diff --git a/.github/workflows/firmware.yaml b/.github/workflows/firmware.yaml
index 5f73efd65..1a7fa2757 100644
--- a/.github/workflows/firmware.yaml
+++ b/.github/workflows/firmware.yaml
@@ -12,20 +12,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-latest, windows-latest, macOS-latest]
+        os: [ubuntu-latest]
         board_version: [v3.6-56V]
-        debug: [true]
-
-        include:
-          - {os: ubuntu-latest, board_version: v3.2, debug: false}
-          - {os: ubuntu-latest, board_version: v3.3, debug: false}
-          - {os: ubuntu-latest, board_version: v3.4-24V, debug: false}
-          - {os: ubuntu-latest, board_version: v3.4-48V, debug: false}
-          - {os: ubuntu-latest, board_version: v3.5-24V, debug: false}
-          - {os: ubuntu-latest, board_version: v3.5-48V, debug: false}
-          - {os: ubuntu-latest, board_version: v3.6-24V, debug: false}
-          - {os: ubuntu-latest, board_version: v3.6-56V, debug: false}
-
+        debug: [false]
+        
     runs-on: ${{ matrix.os }}
     outputs:
       channel: ${{ steps.release-info.outputs.channel }}
diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 03735ce0d..f0d8e362d 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -153,9 +153,9 @@ bool Axis::do_checks(uint32_t timestamp) {
     motor_.do_checks(timestamp);
 
     // Check for endstop presses
-    if (min_endstop_.config_.enabled && min_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING)) {
+    if (min_endstop_.config_.enabled && min_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING) && !(min_endstop_.config_.ignore_during_startup && current_state_ == AXIS_STATE_UNDEFINED) && !(min_endstop_.config_.ignore_during_encoder_index_search && current_state_ == AXIS_STATE_ENCODER_INDEX_SEARCH)) {
         error_ |= ERROR_MIN_ENDSTOP_PRESSED;
-    } else if (max_endstop_.config_.enabled && max_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING)) {
+    } else if (max_endstop_.config_.enabled && max_endstop_.rose() && !(current_state_ == AXIS_STATE_HOMING) && !(max_endstop_.config_.ignore_during_startup && current_state_ == AXIS_STATE_UNDEFINED) && !(min_endstop_.config_.ignore_during_encoder_index_search && current_state_ == AXIS_STATE_ENCODER_INDEX_SEARCH)) {
         error_ |= ERROR_MAX_ENDSTOP_PRESSED;
     }
 
diff --git a/Firmware/MotorControl/endstop.hpp b/Firmware/MotorControl/endstop.hpp
index 21a640c27..b3a6018b1 100644
--- a/Firmware/MotorControl/endstop.hpp
+++ b/Firmware/MotorControl/endstop.hpp
@@ -10,6 +10,8 @@ class Endstop {
         uint16_t gpio_num = 0;
         bool enabled = false;
         bool is_active_high = false;
+        bool ignore_during_startup = false;
+        bool ignore_during_encoder_index_search = false;
 
         // custom setters
         Endstop* parent = nullptr;
diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index 34cb09d06..be98dba1a 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -1409,6 +1409,8 @@ interfaces:
           enabled: {type: bool, c_setter: set_enabled}
           offset: {type: float32, unit: turns}
           is_active_high: bool
+          ignore_during_startup: bool
+          ignore_during_encoder_index_search: bool
           debounce_ms: {type: uint32, c_setter: set_debounce_ms}
 
   ODrive.MechanicalBrake: