diff --git a/.github/workflows/push_gisnav_images.yml b/.github/workflows/push_gisnav_images.yml
new file mode 100644
index 00000000..6c9d0ef8
--- /dev/null
+++ b/.github/workflows/push_gisnav_images.yml
@@ -0,0 +1,49 @@
+name: Push latest GISNav multi-arch Docker images to GHCR
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+  # Allows running manually from the Actions tab
+  workflow_dispatch:
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+
+jobs:
+  upload:
+    runs-on: ubuntu-20.04
+    timeout-minutes: 120
+    defaults:
+      run:
+        shell: bash
+    steps:
+      - name: Checkout GISNav
+        uses: actions/checkout@v3
+        with:
+          path: colcon_ws/src/gisnav
+
+      - name: Login to GHCR
+        uses: docker/login-action@v2
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract git tag from GITHUB_REF
+        run: echo "TAG=$(echo ${GITHUB_REF#refs/tags/})" >> $GITHUB_ENV
+        if: startsWith(github.ref, 'refs/tags/')
+
+      - name: Setup Docker Buildx
+        run: |
+          docker buildx create --use
+
+      # TODO: try to use docker-compose.yaml file to avoid having to specify redundant build args here
+      - name: Build and push GISNav multi-arch Docker images
+        run: |
+          cd colcon_ws/src/gisnav
+          docker buildx build --build-arg ROS_VERSION=humble --push --platform linux/amd64,linux/arm64 -f docker/gisnav/Dockerfile -t ghcr.io/hmakelin/gisnav:${TAG:-latest} .
+
diff --git a/.github/workflows/run_ros2_launch_tests.yml b/.github/workflows/run_ros2_launch_tests.yml
index 87671616..70fd174c 100644
--- a/.github/workflows/run_ros2_launch_tests.yml
+++ b/.github/workflows/run_ros2_launch_tests.yml
@@ -2,7 +2,7 @@ name: Run ROS 2 launch tests
 
 on:
   workflow_run:
-    workflows: [ "Build and upload gisnav Docker image to GHCR" ]
+    workflows: [ "Push latest GISNav multi-arch Docker images to GHCR" ]
     types:
       - completed
 
diff --git a/.github/workflows/run_unit_tests.yml b/.github/workflows/run_unit_tests.yml
index 40a81f4c..07e5a652 100644
--- a/.github/workflows/run_unit_tests.yml
+++ b/.github/workflows/run_unit_tests.yml
@@ -2,7 +2,7 @@ name: Run unit tests
 
 on:
   workflow_run:
-    workflows: [ "Build and upload gisnav Docker image to GHCR" ]
+    workflows: [ "Push latest GISNav multi-arch Docker images to GHCR" ]
     types:
       - completed
 
diff --git a/.github/workflows/static_analysis.yml b/.github/workflows/static_analysis.yml
index d36fdab8..39ad640d 100644
--- a/.github/workflows/static_analysis.yml
+++ b/.github/workflows/static_analysis.yml
@@ -2,7 +2,7 @@ name: Static analysis
 
 on:
   workflow_run:
-    workflows: [ "Build and upload gisnav Docker image to GHCR" ]
+    workflows: [ "Push latest GISNav multi-arch Docker images to GHCR" ]
     types:
       - completed
 
diff --git a/.github/workflows/upload_gisnav_image.yml b/.github/workflows/upload_gisnav_image.yml
deleted file mode 100644
index e564141b..00000000
--- a/.github/workflows/upload_gisnav_image.yml
+++ /dev/null
@@ -1,40 +0,0 @@
-name: Build and upload gisnav Docker image to GHCR
-
-on:
-  push:
-    branches: [ "master" ]
-  pull_request:
-    branches: [ "master" ]
-
-  # Allows running manually from the Actions tab
-  workflow_dispatch:
-
-env:
-  REGISTRY: ghcr.io
-  IMAGE_NAME: ${{ github.repository }}
-
-jobs:
-  upload:
-    runs-on: ubuntu-20.04
-    defaults:
-      run:
-        shell: bash
-    steps:
-      - name: Checkout GISNav
-        uses: actions/checkout@v3
-        with:
-          path: colcon_ws/src/gisnav
-
-      - name: Login to GHCR
-        uses: docker/login-action@v2
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Build and push gisnav image
-        run: |
-          cd colcon_ws/src/gisnav/docker
-          docker compose build gisnav
-          docker tag $(docker images -q gisnav) ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:latest
-          docker push ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}:latest
diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
index a2a293d5..4a4f43cc 100644
--- a/docker/docker-compose.yaml
+++ b/docker/docker-compose.yaml
@@ -83,17 +83,17 @@ services:
     privileged: true
 
   # Note: build context is repository root
+  # Note 2: The "docker buildx build" command in the push_gisnav_images.yml workflow
+  #  duplicates these build arguments. They should be changed together.
   gisnav:
     <<: [*base, *ros, *tty, *nvidia-gpu]
+    #image: "ghcr.io/hmakelin/gisnav:${TAG:-latest}"
+    image: ghcr.io/hmakelin/gisnav:latest
     build:
       context: ..
       dockerfile: docker/gisnav/Dockerfile
       args:
         ROS_VERSION: humble
-      #platforms:
-      #  - "linux/amd64"
-      #  - "linux/arm64"
-    image: gisnav  # used by GitHub upload_gisnav_image CI workflow
     command: ros2 launch gisnav px4.dev.launch.py
 
   px4: