diff --git a/.github/workflows/images.yaml b/.github/workflows/images.yaml
index 9fa6d962df3..82a45591c56 100644
--- a/.github/workflows/images.yaml
+++ b/.github/workflows/images.yaml
@@ -27,7 +27,7 @@ jobs:
     # Run once for each of the platforms
     strategy:
       matrix:
-        platform: ["generic", "orinnx"]
+        platform: ["generic_k1", "orinnx"]
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
@@ -65,6 +65,10 @@ jobs:
       - name: Enforce file permissions
         run: chmod -Rv g-w,o-w docker/
 
+      - name: Get CPU count
+        id: cpu-count
+        run: echo "count=$(nproc)" >> $GITHUB_OUTPUT
+
       # Build the docker image
       - name: 🐳 Build and push the docker image 🐳
         uses: docker/build-push-action@v4
@@ -73,7 +77,9 @@ jobs:
           tags: "nubots/nubots:${{ matrix.platform }}"
           file: docker/Dockerfile
           context: docker
-          build-args: platform=${{ matrix.platform }}
+          build-args: |
+            platform=${{ matrix.platform == 'generic_k1' && 'generic' || matrix.platform }}
+            jobs=${{ steps.cpu-count.outputs.count }}
           cache-from: type=registry,ref=nubots/nubots:${{ matrix.platform }}
           cache-to: type=inline
           push: true
diff --git a/.github/workflows/nubots.yaml b/.github/workflows/nubots.yaml
index bf48e7fa165..570b1e785fe 100644
--- a/.github/workflows/nubots.yaml
+++ b/.github/workflows/nubots.yaml
@@ -117,6 +117,10 @@ jobs:
       - name: Enforce file permissions
         run: chmod -Rv g-w,o-w docker/
 
+      - name: Get CPU count
+        id: cpu-count
+        run: echo "count=$(nproc)" >> $GITHUB_OUTPUT
+
       # Build and push the docker image
       - name: 🐳 Build the docker image 🐳
         uses: docker/build-push-action@v4
@@ -129,7 +133,9 @@ jobs:
             type=registry,ref=nubots/nubots:${{ env.DOCKER_TAG }}
             type=registry,ref=nubots/nubots:generic
           cache-to: type=inline
-          build-args: platform=generic
+          build-args: |
+            platform=generic
+            jobs=${{ steps.cpu-count.outputs.count }}
           push: true
 
       - id: image_output
diff --git a/.github/workflows/nusight.yaml b/.github/workflows/nusight.yaml
index 714c6b3b52b..24b54c9b47b 100644
--- a/.github/workflows/nusight.yaml
+++ b/.github/workflows/nusight.yaml
@@ -121,6 +121,10 @@ jobs:
       - name: Enforce file permissions
         run: chmod -Rv g-w,o-w docker/
 
+      - name: Get CPU count
+        id: cpu-count
+        run: echo "count=$(nproc)" >> $GITHUB_OUTPUT
+
       # Build and push the docker image
       - name: 🐳 Build the docker image 🐳
         uses: docker/build-push-action@v4
@@ -133,7 +137,9 @@ jobs:
             type=registry,ref=nubots/nubots:${{ env.DOCKER_TAG }}
             type=registry,ref=nubots/nubots:generic
           cache-to: type=inline
-          build-args: platform=generic
+          build-args: |
+            platform=generic
+            jobs=${{ steps.cpu-count.outputs.count }}
           push: true
 
       - id: image_output
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 7626eee1e69..f84996525a8 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -107,6 +107,16 @@ RUN --mount=type=bind,source=usr/local/toolchain,target=/usr/local/toolchain \
 #   |_|\___/ \___/|_|\___|_| |_|\__,_|_|_| |_| #
 ################################################
 ARG prefix=/usr/local
+ARG jobs=1
+
+# Install prefix/toolchain-dir for source-built dependencies below, computed once per platform
+RUN if [ "${platform}" = "orinnx" ]; then \
+    echo "DEP_PREFIX=/l4t/targetfs${prefix}" > /root/.dep_env && \
+    echo "DEP_TOOLCHAIN='--toolchain-dir /usr/local'" >> /root/.dep_env; \
+    else \
+    echo "DEP_PREFIX=/usr/local" > /root/.dep_env && \
+    echo "DEP_TOOLCHAIN=''" >> /root/.dep_env; \
+    fi
 
 # Create a python virtual environment at ${PREFIX} to decouple python packages from the system
 RUN python3 -m venv ${prefix}
@@ -133,16 +143,20 @@ RUN install-package -p ${platform} libncurses-dev libncurses6 libtinfo6 libc6-de
 RUN pip3 install pyyaml mako
 
 # Install OpenCL C Headers
-RUN install-from-source https://github.com/KhronosGroup/OpenCL-Headers/archive/refs/tags/v2022.05.18.tar.gz \
-    --prefix /l4t/targetfs/${prefix} \
-    --toolchain-dir /usr/local
+RUN . /root/.dep_env && \
+    install-from-source https://github.com/KhronosGroup/OpenCL-Headers/archive/refs/tags/v2022.05.18.tar.gz \
+    --jobs ${jobs} \
+    --prefix ${DEP_PREFIX} \
+    ${DEP_TOOLCHAIN}
 
 
 # OpenCL loader library
 RUN install-package ruby autotools-dev automake libtool
-RUN install-from-source https://github.com/OCL-dev/ocl-icd/archive/refs/tags/v2.3.1.tar.gz \
-    --prefix /l4t/targetfs/${prefix} \
-    --toolchain-dir /usr/local
+RUN . /root/.dep_env && \
+    install-from-source https://github.com/OCL-dev/ocl-icd/archive/refs/tags/v2.3.1.tar.gz \
+    --jobs ${jobs} \
+    --prefix ${DEP_PREFIX} \
+    ${DEP_TOOLCHAIN}
 
 RUN if [ "${platform}" != "generic" ]; then \
     ln -sf libm.so.6      /l4t/targetfs/usr/lib/aarch64-linux-gnu/libm.so && \
@@ -152,7 +166,8 @@ RUN if [ "${platform}" != "generic" ]; then \
     fi
 
 # OpenCV
-RUN install-from-source https://github.com/opencv/opencv/archive/refs/tags/4.9.0.tar.gz
+RUN install-from-source https://github.com/opencv/opencv/archive/refs/tags/4.9.0.tar.gz \
+    --jobs ${jobs}
 
 RUN wget -nv https://github.com/protocolbuffers/protobuf/releases/download/v21.4/protoc-21.4-linux-x86_64.zip -O protoc-21.4-linux-x86_64.zip && \
     unzip protoc-21.4-linux-x86_64.zip -d /usr/ && \
@@ -160,6 +175,7 @@ RUN wget -nv https://github.com/protocolbuffers/protobuf/releases/download/v21.4
 
 # Protobuf
 RUN install-from-source https://github.com/protocolbuffers/protobuf/releases/download/v21.4/protobuf-cpp-3.21.4.tar.gz \
+    --jobs ${jobs} \
     -Dprotobuf_PROTOC_EXECUTABLE="/usr/bin/protoc" \
     -Dprotobuf_BUILD_TESTS=OFF \
     -Dprotobuf_BUILD_LIBPROTOC=ON \
@@ -171,6 +187,7 @@ RUN if [ "${platform}" != "generic" ]; then \
     unzip protoc-21.4-linux-aarch_64.zip -d /l4t/targetfs/usr/ && \
     rm protoc-21.4-linux-aarch_64.zip && \
     install-from-source https://github.com/protocolbuffers/protobuf/releases/download/v21.4/protobuf-cpp-3.21.4.tar.gz \
+    --jobs ${jobs} \
     --toolchain-dir /usr \
     -Dprotobuf_PROTOC_EXECUTABLE="/usr/bin/protoc" \
     -Dprotobuf_BUILD_TESTS=OFF \
@@ -192,6 +209,7 @@ RUN install-package opencl-c-headers \
 
 
 RUN install-from-source https://github.com/uxlfoundation/oneTBB/archive/refs/tags/v2021.13.0.tar.gz \
+    --jobs ${jobs} \
     --build-system cmake \
     -DCMAKE_BUILD_TYPE=Release \
     -DTBB_TEST:BOOL='OFF' \
@@ -219,13 +237,14 @@ RUN mkdir build && cd build && \
     -DENABLE_SYSTEM_PROTOBUF:BOOL='OFF' \
     -DENABLE_SYSTEM_FLATBUFFERS:BOOL='OFF' \
     -DENABLE_INTEL_GPU:BOOL='OFF' \
-    -DENABLE_INTEL_CPU:BOOL='OFF' \
-    -DENABLE_ARM_COMPUTE_CMAKE:BOOL='ON' \
+    -DENABLE_INTEL_CPU:BOOL='ON' \
+    -DENABLE_ARM_COMPUTE_CMAKE:BOOL='OFF' \
+    -DARM_COMPUTE_SCONS_JOBS="${jobs}" \
     -DENABLE_CPPLINT:BOOL='OFF' \
     -DCMAKE_CXX_STANDARD='17' \
     -Wno-dev \
     -GNinja && \
-    ninja -j$(nproc) && ninja -j$(nproc) install
+    ninja -j${jobs} && ninja -j${jobs} install
 
 # Move OpenVino libraries to our library path
 RUN ARCH=$([ "${platform}" = "orinnx" ] && echo "aarch64" || echo "intel64") && \
@@ -260,19 +279,23 @@ RUN install-package -p ${platform} \
     libnvinfer-vc-plugin-dev
 
 # Eigen3
-RUN install-from-source https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz
+RUN install-from-source https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz \
+    --jobs ${jobs}
 
 # tcmalloc
-RUN install-from-source https://github.com/gperftools/gperftools/releases/download/gperftools-2.10/gperftools-2.10.tar.gz \
+RUN . /root/.dep_env && \
+    install-from-source https://github.com/gperftools/gperftools/releases/download/gperftools-2.10/gperftools-2.10.tar.gz \
+    --jobs ${jobs} \
     --build-system autotools \
-    --prefix /l4t/targetfs/${prefix} \
-    --toolchain-dir /usr/local \
+    --prefix ${DEP_PREFIX} \
+    ${DEP_TOOLCHAIN} \
     --with-tcmalloc-pagesize=64 \
     --enable-minimal
 
 # Libjpeg
 RUN install-package yasm
 RUN install-from-source https://github.com/libjpeg-turbo/libjpeg-turbo/archive/refs/tags/2.0.7-esr.tar.gz \
+    --jobs ${jobs} \
     -DWITH_SIMD=ON \
     -DFORCE_INLINE=ON \
     -DINLINE_WORKS=1 \
@@ -286,16 +309,19 @@ RUN install-from-source https://github.com/libjpeg-turbo/libjpeg-turbo/archive/r
 
 # yaml-cpp
 RUN install-from-source https://github.com/jbeder/yaml-cpp/archive/refs/tags/yaml-cpp-0.7.0.tar.gz \
+    --jobs ${jobs} \
     -DYAML_CPP_BUILD_TESTS=OFF \
     -DBUILD_SHARED_LIBS=OFF
 
 # fmt formatting library
 RUN install-from-source https://github.com/fmtlib/fmt/archive/refs/tags/9.0.0.tar.gz \
+    --jobs ${jobs} \
     -DFMT_DOC=OFF \
     -DFMT_TEST=OFF
 
 # Catch unit testing library
 RUN install-from-source https://github.com/catchorg/Catch2/archive/refs/tags/v3.8.0.tar.gz \
+    --jobs ${jobs} \
     -DCATCH_CONFIG_CONSOLE_WIDTH=120 \
     -DCATCH_CONFIG_CPP11_TO_STRING=ON \
     -DCATCH_CONFIG_CPP17_UNCAUGHT_EXCEPTIONS=ON \
@@ -306,69 +332,83 @@ RUN install-from-source https://github.com/catchorg/Catch2/archive/refs/tags/v3.
 
 # LibUV
 RUN install-from-source https://github.com/libuv/libuv/archive/refs/tags/v1.44.2.tar.gz \
+    --jobs ${jobs} \
     -Dlibuv_buildtests=OFF \
     -DBUILD_TESTING=OFF
 
 # NUClear!
 RUN install-from-source https://github.com/Fastcode/NUClear/archive/925dca0f31484a7df64fd335de5a6c9335483c7f.tar.gz \
+    --jobs ${jobs} \
     -DBUILD_TESTS=OFF
 
 # Backtrace
-RUN install-from-source https://github.com/ianlancetaylor/libbacktrace/archive/8602fda64e78f1f46563220f2ee9f7e70819c51d.tar.gz \
-    --prefix /l4t/targetfs/${prefix} \
-    --toolchain-dir /usr/local \
+RUN . /root/.dep_env && \
+    install-from-source https://github.com/ianlancetaylor/libbacktrace/archive/8602fda64e78f1f46563220f2ee9f7e70819c51d.tar.gz \
+    --jobs ${jobs} \
+    --prefix ${DEP_PREFIX} \
+    ${DEP_TOOLCHAIN} \
     --without-system-libunwind \
     --enable-shared \
     --enable-static
 
 # Alsa and espeak
-RUN install-from-source https://github.com/alsa-project/alsa-lib/archive/refs/tags/v1.2.7.2.tar.gz \
-    --prefix /l4t/targetfs/${prefix} \
-    --toolchain-dir /usr/local \
+RUN . /root/.dep_env && \
+    install-from-source https://github.com/alsa-project/alsa-lib/archive/refs/tags/v1.2.7.2.tar.gz \
+    --jobs ${jobs} \
+    --prefix ${DEP_PREFIX} \
+    ${DEP_TOOLCHAIN} \
     --without-debug
 RUN install-package -p ${platform} alsa-utils
 
 # mio memory mapping library
 RUN install-from-source https://github.com/mandreyel/mio/archive/3f86a95c0784d73ce6815237ec33ed25f233b643.tar.gz \
+    --jobs ${jobs} \
     --patch https://patch-diff.githubusercontent.com/raw/mandreyel/mio/pull/93.patch
 
 # zstr header to have file streams that do zlib compression
-RUN INCLUDE_PREFIX=$([ "${platform}" = "orinnx" ] && echo "/l4t/targetfs/usr/local" || echo "/usr/local") && \
+RUN . /root/.dep_env && \
     install-from-source https://raw.githubusercontent.com/mateidavid/zstr/v1.0.6/src/zstr.hpp \
-    --prefix ${INCLUDE_PREFIX} --no-toolchain \
+    --prefix ${DEP_PREFIX} --no-toolchain \
     --header-path include/zstr && \
     install-from-source https://raw.githubusercontent.com/mateidavid/zstr/v1.0.6/src/strict_fstream.hpp \
-    --prefix ${INCLUDE_PREFIX} --no-toolchain \
+    --prefix ${DEP_PREFIX} --no-toolchain \
     --header-path include/zstr
 
 # Visual Mesh
 RUN install-from-source https://github.com/NUbots/VisualMesh/archive/64c49fce3a17bbee73339eaee556f47a80b93c40.tar.gz \
+    --jobs ${jobs} \
     -DBUILD_TENSORFLOW_OP=OFF \
     -DBUILD_EXAMPLES=OFF \
     -DBUILD_OPENCL_ENGINE=ON
 
 # JSON for modern C++ (https://github.com/nlohmann/json)
-RUN INCLUDE_PREFIX=$([ "${platform}" = "orinnx" ] && echo "/l4t/targetfs/usr/local" || echo "/usr/local") && \
+RUN . /root/.dep_env && \
     install-from-source https://github.com/nlohmann/json/releases/download/v3.10.5/json.hpp \
-    --prefix ${INCLUDE_PREFIX} --no-toolchain
+    --prefix ${DEP_PREFIX} --no-toolchain
 
 # TinyXML
-RUN install-from-source https://github.com/leethomason/tinyxml2/archive/refs/tags/9.0.0.tar.gz
+RUN install-from-source https://github.com/leethomason/tinyxml2/archive/refs/tags/9.0.0.tar.gz \
+    --jobs ${jobs}
 
 # NLopt
-RUN install-from-source https://github.com/stevengj/nlopt/archive/refs/tags/v2.7.1.tar.gz
+RUN install-from-source https://github.com/stevengj/nlopt/archive/refs/tags/v2.7.1.tar.gz \
+    --jobs ${jobs}
 
 # tinyrobotics
 RUN install-from-source https://github.com/Tom0Brien/tinyrobotics/archive/refs/tags/0.0.1.tar.gz \
+    --jobs ${jobs} \
     -DBUILD_TESTS=OFF
 
 # lame
-RUN install-from-source https://downloads.sourceforge.net/lame/lame-3.100.tar.gz \
-    --prefix /l4t/targetfs/${prefix} \
-    --toolchain-dir /usr/local
+RUN . /root/.dep_env && \
+    install-from-source https://downloads.sourceforge.net/lame/lame-3.100.tar.gz \
+    --jobs ${jobs} \
+    --prefix ${DEP_PREFIX} \
+    ${DEP_TOOLCHAIN}
 
 # Nanopb for generating messages for NUSense
-RUN install-from-source https://github.com/nanopb/nanopb/archive/refs/tags/0.4.9.1.tar.gz
+RUN install-from-source https://github.com/nanopb/nanopb/archive/refs/tags/0.4.9.1.tar.gz \
+    --jobs ${jobs}
 
 # Install Booster Robotics SDK
 
@@ -401,6 +441,9 @@ RUN install-package \
     gcc-12 \
     g++-12
 
+# qemu lets ctest run the cross compiled test binaries, see CMAKE_CROSSCOMPILING_EMULATOR in the toolchain
+RUN if [ "${platform}" != "generic" ]; then install-package qemu-user-static; fi
+
 
 # Node tools
 RUN wget -nv https://nodejs.org/dist/v20.13.1/node-v20.13.1-linux-x64.tar.xz -O - \
@@ -427,6 +470,10 @@ RUN install-package clinfo
 # Copy the nvidia OpenCL vendorfile into the container so we can also use OpenCL on nvidia GPUs
 COPY --chown=root:root etc/OpenCL/vendors/nvidia.icd /etc/OpenCL/vendors/nvidia.icd
 
+# Creates symlink for librt since CUDAToolkit CMake module can't find it
+# See: https://notes.rdu.im/howtos/fix-librt-not-found-in-jammy/
+RUN ln -s /lib/x86_64-linux-gnu/librt.so.1 /usr/lib/x86_64-linux-gnu/librt.so
+
 # Re-run ldconfig to make sure the database is up to date
 RUN ldconfig
 
diff --git a/docker/usr/local/bin/install-package b/docker/usr/local/bin/install-package
index f5ad5be551f..1a5972ef2bb 100755
--- a/docker/usr/local/bin/install-package
+++ b/docker/usr/local/bin/install-package
@@ -1,6 +1,11 @@
 #!/bin/sh
 set -e
 
+# If we are not root, rerun using sudo before the arguments are consumed by the parser below
+if ! [ $(id -u) = 0 ]; then
+    exec sudo "$0" "$@"
+fi
+
 # Parse arguments
 platform=""
 packages=""
@@ -19,66 +24,57 @@ while [ $# -gt 0 ]; do
     esac
 done
 
-# If we are not root, rerun using sudo
-if ! [ $(id -u) = 0 ]; then
-    sudo "$0" "$@"
-else
-    if [ -n "$platform" ]; then
-        # -p flag was provided with a value
-        if [ "$platform" = "orinnx" ]; then
-            # Install amd64 packages on host AND extract arm64 to sysroot
-            apt-get update
+if [ -z "$packages" ]; then
+    echo "Error: No packages given to install" >&2
+    exit 1
+fi
 
-            # Install amd64 versions on host
-            apt-get install -y --no-install-recommends $packages
+if [ "$platform" = "orinnx" ]; then
+    # Install amd64 packages on host AND extract arm64 to sysroot
+    apt-get update
 
-            # Download arm64 packages and their dependencies to sysroot
-            mkdir -p /tmp/debs
-            chmod 777 /tmp/debs
-            cd /tmp/debs
+    # Install amd64 versions on host
+    apt-get install -y --no-install-recommends $packages
 
-            # Get recursive dependencies for arm64 and download them
-            for pkg in $packages; do
-                # Download the requested package itself so -dev artifacts (e.g. libudev.so)
-                # are present in the sysroot, not just its runtime dependencies.
-                apt-get download "$pkg:arm64" || { echo "Error: Failed to download $pkg:arm64" >&2; exit 1; }
+    # Download arm64 packages and their dependencies to sysroot
+    mkdir -p /tmp/debs
+    chmod 777 /tmp/debs
+    cd /tmp/debs
 
-                deps=$(apt-cache depends --recurse --no-recommends --no-suggests --no-conflicts --no-breaks --no-replaces --no-enhances "$pkg:arm64" 2>/dev/null | grep "^\w" | sort -u)
-                if [ -z "$deps" ]; then
-                    echo "Error: No arm64 package found for $pkg" >&2
-                    exit 1
-                fi
-                for dep in $deps; do
-                    apt-get download "$dep" || { echo "Error: Failed to download $dep:arm64" >&2; exit 1; }
-                done
-            done
+    # Get recursive dependencies for arm64 and download them
+    for pkg in $packages; do
+        # Download the requested package itself so -dev artifacts (e.g. libudev.so)
+        # are present in the sysroot, not just its runtime dependencies.
+        apt-get download "$pkg:arm64" || { echo "Error: Failed to download $pkg:arm64" >&2; exit 1; }
 
-            # Extract all downloaded debs to sysroot
-            for deb in /tmp/debs/*.deb; do
-                [ -f "$deb" ] && dpkg -x "$deb" /l4t/targetfs
-            done
+        deps=$(apt-cache depends --recurse --no-recommends --no-suggests --no-conflicts --no-breaks --no-replaces --no-enhances "$pkg:arm64" 2>/dev/null | grep "^\w" | sort -u)
+        if [ -z "$deps" ]; then
+            echo "Error: No arm64 package found for $pkg" >&2
+            exit 1
+        fi
+        for dep in $deps; do
+            apt-get download "$dep" || { echo "Error: Failed to download $dep:arm64" >&2; exit 1; }
+        done
+    done
 
-            # dpkg -x extracts absolute symlinks verbatim (e.g. libm.so -> /lib/aarch64-linux-gnu/libm.so.6),
-            # which resolve against the container root instead of the sysroot. Broken .so symlinks make the
-            # cross linker silently fall back to non-PIC static archives, so rewrite them as relative links.
-            find /l4t/targetfs -lname '/*' | while read -r link; do
-                target=$(readlink "$link")
-                ln -sfn "$(realpath -m --relative-to="$(dirname "$link")" "/l4t/targetfs$target")" "$link"
-            done
+    # Extract all downloaded debs to sysroot
+    for deb in /tmp/debs/*.deb; do
+        [ -f "$deb" ] && dpkg -x "$deb" /l4t/targetfs
+    done
 
-            cd /
-            rm -rf /tmp/debs
-            rm -rf /var/cache/apt /var/lib/apt/lists/*
-        else
-            # Normal install for other platforms
-            apt-get update
-            apt-get install -y --no-install-recommends $packages
-            rm -rf /var/cache/apt /var/lib/apt/lists/*
-        fi
-    else
-        # No -p flag, just install the packages
-        apt-get update
-        apt-get install -y --no-install-recommends $packages
-        rm -rf /var/cache/apt /var/lib/apt/lists/*
-    fi
+    # dpkg -x extracts absolute symlinks verbatim (e.g. libm.so -> /lib/aarch64-linux-gnu/libm.so.6),
+    # which resolve against the container root instead of the sysroot. Broken .so symlinks make the
+    # cross linker silently fall back to non-PIC static archives, so rewrite them as relative links.
+    find /l4t/targetfs -lname '/*' | while read -r link; do
+        target=$(readlink "$link")
+        ln -sfn "$(realpath -m --relative-to="$(dirname "$link")" "/l4t/targetfs$target")" "$link"
+    done
+
+    cd /
+    rm -rf /tmp/debs
+    rm -rf /var/cache/apt /var/lib/apt/lists/*
+else
+    apt-get update
+    apt-get install -y --no-install-recommends $packages
+    rm -rf /var/cache/apt /var/lib/apt/lists/*
 fi
diff --git a/docker/usr/local/toolchain/generate_orinnx_toolchain.py b/docker/usr/local/toolchain/generate_orinnx_toolchain.py
index 0949203b9ab..4eeadb9e5a9 100644
--- a/docker/usr/local/toolchain/generate_orinnx_toolchain.py
+++ b/docker/usr/local/toolchain/generate_orinnx_toolchain.py
@@ -63,6 +63,21 @@
         "-Wl,--allow-shlib-undefined",
         "-Wl,-Bdynamic",
     ],
+    "emulator": [
+        "/usr/bin/qemu-aarch64-static",
+        "-L",
+        _TARGETFS_DIR,
+        "-E",
+        "LD_LIBRARY_PATH={}".format(
+            ":".join(
+                [
+                    f"{_TARGETFS_DIR}/usr/local/lib",
+                    f"{_TARGETFS_DIR}/usr/lib/{_CROSS_PREFIX}",
+                    f"{_TARGETFS_DIR}/lib/{_CROSS_PREFIX}",
+                ]
+            )
+        ),
+    ],
     "asm_object": "elf64",
     "arch": "aarch64",
     "prefix": _CROSS_PREFIX,
diff --git a/docker/usr/local/toolchain/generate_toolchains.py b/docker/usr/local/toolchain/generate_toolchains.py
index 98b82b8078d..dfaa20146c4 100755
--- a/docker/usr/local/toolchain/generate_toolchains.py
+++ b/docker/usr/local/toolchain/generate_toolchains.py
@@ -51,6 +51,11 @@ def generate_cmake_toolchain(target, prefix):
         else "\n"
     )
 
+    emulator = target.get("emulator", [])
+    emulator_block = (
+        'set(CMAKE_CROSSCOMPILING_EMULATOR "{}")\n'.format(";".join(emulator)) if emulator else "\n"
+    )
+
     linker_flags = target.get("linker_flags", [])
     linker_flags_block = (
         'set(CMAKE_EXE_LINKER_FLAGS_INIT "{} " CACHE STRING "Flags used by the linker during all built types.")\n'.format(
@@ -73,6 +78,7 @@ def generate_cmake_toolchain(target, prefix):
         set(CMAKE_C_COMPILER {c_compiler})
         set(CMAKE_CXX_COMPILER {cxx_compiler})
 
+        {emulator_block}
         {sysroot_block}
         set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
         set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
@@ -118,6 +124,7 @@ def generate_cmake_toolchain(target, prefix):
         arch=target["arch"],
         c_compiler=target.get("c_compiler", "/usr/bin/gcc"),
         cxx_compiler=target.get("cxx_compiler", "/usr/bin/g++"),
+        emulator_block=emulator_block,
         sysroot_block=sysroot_block,
         sysroot=sysroot,
         linker_flags_block=linker_flags_block,
diff --git a/shared/utility/vision/TensorRT.cpp b/shared/utility/vision/TensorRT.cpp
index fcef96f71ee..e6970f1afca 100644
--- a/shared/utility/vision/TensorRT.cpp
+++ b/shared/utility/vision/TensorRT.cpp
@@ -71,9 +71,19 @@ namespace utility::vision {
             }
 
             auto config = std::unique_ptr<IBuilderConfig>(builder->createBuilderConfig());
+#if NV_TENSORRT_MAJOR >= 11
+            // kFP16 removed in TensorRT 11; precision follows model types instead
+            (void) fp16;
+#elif NV_TENSORRT_MAJOR >= 10
+            // platformHasFastFp16 removed in TensorRT 10; fast FP16 is now universal
+            if (fp16) {
+                config->setFlag(BuilderFlag::kFP16);
+            }
+#else
             if (fp16 && builder->platformHasFastFp16()) {
                 config->setFlag(BuilderFlag::kFP16);
             }
+#endif
 
             auto plan = std::unique_ptr<IHostMemory>(builder->buildSerializedNetwork(*network, *config));
             if (plan == nullptr) {
diff --git a/tools/target.py b/tools/target.py
index deee30dc65d..7bd492b3750 100755
--- a/tools/target.py
+++ b/tools/target.py
@@ -46,15 +46,21 @@ def register(command):
     command.add_argument(
         "-r", "--reset", default=False, action="store_true", dest="reset", help="Reset buildx instance"
     )
+    command.add_argument(
+        "-j", "--jobs", default=defaults.jobs, help="the number of jobs to use when building the platform image"
+    )
 
 
-def run(target, username, uid, reset, **kwargs):
+def run(target, username, uid, reset, jobs, **kwargs):
     if target is None:
         target = platform.selected(defaults.image, username)
         print(f"Currently selected platform is {target}")
     else:
         # Ensure the platform image is built
-        platform.build(defaults.image, target, username, uid, reset)
+        platform.build(defaults.image, target, username, uid, reset, jobs)
+
+        if target == "generic":
+            target += "_k1"
 
         # Tag the built platform image as the selected image
         err = subprocess.call(
diff --git a/tools/tests.py b/tools/tests.py
index b72316395b2..8b53e6d4d91 100644
--- a/tools/tests.py
+++ b/tools/tests.py
@@ -38,7 +38,7 @@
 TESTS_OUTPUT_DIR = "tests_output"
 
 
-@run_on_docker(image="nubots:generic")
+@run_on_docker
 def register(command):
 
     command.help = "Run and list tests"
@@ -96,7 +96,7 @@ def register(command):
     )
 
 
-@run_on_docker(image="nubots:generic")
+@run_on_docker
 def run(sub_command, num_jobs=0, test=None, given_ctest_args=[], **kwargs):
 
     # Change into the build directory
diff --git a/tools/utility/dockerise/defaults.py b/tools/utility/dockerise/defaults.py
index 1a760615bab..f40ca3e4d89 100644
--- a/tools/utility/dockerise/defaults.py
+++ b/tools/utility/dockerise/defaults.py
@@ -34,6 +34,7 @@
 image = "nubots"
 image_user = "nubots"
 directory = "NUbots"
+jobs = os.cpu_count() or 1
 
 # This can fail if the local user id doesn't exist (e.g. you're in docker and set a uid)
 # In those cases, we really don't care so we just use the local userid instead
diff --git a/tools/utility/dockerise/platform.py b/tools/utility/dockerise/platform.py
index abe33bb8e22..c992fcfbcb0 100644
--- a/tools/utility/dockerise/platform.py
+++ b/tools/utility/dockerise/platform.py
@@ -80,12 +80,12 @@ def list():
     ]
 
 
-def build(image, platform, username, uid, reset):
+def build(image, platform, username, uid, reset, jobs):
     pty = WrapPty()
 
     # If we are building the selected platform we need to work out what that refers to
     _selected = platform == "selected_k1"
-    platform = selected(image) if _selected else platform
+    platform = selected(image, username) if _selected else platform
 
     # Temporary workaround to prevent conflict with NUgus
     if platform == "generic":
@@ -140,6 +140,9 @@ def build(image, platform, username, uid, reset):
     # Make sure buildx will use the correct buildx instance
     subprocess.run(["docker", "buildx", "use", builder_name])
 
+    platform_arg = platform
+    if platform.endswith("_k1"):
+        platform_arg = platform[:-3]
     # Build the image!
     err = pty.spawn(
         [
@@ -150,7 +153,11 @@ def build(image, platform, username, uid, reset):
             local_tag,
             "--pull",
             "--build-arg",
-            f"platform={platform}",
+            f"platform={platform_arg}",
+            "--build-arg",
+            f"jobs={jobs}",
+            "--platform",
+            "linux/amd64",
             "--build-arg",
             f"user_uid={uid}",
             "--output=type=docker",
diff --git a/tools/utility/dockerise/run.py b/tools/utility/dockerise/run.py
index 8020c919455..497246fd7e6 100644
--- a/tools/utility/dockerise/run.py
+++ b/tools/utility/dockerise/run.py
@@ -98,7 +98,7 @@ def _setup_internal_image(image, rebuild, clean_volume, clean_uv_cache):
 
     # Rebuild the image if we are rebuilding
     if rebuild:
-        platform.build(repository, target)
+        platform.build(repository, target, defaults.local_user, os.getuid(), False, defaults.jobs)
 
     # Find the current target for this platform
     target = target if target != "selected_k1" else platform.selected(repository, defaults.local_user)