diff --git a/.github/workflows/gradle.yml b/.github/workflows/gradle.yml
index 8c6da727..c89f6a12 100644
--- a/.github/workflows/gradle.yml
+++ b/.github/workflows/gradle.yml
@@ -17,4 +17,13 @@ jobs:
     - name: Setup Gradle
       uses: gradle/gradle-build-action@v3
     - name: Run build with Gradle Wrapper
-      run: ./gradlew build
+      run: ./gradlew --info build -PgearHeads.testJvmArg='-XX:ErrorFile=${{ github.workspace }}/hs_err_pid%p.log'
+    - name: Archive test artifacts
+      if: success() || failure()
+      uses: actions/upload-artifact@v4
+      with:
+        name: test-logs
+        path: |
+          */build/reports/tests/test
+          hs_err_pid*.log
+        if-no-files-found: ignore
diff --git a/.gitignore b/.gitignore
index 93f34568..e4fe6314 100644
--- a/.gitignore
+++ b/.gitignore
@@ -9,6 +9,8 @@ bin
 
 ctre_sim
 
+# JVM crash logs; see http://www.java.com/en/download/help/error_hotspot.xml
+hs_err_pid*
 
 # Created by https://www.toptal.com/developers/gitignore/api/intellij
 # Edit at https://www.toptal.com/developers/gitignore?templates=intellij
diff --git a/buildSrc/src/main/groovy/java-common-conventions.gradle b/buildSrc/src/main/groovy/java-common-conventions.gradle
index 61f351ed..8da1a6be 100644
--- a/buildSrc/src/main/groovy/java-common-conventions.gradle
+++ b/buildSrc/src/main/groovy/java-common-conventions.gradle
@@ -1,3 +1,7 @@
+import groovy.time.TimeCategory
+import org.gradle.api.tasks.testing.logging.TestExceptionFormat
+import org.gradle.api.tasks.testing.logging.TestLogEvent
+
 plugins {
     // Apply the java-library plugin for API and implementation separation.
     id 'java-library'
@@ -9,11 +13,60 @@ java {
     targetCompatibility = JavaVersion.VERSION_17
 }
 
-tasks.withType(JavaCompile) {
+tasks.withType(JavaCompile).configureEach {
     // Configure string concat to always inline compile
     options.compilerArgs.add '-XDstringConcat=inline'
 }
 
+tasks.withType(Test).configureEach { testTask ->
+
+    // Allow adding a JVM arg when running tests via a Gradle Property named 'gearHeads.testJvmArg'.
+    // In .github/workflows/gradle.yml this is used to specify where to put JVM crash logs.
+    if (project.hasProperty('gearHeads.testJvmArg')) {
+        jvmArgs project.properties['gearHeads.testJvmArg']
+    }
+
+    // Display test results as tests run, and a summary at the end.
+    // See https://stackoverflow.com/a/36130467/95725
+    testLogging {
+        // Set options for log level LIFECYCLE
+        exceptionFormat TestExceptionFormat.FULL
+        showExceptions true
+        showCauses true
+        showStackTraces true
+        events = [TestLogEvent.FAILED, TestLogEvent.SKIPPED]
+
+        // Set options for log level DEBUG and INFO
+        debug {
+            events = [TestLogEvent.STARTED,
+                      TestLogEvent.FAILED,
+                      TestLogEvent.PASSED,
+                      TestLogEvent.SKIPPED,
+                      TestLogEvent.STANDARD_ERROR,
+                      TestLogEvent.STANDARD_OUT]
+            exceptionFormat TestExceptionFormat.FULL
+        }
+        info.events = debug.events
+        info.exceptionFormat = debug.exceptionFormat
+    }
+
+    afterSuite { TestDescriptor desc, TestResult result ->
+        if (!desc.parent) {  // will match the outermost suite
+            def output = "${testTask.project.name}:${testTask.name} results: ${result.resultType} " +
+                    "(${result.testCount} tests, " +
+                    "${result.successfulTestCount} passed, " +
+                    "${result.failedTestCount} failed, " +
+                    "${result.skippedTestCount} skipped) " +
+                    "in ${TimeCategory.minus(new Date(result.endTime), new Date(result.startTime))}"
+            def startItem = '│ ', endItem = ' │'
+            def repeatLength = startItem.length() + output.length() + endItem.length() - 2
+            println('\n┌' + ('─' * repeatLength) + '┐')
+            println(startItem + output + endItem)
+            println('└' + ('─' * repeatLength) + '┘\n')
+        }
+    }
+}
+
 tasks.named('jar') {
     manifest {
         attributes(
diff --git a/lib/src/test/java/com/team2813/lib2813/preferences/IsolatedPreferences.java b/lib/src/test/java/com/team2813/lib2813/preferences/IsolatedPreferences.java
index e7544411..b33af67e 100644
--- a/lib/src/test/java/com/team2813/lib2813/preferences/IsolatedPreferences.java
+++ b/lib/src/test/java/com/team2813/lib2813/preferences/IsolatedPreferences.java
@@ -3,6 +3,9 @@
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.Preferences;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
 import org.junit.rules.ExternalResource;
 
 /**
@@ -10,6 +13,8 @@
  * tests.
  */
 public final class IsolatedPreferences extends ExternalResource {
+  private static final ScheduledExecutorService CLOSE_EXECUTOR =
+      Executors.newSingleThreadScheduledExecutor();
   private NetworkTableInstance tempInstance;
 
   /** Gets the {@link NetworkTable} that contains the preference values. */
@@ -19,16 +24,14 @@ public NetworkTable getPreferencesTable() {
 
   @Override
   protected void before() {
+    NetworkTableInstance.getDefault();
     tempInstance = NetworkTableInstance.create();
     Preferences.setNetworkTableInstance(tempInstance);
   }
 
   @Override
   protected void after() {
-    try {
-      Preferences.setNetworkTableInstance(NetworkTableInstance.getDefault());
-    } finally {
-      tempInstance.close();
-    }
+    Preferences.setNetworkTableInstance(NetworkTableInstance.getDefault());
+    CLOSE_EXECUTOR.schedule(() -> tempInstance.close(), 10, TimeUnit.MILLISECONDS);
   }
 }
diff --git a/lib/src/test/java/com/team2813/lib2813/util/InputValidationTest.java b/lib/src/test/java/com/team2813/lib2813/util/InputValidationTest.java
index d7b44eb2..7d5071f8 100644
--- a/lib/src/test/java/com/team2813/lib2813/util/InputValidationTest.java
+++ b/lib/src/test/java/com/team2813/lib2813/util/InputValidationTest.java
@@ -5,7 +5,10 @@
 import static org.junit.Assert.assertThrows;
 
 import org.junit.Test;
+import org.junit.experimental.runners.Enclosed;
+import org.junit.runner.RunWith;
 
+@RunWith(Enclosed.class)
 public class InputValidationTest {
   // Tests for the `InputValidation.checkCanId(...)` method.
   public static class CheckCanIdTest {
diff --git a/limelight/build.gradle b/limelight/build.gradle
index 5b39a260..607856cb 100644
--- a/limelight/build.gradle
+++ b/limelight/build.gradle
@@ -39,7 +39,7 @@ dependencies {
 
 wpi.java.configureTestTasks(test)
 
-tasks.named('test') {
+test {
     // Use JUnit 4 for tests
     useJUnit()
 }