diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index 7e3d1868..51e93d53 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -42,7 +42,7 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v2
+        uses: codecov/codecov-action@v3
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 125d209a..a7476a60 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -41,7 +41,7 @@ jobs:
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
-        uses: codecov/codecov-action@v2
+        uses: codecov/codecov-action@v3
         with:
           files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
diff --git a/.markdownlint.yaml b/.markdownlint.yaml
index dbd5b970..df1f518d 100644
--- a/.markdownlint.yaml
+++ b/.markdownlint.yaml
@@ -1,3 +1,4 @@
+# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules.
 default: true
 MD013: false
 MD024:
@@ -5,3 +6,4 @@ MD024:
 MD033: false
 MD041: false
 MD046: false
+MD049: false
diff --git a/.prettierrc.yaml b/.prettierrc.yaml
index 48b0552e..e29bf327 100644
--- a/.prettierrc.yaml
+++ b/.prettierrc.yaml
@@ -1,2 +1,20 @@
 printWidth: 100
 tabWidth: 2
+overrides:
+  - files: package.xml
+    options:
+      printWidth: 1000
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.launch.xml"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore
+
+  - files: "*.xacro"
+    options:
+      printWidth: 200
+      xmlSelfClosingSpace: false
+      xmlWhitespaceSensitivity: ignore