diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
new file mode 100644
index 000000000..c11174b25
--- /dev/null
+++ b/.github/workflows/release.yml
@@ -0,0 +1,89 @@
+on:
+  push:
+    # Require one of the following patterns to match the tag
+    tags:
+      - 'v[0-9]+.[0-9]+.[0-9]+.[0-9]+' # ex. v20.00.00.00
+      - 'v[0-9]+.[0-9]+.RC.[0-9]+'     # ex. v20.00.RC.00
+
+name: Create Release
+
+env:
+  PROJECT_NAME: freedom-e-sdk
+  # Release is a prerelease if the tag contains rc
+  PRERELEASE: ${{ contains(github.ref, 'RC') }}
+
+jobs:
+  release:
+    runs-on: ubuntu-latest
+
+    steps:
+      # Perform a recursive, PAT-authenticated checkout of all freedom-e-sdk
+      # submodules. This allows us to create and push tags to each submodule,
+      # triggering their own release workflow.
+      - name: 'Checkout'
+        uses: actions/checkout@v2
+        with:
+          submodules: 'recursive'
+          token: ${{ secrets.PERSONAL_ACCESS_TOKEN }}
+
+      # In order to generate release notes, we need a deep clone of the
+      # repository so that we can find the most recent tag and generate
+      # statistics based on it.
+      - name: 'Fetch History'
+        run: git fetch --prune --unshallow
+
+      # We tag submodules before creating the release notes or the release
+      # to make sure that they get tagged.
+      - name: 'Tag Submodules for Release'
+        run: |
+          tag=$(echo ${{ github.ref }} | cut -d '/' -f 3)
+          ./scripts/tag-submodules.sh ${tag}
+
+      - name: 'Create Release Notes'
+        id: create-release-notes
+        run: |
+          tag=$(echo ${{ github.ref }} | cut -d '/' -f 3)
+          release_notes=$(./scripts/create-release-notes.sh ${{ env.PROJECT_NAME }} ${tag})
+          # The string passed to Actions must urlencode newlines.
+          release_notes="${release_notes//$'\n'/'%0A'}"
+          # Use a magic "workflow command" to set the output for the step.
+          echo "::set-output name=release-notes::${release_notes}"
+
+      - name: 'Create Release'
+        uses: actions/create-release@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          tag_name: ${{ github.ref }}
+          release_name: ${{ env.PROJECT_NAME }} ${{ github.ref }}
+          body: ${{ steps.create-release-notes.outputs.release-notes }}
+          draft: false
+          prerelease: ${{ env.PRERELEASE }}
+
+      - name: 'Clean Documentation Output Folder'
+        run: |
+          cd doc/html
+          git fetch
+          git checkout master
+          git reset --hard origin/master
+          rm -rf * .buildinfo .doctrees
+
+      - name: 'Build Sphinx Documenattion'
+        run: |
+          tag=$(echo ${{ github.ref }} | cut -d '/' -f 3)
+          docker run \
+            --rm \
+            -v $(pwd)/doc:/docs \
+            -e RELEASE_TAG="${tag}" \
+            sphinxdoc/sphinx \
+            make html
+
+      - name: 'Publish Documentation'
+        run: |
+          tag=$(echo ${{ github.ref }} | cut -d '/' -f 3)
+          cd doc/html
+          git config user.email "no-reply@sifive.com"
+          git config user.name "actions-bot"
+          git add .
+          git commit -m "Documentation for ${{ env.PROJECT_NAME }} ${tag}"
+          git push
diff --git a/FreeRTOS-metal b/FreeRTOS-metal
index 6e2f8115f..d9be8c592 160000
--- a/FreeRTOS-metal
+++ b/FreeRTOS-metal
@@ -1 +1 @@
-Subproject commit 6e2f8115fcd7ba60e141b5e2d84bf2209df26adb
+Subproject commit d9be8c5925ccbe3f205c6d8d0630fb58bc13e3f0
diff --git a/Segger_SystemView-metal b/Segger_SystemView-metal
index f459c36cf..c50653382 160000
--- a/Segger_SystemView-metal
+++ b/Segger_SystemView-metal
@@ -1 +1 @@
-Subproject commit f459c36cfd42e7a67843618117221f79980a9ffc
+Subproject commit c506533822fb6b542d13f015c02985664cfeeb67
diff --git a/doc/sphinx/conf.py b/doc/sphinx/conf.py
index 160540e43..5688a5d52 100644
--- a/doc/sphinx/conf.py
+++ b/doc/sphinx/conf.py
@@ -24,7 +24,7 @@
 author = 'SiFive Inc.'
 
 # The short X.Y version
-version = "master"
+version = os.environ['RELEASE_TAG']
 # The full version, including alpha/beta/rc tags
 release = version
 
diff --git a/freedom-devicetree-tools b/freedom-devicetree-tools
index becd685e7..1688a3628 160000
--- a/freedom-devicetree-tools
+++ b/freedom-devicetree-tools
@@ -1 +1 @@
-Subproject commit becd685e7fbbe99f97b3c8379625b7d8b69b97c8
+Subproject commit 1688a3628f59d313ee09ae18a2a21b22617147f5
diff --git a/freedom-metal b/freedom-metal
index 65169b74d..2d7509dd4 160000
--- a/freedom-metal
+++ b/freedom-metal
@@ -1 +1 @@
-Subproject commit 65169b74dbd71a036ade7d76f982bb750ab718c5
+Subproject commit 2d7509dd4c2cabcdc8283cfac1aba1f049d7128c
diff --git a/scl-metal b/scl-metal
index 12e6ebb52..66dbef1d0 160000
--- a/scl-metal
+++ b/scl-metal
@@ -1 +1 @@
-Subproject commit 12e6ebb520e253751b1f9923339f26abcde27e30
+Subproject commit 66dbef1d0f4bcf1fd779f0835946842de706b973
diff --git a/scripts/cmsis-svd-generator b/scripts/cmsis-svd-generator
index 3d667f2c0..96d383388 160000
--- a/scripts/cmsis-svd-generator
+++ b/scripts/cmsis-svd-generator
@@ -1 +1 @@
-Subproject commit 3d667f2c0ecd1ce54d5364fd49f7b302f589a21c
+Subproject commit 96d383388db020664dd3eb24072945fcc8984a64
diff --git a/scripts/create-release-notes.sh b/scripts/create-release-notes.sh
new file mode 100755
index 000000000..8f8581122
--- /dev/null
+++ b/scripts/create-release-notes.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+# Copyright (c) 2020 SiFive Inc.
+# SPDX-License-Identifier: Apache-2.0
+
+set -euo pipefail
+
+if [ "$#" -lt 2 ] ; then
+  >&2 echo "$0: please provide project name and release tag"
+  exit 1
+fi
+
+project=$1; shift 1;
+current_release=$1; shift 1;
+
+# Get the most recent previous tag with git-describe. If this is
+# the first tag in the repository, then this will return a commit
+# hash (because of the --always flag).
+last_release=$(git describe --tags --always HEAD~)
+
+echo "# Release notes for ${project} ${current_release}"
+echo "## Statistics since ${last_release}"
+echo "- $(git rev-list --count ${last_release}..HEAD) commits"
+echo "-$(git diff --shortstat ${last_release} HEAD)"
+echo ""
+echo "## Authors"
+git shortlog -s -n --no-merges ${last_release}..HEAD | cut -f 2
+echo ""
+echo "## Merge history"
+git log --merges --pretty=format:"%h %b" ${last_release}..HEAD
diff --git a/scripts/devicetree-overlay-generator b/scripts/devicetree-overlay-generator
index fd780fe5b..f10cf34fa 160000
--- a/scripts/devicetree-overlay-generator
+++ b/scripts/devicetree-overlay-generator
@@ -1 +1 @@
-Subproject commit fd780fe5b94ae13e8606cdcd5bea417ba5232ce8
+Subproject commit f10cf34fa3ae59b0e21b05e0169ec110c7e932a0
diff --git a/scripts/elf2hex b/scripts/elf2hex
index 980f9b992..86a9a524b 160000
--- a/scripts/elf2hex
+++ b/scripts/elf2hex
@@ -1 +1 @@
-Subproject commit 980f9b9929701ec526d73c59cf39923ef570d599
+Subproject commit 86a9a524b436774a00ad3d7491ec5e1755c7d0a3
diff --git a/scripts/esdk-settings-generator b/scripts/esdk-settings-generator
index e2115a8ba..29049568f 160000
--- a/scripts/esdk-settings-generator
+++ b/scripts/esdk-settings-generator
@@ -1 +1 @@
-Subproject commit e2115a8ba271d42740b1395531ca9bdeb0f19016
+Subproject commit 29049568fa975b9afd8282299e5550929902a67f
diff --git a/scripts/ldscript-generator b/scripts/ldscript-generator
index c13f43e37..606c28cc8 160000
--- a/scripts/ldscript-generator
+++ b/scripts/ldscript-generator
@@ -1 +1 @@
-Subproject commit c13f43e3756d81f7c5e3103ebefd968a9af2117d
+Subproject commit 606c28cc8de9883970aeea88fcd302c0651023d6
diff --git a/scripts/openocdcfg-generator b/scripts/openocdcfg-generator
index 573c181ef..33e3954ed 160000
--- a/scripts/openocdcfg-generator
+++ b/scripts/openocdcfg-generator
@@ -1 +1 @@
-Subproject commit 573c181ef7c5317585114b1558e2049dd264aa80
+Subproject commit 33e3954ed786d8ad792bf43e1785b352841b5ed6
diff --git a/scripts/tag-submodules.sh b/scripts/tag-submodules.sh
new file mode 100755
index 000000000..45a14c271
--- /dev/null
+++ b/scripts/tag-submodules.sh
@@ -0,0 +1,31 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+if [ "$#" -lt 1 ] ; then
+  >&2 echo "Please provide a tag"
+  exit 1
+fi
+
+tag=$1; shift 1;
+
+submodules=(\
+  freedom-metal \
+  freedom-devicetree-tools \
+  FreeRTOS-metal \
+  Segger_SystemView-metal \
+  scl-metal \
+  scripts/cmsis-svd-generator \
+  scripts/devicetree-overlay-generator \
+  scripts/elf2hex \
+  scripts/esdk-settings-generator \
+  scripts/ldscript-generator \
+  scripts/openocdcfg-generator \
+)
+
+set -x
+
+for submodule in ${submodules[@]} ; do
+  git -C ${submodule} tag ${tag}
+  git -C ${submodule} push -f origin ${tag}
+done
diff --git a/wit-manifest.json b/wit-manifest.json
index 92bf1fdf6..9b18d3901 100644
--- a/wit-manifest.json
+++ b/wit-manifest.json
@@ -1,41 +1,41 @@
 [
     {
-        "commit": "becd685e7fbbe99f97b3c8379625b7d8b69b97c8",
+        "commit": "1688a3628f59d313ee09ae18a2a21b22617147f5",
         "name": "freedom-devicetree-tools",
         "source": "git@github.com:sifive/freedom-devicetree-tools.git"
     },
     {
-        "commit": "65169b74dbd71a036ade7d76f982bb750ab718c5",
+        "commit": "2d7509dd4c2cabcdc8283cfac1aba1f049d7128c",
         "name": "freedom-metal",
         "source": "git@github.com:sifive/freedom-metal.git"
     },
     {
-        "commit": "980f9b9929701ec526d73c59cf39923ef570d599",
+        "commit": "86a9a524b436774a00ad3d7491ec5e1755c7d0a3",
         "name": "elf2hex",
         "source": "git@github.com:sifive/elf2hex.git"
     },
     {
-        "commit": "fd780fe5b94ae13e8606cdcd5bea417ba5232ce8",
+        "commit": "f10cf34fa3ae59b0e21b05e0169ec110c7e932a0",
         "name": "devicetree-overlay-generator",
         "source": "git@github.com:sifive/devicetree-overlay-generator.git"
     },
     {
-        "commit": "c13f43e3756d81f7c5e3103ebefd968a9af2117d",
+        "commit": "606c28cc8de9883970aeea88fcd302c0651023d6",
         "name": "ldscript-generator",
         "source": "git@github.com:sifive/ldscript-generator.git"
     },
     {
-        "commit": "3d667f2c0ecd1ce54d5364fd49f7b302f589a21c",
+        "commit": "96d383388db020664dd3eb24072945fcc8984a64",
         "name": "cmsis-svd-generator",
         "source": "git@github.com:sifive/cmsis-svd-generator.git"
     },
     {
-        "commit": "573c181ef7c5317585114b1558e2049dd264aa80",
+        "commit": "33e3954ed786d8ad792bf43e1785b352841b5ed6",
         "name": "openocdcfg-generator",
         "source": "git@github.com:sifive/openocdcfg-generator.git"
     },
     {
-        "commit": "e2115a8ba271d42740b1395531ca9bdeb0f19016",
+        "commit": "29049568fa975b9afd8282299e5550929902a67f",
         "name": "esdk-settings-generator",
         "source": "git@github.com:sifive/esdk-settings-generator.git"
     },
@@ -200,12 +200,12 @@
         "source": "git@github.com:sifive/benchmark-mem-latency.git"
     },
     {
-        "commit": "6e2f8115fcd7ba60e141b5e2d84bf2209df26adb",
+        "commit": "d9be8c5925ccbe3f205c6d8d0630fb58bc13e3f0",
         "name": "FreeRTOS-metal",
         "source": "git@github.com:sifive/FreeRTOS-metal.git"
     },
     {
-        "commit": "f459c36cfd42e7a67843618117221f79980a9ffc",
+        "commit": "c506533822fb6b542d13f015c02985664cfeeb67",
         "name": "Segger_SystemView-metal",
         "source": "git@github.com:sifive/Segger_SystemView-metal.git"
     },
@@ -250,7 +250,7 @@
         "source": "git@github.com:sifive/example-hpm.git"
     },
     {
-        "commit": "12e6ebb520e253751b1f9923339f26abcde27e30",
+        "commit": "66dbef1d0f4bcf1fd779f0835946842de706b973",
         "name": "scl-metal",
         "source": "git@github.com:sifive/scl-metal.git"
     },