Swatinem/rust-cache@v2
@@ -38,7 +31,7 @@ runs:
     - name: Install cargo-3ds
       shell: bash
       # TODO: replace with crates.io version once published
-      run: cargo install --git https://github.com/rust3ds/cargo-3ds --branch feature/verbose-flag
+      run: cargo install --locked --git https://github.com/rust3ds/cargo-3ds
 
     - name: Set PATH to include devkitARM
       shell: bash
diff --git a/.github/actions/test/action.yml b/.github/actions/test/action.yml
new file mode 100644
index 0000000..b4d6f2f
--- /dev/null
+++ b/.github/actions/test/action.yml
@@ -0,0 +1,33 @@
+name: Cargo 3DS Test
+description: >
+  Run `cargo 3ds test` executables using Citra. Note that to use this action,
+  you must mount `/var/run/docker.sock:/var/run/docker.sock` and `/tmp:/tmp` into
+  the container so that the runner image can be built and doctest artifacts can
+  be found, respectively.
+
+inputs:
+  args:
+    description: >
+      Extra arguments to pass to `cargo 3ds test`
+    required: false
+    default: ''
+
+runs:
+  using: composite
+  steps:
+    - name: Build test-runner image
+      uses: docker/build-push-action@v2
+      with:
+        tags: test-runner-3ds:latest
+        push: false
+
+    - shell: bash
+      env:
+        # Set a custom runner for `cargo test` commands to use
+        CARGO_TARGET_ARMV6K_NINTENDO_3DS_RUNNER: |-
+          docker run --rm \
+            -v /tmp:/tmp \
+            -v ${{ github.workspace }}/target:/app/target \
+            -v ${{ github.workspace }}:${{ github.workspace }} \
+            test-runner-3ds:latest
+      run: cargo 3ds test ${{ inputs.args }}
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 04d0614..aa7ee03 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -9,10 +9,6 @@ on:
       - main
   workflow_dispatch:
 
-env:
-  # actions-rust-lang/setup-rust-toolchain sets some default RUSTFLAGS, which we don't want to use
-  RUSTFLAGS: ""
-
 jobs:
   lint:
     strategy:
@@ -34,8 +30,7 @@ jobs:
         run: cargo fmt --all --verbose -- --check
 
       - name: Run clippy
-        # We have to build the test crate here since it's not included in build-std by default
-        run: cargo 3ds clippy -Zbuild-std=std,test --color=always --verbose --all-targets
+        run: cargo 3ds clippy --color=always --verbose --all-targets
 
   test:
     strategy:
@@ -47,7 +42,6 @@ jobs:
 
     continue-on-error: ${{ matrix.toolchain == 'nightly' }}
     runs-on: ubuntu-latest
-    container: devkitpro/devkitarm
     steps:
       - name: Checkout branch
         uses: actions/checkout@v3
@@ -56,29 +50,26 @@ jobs:
         with:
           toolchain: ${{ matrix.toolchain }}
 
-      - name: Build lib tests
-        run: cargo 3ds test --no-run --lib
-
-      - name: Build integration tests
-        run: cargo 3ds test --no-run --test integration
-
-      - name: Build doc tests
-        run: cargo 3ds test --no-run --doc
-
-      - name: Run lib + integration tests
-        uses: ./.github/actions/citra
+      - name: Build and run tests (unit + integration)
+        uses: ./.github/actions/test
+
+      - name: Build and run doc tests
+        # Let's still run doc tests even if lib/integration tests fail:
+        if: ${{ !cancelled() }}
+        env:
+          # This ensures the citra logs and video output gets put in a directory
+          # where we can upload as artifacts
+          RUSTDOCFLAGS: " --persist-doctests target/armv6k-nintendo-3ds/debug/doctests"
+        uses: ./.github/actions/test
         with:
-          executable:  ./target/armv6k-nintendo-3ds/debug/deps/*.elf
-
-      # TODO: run doc tests. We might be able to do something with e.g.
-      # cargo's "runner" configuration, but it seems we also need a test
-      # runtime and stuff for that to work.
+          args: --doc
 
       - name: Upload citra logs and capture videos
         uses: actions/upload-artifact@v3
-        if: success() || failure()
+        # We always want to upload artifacts regardless of previous success/failure
+        if: ${{ !cancelled() }}
         with:
           name: citra-logs-${{ matrix.toolchain }}
           path: |
-            target/armv6k-nintendo-3ds/debug/deps/*.txt
-            target/armv6k-nintendo-3ds/debug/deps/*.webm
+            target/armv6k-nintendo-3ds/debug/**/*.txt
+            target/armv6k-nintendo-3ds/debug/**/*.webm