diff --git a/.github/workflows/test_sitl_blimp.yml b/.github/workflows/test_sitl_blimp.yml
index 7d9e55e51b..ebd1059431 100644
--- a/.github/workflows/test_sitl_blimp.yml
+++ b/.github/workflows/test_sitl_blimp.yml
@@ -229,7 +229,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
index 07efd7f4d1..86fd5eceba 100644
--- a/.github/workflows/test_sitl_copter.yml
+++ b/.github/workflows/test_sitl_copter.yml
@@ -247,7 +247,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
@@ -343,7 +343,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
index 813560a941..3b1e41bd4c 100644
--- a/.github/workflows/test_sitl_plane.yml
+++ b/.github/workflows/test_sitl_plane.yml
@@ -230,7 +230,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index 3c29c931be..6adeb20060 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -244,7 +244,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
index 0a8555c114..427ba6c1f9 100644
--- a/.github/workflows/test_sitl_sub.yml
+++ b/.github/workflows/test_sitl_sub.yml
@@ -244,7 +244,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
index 518d648b7f..278a2d446a 100644
--- a/.github/workflows/test_sitl_tracker.yml
+++ b/.github/workflows/test_sitl_tracker.yml
@@ -230,7 +230,7 @@ jobs:
           NOW=$(date -u +"%F-%T")
           echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
       - name: ccache cache files
-        uses: actions/cache/restore@v3
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
           key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}