C++ CI Serial Programs

Minor refactor for firmware. #4588

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Run time

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Job	Run time
build (ubuntu-24.04, default, 6.9.1)	13m 51s
build (windows-2025, clang, 6.9.1)	17m 30s
build (windows-2025, default, 6.9.1)	23m 15s
build (macos-13, default, 6.9.1)	26m 39s
build (ubuntu-24.04, clang, 6.9.1)	20m 24s
	1h 41m 39s