diff --git a/.github/workflows/BuildDocs.yml b/.github/workflows/BuildDocs.yml
new file mode 100644
index 000000000..d4a5e661f
--- /dev/null
+++ b/.github/workflows/BuildDocs.yml
@@ -0,0 +1,45 @@
+name: CI/CD Docs
+on:
+  pull_request:
+  push:
+    branches:
+      - master
+  workflow_dispatch:
+
+jobs:
+  docs:
+    name: 'Build Docs'
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - jlenv: 'docs/'
+            makejl: 'docs/make.jl'
+          # - jlenv: 'docs/pdf/'
+          #   makejl: 'docs/pdf/make.jl'
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: '1.10'
+          arch: x64
+      - name: 'Pkgs for Docs on ${{ github.head_ref }}'
+        run: |
+          export JULIA_PKG_SERVER=""
+          [ '${{ github.ref }}' == 'refs/heads/master' ] && export CJL_DOCS_BRANCH="master" || export CJL_DOCS_BRANCH="${{ github.head_ref }}"
+          export JULIA_PKG_PRECOMPILE_AUTO=0
+          julia -e 'println("Julia gets branch: ",ENV["CJL_DOCS_BRANCH"])'
+          julia --project=${{ matrix.jlenv }} --check-bounds=yes -e 'using Pkg; Pkg.instantiate(); Pkg.add(PackageSpec(name="Caesar", rev=ENV["CJL_DOCS_BRANCH"]))'
+          julia --project=${{ matrix.jlenv }} -e 'using Pkg; Pkg.add(PackageSpec(name="RoME", rev="master"))'
+          julia --project=${{ matrix.jlenv }} -e 'using Pkg; Pkg.add(PackageSpec(name="RoMEPlotting", rev="master"))'
+          julia --project=${{ matrix.jlenv }} -e 'using Pkg; Pkg.add(PackageSpec(name="KernelDensityEstimatePlotting", rev="master"))'
+          julia --project=${{ matrix.jlenv }} -e 'using Pkg; Pkg.add(PackageSpec(name="IncrementalInference", rev="master"))'
+      - name: 'Docs make.jl'
+        run: |
+          export JULIA_PKG_PRECOMPILE_AUTO=0
+          export DOCUMENTER_DEBUG="true"
+          julia --project=${{ matrix.jlenv }} --color=yes ${{ matrix.makejl }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }}
+          JULIA_PKG_SERVER: ""
\ No newline at end of file
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 5e3b0e0e2..afe931eea 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -126,45 +126,13 @@ jobs:
           git config --global user.email te@st.er
       - name: Run tests on Upstream Dev
         run: |
+          export JULIA_PKG_PRECOMPILE_AUTO=0
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="RoME",rev="master"));'
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="IncrementalInference",rev="master"));'
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="master"));'
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="master"));'
+          unset JULIA_PKG_PRECOMPILE_AUTO
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.test("Caesar"; coverage=false)'
         shell: bash
   
-  docs:
-    name: 'Build Docs'
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        include:
-          - jlenv: 'docs/'
-            makejl: 'docs/make.jl'
-          # - jlenv: 'docs/pdf/'
-          #   makejl: 'docs/pdf/make.jl'
-    steps:
-      - uses: actions/checkout@v2
-      - uses: julia-actions/setup-julia@v1
-        with:
-          version: '1.10'
-      - name: 'Pkgs for Docs on ${{ github.head_ref }}'
-        run: |
-          export JULIA_PKG_SERVER=""
-          [ '${{ github.ref }}' == 'refs/heads/master' ] && export CJL_DOCS_BRANCH="master" || export CJL_DOCS_BRANCH="${{ github.head_ref }}"
-          export JULIA_PKG_PRECOMPILE_AUTO=0
-          julia -e 'println("Julia gets branch: ",ENV["CJL_DOCS_BRANCH"])'
-          julia --project=${{ matrix.jlenv }} --check-bounds=yes -e 'using Pkg; Pkg.instantiate(); Pkg.add(PackageSpec(name="Caesar", rev=ENV["CJL_DOCS_BRANCH"]))'
-          julia --project=${{ matrix.jlenv }} -e 'using Pkg; Pkg.add(PackageSpec(name="RoME", rev="master"))'
-          julia --project=${{ matrix.jlenv }} -e 'using Pkg; Pkg.add(PackageSpec(name="RoMEPlotting", rev="master"))'
-          julia --project=${{ matrix.jlenv }} -e 'using Pkg; Pkg.add(PackageSpec(name="KernelDensityEstimatePlotting", rev="master"))'
-          julia --project=${{ matrix.jlenv }} -e 'using Pkg; Pkg.add(PackageSpec(name="IncrementalInference", rev="master"))'
-      - name: 'Docs make.jl'
-        run: |
-          export DOCUMENTER_DEBUG="true"
-          export JULIA_PKG_PRECOMPILE_AUTO=0
-          julia --project=${{ matrix.jlenv }} --color=yes ${{ matrix.makejl }}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }}
-          JULIA_PKG_SERVER: ""
+
diff --git a/docs/make.jl b/docs/make.jl
index b0942cda6..7b4955495 100644
--- a/docs/make.jl
+++ b/docs/make.jl
@@ -101,10 +101,12 @@ makedocs(
         "Literature" => [
             "References" => "refs/literature.md"
         ],
-    ]
+    ],
+    # FIXME remove warnonly option once :missing_docs and :cross_references fixes are done
+    warnonly = Documenter.except(:autodocs_block, :docs_block, :doctest, :linkcheck, :eval_block, :example_block, :footnote, :linkcheck_remotes, :meta_block, :parse_error, :setup_block), # , :cross_references, :missing_docs
     # html_prettyurls = !("local" in ARGS),
-    )
-
+)
+# The possible Symbol values that can be passed to the function are: :autodocs_block, :cross_references, :docs_block, :doctest, :eval_block, :example_block, :footnote, :linkcheck_remotes, :linkcheck, :meta_block, :missing_docs, :parse_error, and :setup_block.
 
 deploydocs(
     repo   = "github.com/JuliaRobotics/Caesar.jl.git",