diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index f256daa..d0369b5 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -16,7 +16,7 @@ jobs:
         # https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/tools/idf-docker-image.html
         # for details.
         idf_ver: ["release-v4.4", "release-v5.1"]
-        idf_target: ["esp32", "esp32s3", "esp32c2", "esp32c3", "esp32c6"]
+        idf_target: ["esp32", "esp32s3", "esp32c2", "esp32c3", "esp32c6", "esp32h2"]
         example:
           - Advanced/NimBLE_Client
           - Advanced/NimBLE_Server
@@ -39,11 +39,13 @@ jobs:
             idf_target: "esp32c2"
           - idf_ver: release-v4.4
             idf_target: "esp32c6"
+          - idf_ver: release-v4.4
+            idf_target: "esp32h2"
 
     container: espressif/idf:${{ matrix.idf_ver }}
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           path: components/esp-nimble-cpp
       - name: Build examples
@@ -58,7 +60,7 @@ jobs:
   build_docs:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Doxygen Action
         uses: mattnotmitt/doxygen-action@v1.9.5
         with: