diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 2a571a67..a9145ad2 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -76,11 +76,3 @@ jobs:
               with:
                   files: firmware-*/*
                   repo-token: ${{ secrets.GITHUB_TOKEN }}
-
-    ready-to-merge:
-        needs: build
-        if: ${{ github.ref != 'refs/heads/main' }}
-        runs-on: ubuntu-latest
-        steps:
-            - name: Dummy
-              run: echo "Everything is green across the board on ${{ github.ref }}"
diff --git a/src/devices/Peripheral.hpp b/src/devices/Peripheral.hpp
index 35e5a3ae..b5e64fc0 100644
--- a/src/devices/Peripheral.hpp
+++ b/src/devices/Peripheral.hpp
@@ -47,7 +47,6 @@ class PeripheralBase
             Log.verboseln("No telemetry to publish for peripheral: %s", name.c_str());
             return;
         }
-        // TODO Add device ID
         mqttRoot->publish("telemetry", telemetryDoc);
     }
 
diff --git a/src/kernel/drivers/MqttDriver.hpp b/src/kernel/drivers/MqttDriver.hpp
index d27c3a35..93d2b9df 100644
--- a/src/kernel/drivers/MqttDriver.hpp
+++ b/src/kernel/drivers/MqttDriver.hpp
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <chrono>
 #include <list>
 #include <memory>
 
@@ -33,6 +34,14 @@ class MqttDriver {
         ExactlyOnce = 2
     };
 
+    enum class PublishStatus {
+        TimeOut = 0,
+        Success = 1,
+        Failed = 2,
+        Pending = 3,
+        QueueFull = 4
+    };
+
     typedef std::function<void(const JsonObject&, JsonObject&)> CommandHandler;
 
     typedef std::function<void(const String&, const JsonObject&)> SubscriptionHandler;
@@ -48,19 +57,19 @@ class MqttDriver {
             return make_shared<MqttRoot>(mqtt, rootTopic + "/" + suffix);
         }
 
-        bool publish(const String& suffix, const JsonDocument& json, Retention retain = Retention::NoRetain, QoS qos = QoS::AtMostOnce) {
-            return mqtt.publish(fullTopic(suffix), json, retain, qos, nullptr, ticks::zero());
+        PublishStatus publish(const String& suffix, const JsonDocument& json, Retention retain = Retention::NoRetain, QoS qos = QoS::AtMostOnce, ticks timeout = ticks::zero()) {
+            return mqtt.publish(fullTopic(suffix), json, retain, qos, timeout);
         }
 
-        bool publish(const String& suffix, std::function<void(JsonObject&)> populate, Retention retain = Retention::NoRetain, QoS qos = QoS::AtMostOnce, int size = MQTT_BUFFER_SIZE) {
+        PublishStatus publish(const String& suffix, std::function<void(JsonObject&)> populate, Retention retain = Retention::NoRetain, QoS qos = QoS::AtMostOnce, ticks timeout = ticks::zero(), int size = MQTT_BUFFER_SIZE) {
             DynamicJsonDocument doc(size);
             JsonObject root = doc.to<JsonObject>();
             populate(root);
-            return publish(suffix, doc, retain, qos);
+            return publish(suffix, doc, retain, qos, timeout);
         }
 
-        bool clear(const String& suffix, Retention retain = Retention::NoRetain, QoS qos = QoS::AtMostOnce) {
-            return mqtt.clear(fullTopic(suffix), retain, qos, nullptr, ticks::zero());
+        PublishStatus clear(const String& suffix, Retention retain = Retention::NoRetain, QoS qos = QoS::AtMostOnce, ticks timeout = ticks::zero()) {
+            return mqtt.clear(fullTopic(suffix), retain, qos, timeout);
         }
 
         bool subscribe(const String& suffix, SubscriptionHandler handler) {
@@ -74,8 +83,12 @@ class MqttDriver {
         bool registerCommand(const String& name, size_t responseSize, CommandHandler handler) {
             String suffix = "commands/" + name;
             return subscribe(suffix, QoS::ExactlyOnce, [this, name, suffix, responseSize, handler](const String&, const JsonObject& request) {
+                // TODO Do exponential backoff when clear cannot be finished
                 // Clear topic and wait for it to be cleared
-                mqtt.clear(fullTopic(suffix), Retention::Retain, QoS::ExactlyOnce, xTaskGetCurrentTaskHandle(), ticks::max());
+                auto clearStatus = mqtt.clear(fullTopic(suffix), Retention::Retain, QoS::ExactlyOnce, std::chrono::seconds { 5 });
+                if (clearStatus != PublishStatus::Success) {
+                    Log.errorln("MQTT: Failed to clear retained command topic '%s', status: %d", suffix.c_str(), clearStatus);
+                }
 
                 DynamicJsonDocument responseDoc(responseSize);
                 auto response = responseDoc.to<JsonObject>();
@@ -204,33 +217,45 @@ class MqttDriver {
     }
 
 private:
-    bool publish(const String& topic, const JsonDocument& json, Retention retain, QoS qos, TaskHandle_t waitingTask, ticks timeout) {
+    PublishStatus publish(const String& topic, const JsonDocument& json, Retention retain, QoS qos, ticks timeout = ticks::zero()) {
 #ifdef DUMP_MQTT
         String serializedJson;
         serializeJsonPretty(json, serializedJson);
         Log.infoln("MQTT: Queuing topic '%s'%s (qos = %d): %s",
             topic.c_str(), (retain == Retention::Retain ? " (retain)" : ""), qos, serializedJson.c_str());
 #endif
-        bool offered = publishQueue.offerIn(MQTT_QUEUE_TIMEOUT, topic, json, retain, qos, waitingTask);
-        if (offered && waitingTask != nullptr) {
-            return waitFor(offered, timeout);
-        }
-        return offered;
+        return executeAndAwait(timeout, [&](TaskHandle_t waitingTask) {
+            return publishQueue.offerIn(MQTT_QUEUE_TIMEOUT, topic, json, retain, qos, waitingTask);
+        });
     }
 
-    bool clear(const String& topic, Retention retain, QoS qos, TaskHandle_t waitingTask, ticks timeout) {
+    PublishStatus clear(const String& topic, Retention retain, QoS qos, ticks timeout = ticks::zero()) {
         Log.traceln("MQTT: Clearing topic '%s'",
             topic.c_str());
-        bool offered = publishQueue.offerIn(MQTT_QUEUE_TIMEOUT, topic, "", retain, qos, waitingTask);
-        if (offered && waitingTask != nullptr) {
-            return waitFor(offered, timeout);
-        }
-        return offered;
+        return executeAndAwait(timeout, [&](TaskHandle_t waitingTask) {
+            return publishQueue.offerIn(MQTT_QUEUE_TIMEOUT, topic, "", retain, qos, waitingTask);
+        });
     }
 
-    bool waitFor(bool offered, ticks timeout) {
+    PublishStatus executeAndAwait(ticks timeout, std::function<bool(TaskHandle_t)> enqueue) {
+        TaskHandle_t waitingTask = timeout == ticks::zero() ? nullptr : xTaskGetCurrentTaskHandle();
+        bool offered = enqueue(waitingTask);
+        if (!offered) {
+            return PublishStatus::QueueFull;
+        }
+        if (waitingTask == nullptr) {
+            return PublishStatus::Pending;
+        }
         uint32_t status = ulTaskNotifyTake(pdTRUE, timeout.count());
-        return status == Message::PUBLISH_SUCCESS;
+        switch (status) {
+            case 0:
+                return PublishStatus::TimeOut;
+            case Message::PUBLISH_SUCCESS:
+                return PublishStatus::Success;
+            case Message::PUBLISH_FAILED:
+            default:
+                return PublishStatus::Failed;
+        }
     }
 
     /**