diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index cf3e1cdcae..3a85f2fa67 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -144,7 +144,14 @@ jobs:
 
   run-ros-tests:
     needs: [check-changes, ros-dev]
-    if: always()
+    if: ${{
+      always() &&
+      needs.check-changes.result == 'success' &&
+      (needs.check-changes.outputs.tests == 'true' ||
+       needs.check-changes.outputs.ros == 'true' ||
+       needs.check-changes.outputs.python == 'true' ||
+       needs.check-changes.outputs.dev == 'true')
+      }}
     uses: ./.github/workflows/tests.yml
     secrets: inherit
     with:
@@ -160,7 +167,13 @@ jobs:
 
   run-tests:
     needs: [check-changes, dev]
-    if: always()
+    if: ${{
+      always() &&
+      needs.check-changes.result == 'success' &&
+      (needs.check-changes.outputs.tests == 'true' ||
+       needs.check-changes.outputs.python == 'true' ||
+       needs.check-changes.outputs.dev == 'true')
+      }}
     uses: ./.github/workflows/tests.yml
     secrets: inherit
     with:
@@ -176,7 +189,13 @@ jobs:
   # we run in parallel with normal tests for speed
   run-heavy-tests:
     needs: [check-changes, dev]
-    if: always()
+    if: ${{
+      always() &&
+      needs.check-changes.result == 'success' &&
+      (needs.check-changes.outputs.tests == 'true' ||
+       needs.check-changes.outputs.python == 'true' ||
+       needs.check-changes.outputs.dev == 'true')
+      }}
     uses: ./.github/workflows/tests.yml
     secrets: inherit
     with:
@@ -191,7 +210,13 @@ jobs:
 
   run-lcm-tests:
     needs: [check-changes, dev]
-    if: always()
+    if: ${{
+      always() &&
+      needs.check-changes.result == 'success' &&
+      (needs.check-changes.outputs.tests == 'true' ||
+       needs.check-changes.outputs.python == 'true' ||
+       needs.check-changes.outputs.dev == 'true')
+      }}
     uses: ./.github/workflows/tests.yml
     secrets: inherit
     with:
@@ -206,7 +231,13 @@ jobs:
 
   run-integration-tests:
     needs: [check-changes, dev]
-    if: always()
+    if: ${{
+      always() &&
+      needs.check-changes.result == 'success' &&
+      (needs.check-changes.outputs.tests == 'true' ||
+       needs.check-changes.outputs.python == 'true' ||
+       needs.check-changes.outputs.dev == 'true')
+      }}
     uses: ./.github/workflows/tests.yml
     secrets: inherit
     with:
@@ -221,7 +252,14 @@ jobs:
 
   run-mypy:
     needs: [check-changes, ros-dev]
-    if: always()
+    if: ${{
+      always() &&
+      needs.check-changes.result == 'success' &&
+      (needs.check-changes.outputs.tests == 'true' ||
+       needs.check-changes.outputs.ros == 'true' ||
+       needs.check-changes.outputs.python == 'true' ||
+       needs.check-changes.outputs.dev == 'true')
+      }}
     uses: ./.github/workflows/tests.yml
     secrets: inherit
     with:
@@ -271,7 +309,7 @@ jobs:
   #         /entrypoint.sh bash -c "pytest -m module"
 
   ci-complete:
-    needs: [run-tests, run-heavy-tests, run-lcm-tests, run-integration-tests, run-ros-tests, run-mypy]
+    needs: [ros, python, ros-python, dev, ros-dev, run-tests, run-heavy-tests, run-lcm-tests, run-integration-tests, run-ros-tests, run-mypy]
     runs-on: [self-hosted, Linux]
     if: always()
     steps:
diff --git a/docs/ci-gate-test.md b/docs/ci-gate-test.md
new file mode 100644
index 0000000000..d4331323f3
--- /dev/null
+++ b/docs/ci-gate-test.md
@@ -0,0 +1,4 @@
+# CI Gate Verification
+
+Test file to verify md-only PRs skip the test suite and pass ci-complete.
+Delete after verification.