diff --git a/.github/workflows/base.yaml b/.github/workflows/base.yaml
index 0838903..029907e 100644
--- a/.github/workflows/base.yaml
+++ b/.github/workflows/base.yaml
@@ -8,7 +8,7 @@ jobs:
     timeout-minutes: 1200
     strategy:
       matrix:
-        platformArch: [macOS] # iOS, iOS_Simulator, iOS_Simulator_M1, macCatalyst, macCatalyst_M1
+        platformArch: [macOS, iOS, iOS_Simulator, iOS_Simulator_M1, macCatalyst, macCatalyst_M1]
     steps:
       # https://docs.github.com/en/actions/using-workflows/triggering-a-workflow#viewing-all-properties-of-an-event
       # https://docs.github.com/en/actions/learn-github-actions/contexts#github-context
@@ -34,14 +34,26 @@ jobs:
           cmake-version: '3.23.x'
 
       - name: Fetch cached Python environment
-        run: curl -OL https://github.com/light-tech/ROS2-On-iOS/releases/download/humble-1.3/python_venv.tar.xz && tar xzf python_venv.tar.xz
+        run: curl -OL https://github.com/light-tech/ROS2-On-iOS/releases/download/humble-1.3/python_venv.tar.xz
+
+      - name: Fetch prebuilt dependencies
+        run: curl -OL https://github.com/light-tech/ROS2-On-iOS/releases/download/humble-1.3/deps_${{ matrix.platformArch }}.tar.xz
+        if: ${{ matrix.platformArch == 'macOS' }}
+
+      - name: Extract artifacts
+        run: ./extract_artifacts.sh
 
       - name: Build ROS2
         id: build_ros2
         run: source ros2PythonEnv/bin/activate && source build_ros2.sh ${{ matrix.platformArch }} && buildRos2Base
 
+      - name: Archive ROS2 and dependencies
+        run: tar cJf ros2_${{ matrix.platformArch }}.tar.xz ros2_${{ matrix.platformArch }}/base/
+        if: ${{ matrix.platformArch == 'macOS' }}
+
       - name: Archive ROS2 and dependencies
         run: tar cJf ros2_${{ matrix.platformArch }}.tar.xz ros2_${{ matrix.platformArch }}/
+        if: ${{ matrix.platformArch != 'macOS' }}
 
       - name: Publish ROS2 for release
         uses: actions/upload-artifact@v3
diff --git a/build_ros2.sh b/build_ros2.sh
index bb0ee7d..30166ae 100755
--- a/build_ros2.sh
+++ b/build_ros2.sh
@@ -44,6 +44,7 @@ printPython() {
 }
 
 buildRos2Base() {
+    ros2SystemDependenciesPath=$scriptDir/ros2_$targetPlatform/deps
     echo "Build ros2 base ( assuming dependencies are available at $ros2SystemDependenciesPath )"
 
     # printPython
@@ -68,9 +69,9 @@ buildRos2Base() {
     fi
 
     colconArgs+=(--cmake-args -DBUILD_TESTING=NO \
+                              -DFORCE_BUILD_VENDOR_PKG=OFF \
                               -DTHIRDPARTY=FORCE \
                               -DCOMPILE_TOOLS=NO \
-                              -DFORCE_BUILD_VENDOR_PKG=ON \
                               -DBUILD_MEMORY_TOOLS=OFF \
                               -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop)
 
@@ -82,14 +83,6 @@ buildRos2Base() {
             # as there is no way to link with the ARM version of libpython*.dylib there
             # and rclpy and IDL code generation for Python needs that.
             vcs import src < $scriptDir/ros2_cli.repos
-
-            # Update pybind11 to v2.10.1
-            local pbcml=src/ros2/pybind11_vendor/CMakeLists.txt
-            sed -i.bak 's/GIT_TAG .*/GIT_TAG 80dc998efced8ceb2be59756668a7e90e8bef917/g' $pbcml
-            sed -i.bak 's/PATCH_COMMAND//g' $pbcml
-            sed -i.bak 's/.* git apply -p1 .*//g' $pbcml
-            sed -i.bak 's/.*pybind11-2.9.1-fix-windows-debug.patch.*//g' $pbcml
-            # cat $pbcml
         fi
 
         colconArgs+=(-DCMAKE_PREFIX_PATH=$ros2SystemDependenciesPath)