diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index a26eb9b24d..003c8ea258 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -33,12 +33,15 @@ jobs:
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: release/check-submodules.sh
-    - name: Cache dependencies
-      id: dependency-cache
-      uses: actions/cache@v2
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
       with:
         path: /tmp/scons_cache
-        key: scons-cache-${{ hashFiles('selfdrive/**') }}
+        key: scons-cache-${{ steps.stamps.outputs.time }}
         restore-keys: scons-cache-
     - name: Strip non-release files
       run: |
@@ -144,6 +147,16 @@ jobs:
     - uses: actions/checkout@v2
       with:
         submodules: true
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: ${{ github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' }}
+      with:
+        path: /tmp/scons_cache
+        key: scons-cache-${{ steps.stamps.outputs.time }}
+        restore-keys: scons-cache-
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Push to container registry
@@ -159,6 +172,16 @@ jobs:
     - uses: actions/checkout@v2
       with:
         submodules: true
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-cache-${{ steps.stamps.outputs.time }}
+        restore-keys: scons-cache-
     - name: Build Docker image
       run: eval "$BUILD"
     - name: pre-commit
@@ -178,6 +201,16 @@ jobs:
       with:
         path: /tmp/comma_download_cache
         key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/test_valgrind_replay.py') }}
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-cache-${{ steps.stamps.outputs.time }}
+        restore-keys: scons-cache-
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Run valgrind
@@ -196,6 +229,16 @@ jobs:
     - uses: actions/checkout@v2
       with:
         submodules: true
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-cache-${{ steps.stamps.outputs.time }}
+        restore-keys: scons-cache-
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Run unit tests
@@ -235,6 +278,16 @@ jobs:
       with:
         path: /tmp/comma_download_cache
         key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/process_replay/test_processes.py') }}
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-cache-${{ steps.stamps.outputs.time }}
+        restore-keys: scons-cache-
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Run replay
@@ -276,6 +329,16 @@ jobs:
     - uses: actions/checkout@v2
       with:
         submodules: true
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-cache-${{ steps.stamps.outputs.time }}
+        restore-keys: scons-cache-
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Test longitudinal
@@ -305,6 +368,16 @@ jobs:
       with:
         path: /tmp/comma_download_cache
         key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/test_routes.py') }}
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-cache-${{ steps.stamps.outputs.time }}
+        restore-keys: scons-cache-
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Test car models