diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index abdac823b..5c320a3cb 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -5,7 +5,7 @@ on:
   push:
     branches:
       - 'ign-physics[0-9]'
-      - 'gz-physics[0-9]?'
+      - 'gz-physics[1-9]?[0-9]'
       - 'main'
 
 jobs:
@@ -22,3 +22,12 @@ jobs:
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
+  noble-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Noble CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Compile and test
+        id: ci
+        uses: gazebo-tooling/action-gz-ci@noble
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7864ba394..b16b4dd17 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 #============================================================================
 # Initialize the project
diff --git a/README.md b/README.md
index 264ed1736..6961d74cd 100644
--- a/README.md
+++ b/README.md
@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-physics/tree/gz-physics8/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-physics/tree/gz-physics8)
-Ubuntu Jammy  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_physics-ci-gz-physics8-jammy-amd64)](https://build.osrfoundation.org/job/gz_physics-ci-gz-physics8-jammy-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_physics-ci-gz-physics8-homebrew-amd64)](https://build.osrfoundation.org/job/gz_physics-ci-gz-physics8-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_physics-8-win)](https://build.osrfoundation.org/job/gz_physics-8-win)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-physics/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-physics/branch/main)
+Ubuntu Noble  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_physics-ci-main-noble-amd64)](https://build.osrfoundation.org/job/gz_physics-ci-main-noble-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_physics-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/gz_physics-ci-main-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_physics-main-win)](https://build.osrfoundation.org/job/gz_physics-main-win)
 
 Gazebo Physics, a component of [Gazebo](https://gazebosim.org), provides an abstract physics interface
 designed to support simulation and rapid development of robot applications.
diff --git a/examples/hello_world_loader/CMakeLists.txt b/examples/hello_world_loader/CMakeLists.txt
index bfef0e405..ab17c4321 100644
--- a/examples/hello_world_loader/CMakeLists.txt
+++ b/examples/hello_world_loader/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-physics-hello-world-loader)
 
diff --git a/examples/hello_world_plugin/CMakeLists.txt b/examples/hello_world_plugin/CMakeLists.txt
index fc2b1c22a..a3eb4826d 100644
--- a/examples/hello_world_plugin/CMakeLists.txt
+++ b/examples/hello_world_plugin/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-physics-hello-world-plugin)
 
diff --git a/examples/simple_plugin/CMakeLists.txt b/examples/simple_plugin/CMakeLists.txt
index f67c934e8..b7c617041 100644
--- a/examples/simple_plugin/CMakeLists.txt
+++ b/examples/simple_plugin/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-physics-simple-plugin)