diff --git a/.github/workflows/test.workflow.yml b/.github/workflows/test.workflow.yml
index f135b2888..a9289b58a 100644
--- a/.github/workflows/test.workflow.yml
+++ b/.github/workflows/test.workflow.yml
@@ -57,7 +57,7 @@ jobs:
         cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun2_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON
         cmake --build build --parallel 4 --config Release
         cd build
-        ctest -C Release --output-on-failure -L usb --no-tests=error
+        ctest -C Release --output-on-failure -L usb --no-tests=error --repeat until-pass:3
 
     - name: Configure, Build and Test
       if: matrix.os == 'linux'
@@ -67,4 +67,4 @@ jobs:
         cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D HUNTER_ROOT=$HOME/.hun2_${{ matrix.flavor }} -D DEPTHAI_BUILD_EXAMPLES=ON -D DEPTHAI_BUILD_TESTS=ON -D DEPTHAI_TEST_EXAMPLES=ON
         cmake --build build --parallel 4 --config Release
         cd build
-        ctest -C Release --output-on-failure -L usb --no-tests=error
+        ctest -C Release --output-on-failure -L usb --no-tests=error --repeat until-pass:3
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index cc0e2a134..8b55e73d4 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -1,8 +1,14 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package depthai
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+2.20.1 (2023-01-31)
+-----------
+* Fix for ColorCamera at high resolution while using isp scaling
+* Fix for OV9282 SW sync on devices with OV9782 RGB camera
+* Fix for IMX378/477/577 on sockets other than CAM_A (RGB)
+* Contributors: Alex Bougdan, Szabolcs Gergely, Martin Peterlin
 
-2.20.1 (2022-01-29)
+2.20.1 (2023-01-29)
 -----------
 * Modified OpenVINO::VERSION_UNIVERSAL API improvements / backward compatibility
 * Bootloader version 0.0.24 (fixes for standalone / flashed usecases)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 15816d013..615b377f1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -45,7 +45,7 @@ if(WIN32)
 endif()
 
 # Create depthai project
-project(depthai VERSION "2.20.1" LANGUAGES CXX C)
+project(depthai VERSION "2.20.2" LANGUAGES CXX C)
 get_directory_property(has_parent PARENT_DIRECTORY)
 if(has_parent)
     set(DEPTHAI_VERSION ${PROJECT_VERSION} PARENT_SCOPE)
diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake
index aa07e9607..b2897551c 100644
--- a/cmake/Depthai/DepthaiDeviceSideConfig.cmake
+++ b/cmake/Depthai/DepthaiDeviceSideConfig.cmake
@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "f888710ca677ca662a4a83103e57c5a1ae2a5c7f")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "8c3d6ac1c77b0bf7f9ea6fd4d962af37663d2fbd")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 2336863e0..8b90a8900 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -223,6 +223,7 @@ target_compile_definitions(calibration_load PRIVATE CALIB_PATH="${calib_v6}")
 dai_add_example(rgb_camera_control ColorCamera/rgb_camera_control.cpp ON)
 dai_add_example(rgb_preview ColorCamera/rgb_preview.cpp ON)
 dai_add_example(rgb_video ColorCamera/rgb_video.cpp ON)
+dai_add_example(rgb_isp_scale ColorCamera/rgb_isp_scale.cpp ON)
 
 # EdgeDetector
 dai_add_example(edge_detector EdgeDetector/edge_detector.cpp ON)
diff --git a/examples/ColorCamera/rgb_isp_scale.cpp b/examples/ColorCamera/rgb_isp_scale.cpp
new file mode 100644
index 000000000..b0bc78343
--- /dev/null
+++ b/examples/ColorCamera/rgb_isp_scale.cpp
@@ -0,0 +1,46 @@
+#include <iostream>
+
+// Includes common necessary includes for development using depthai library
+#include "depthai/depthai.hpp"
+
+int main() {
+    // Create pipeline
+    dai::Pipeline pipeline;
+
+    // Define source and output
+    auto camRgb = pipeline.create<dai::node::ColorCamera>();
+    auto xoutVideo = pipeline.create<dai::node::XLinkOut>();
+
+    xoutVideo->setStreamName("video");
+
+    // Properties
+    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
+    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_4_K);
+    camRgb->setIspScale(1, 2);
+    camRgb->setVideoSize(1920, 1080);
+
+    xoutVideo->input.setBlocking(false);
+    xoutVideo->input.setQueueSize(1);
+
+    // Linking
+    camRgb->video.link(xoutVideo->input);
+
+    // Connect to device and start pipeline
+    dai::Device device(pipeline);
+
+    auto video = device.getOutputQueue("video");
+
+    while(true) {
+        auto videoIn = video->get<dai::ImgFrame>();
+
+        // Get BGR frame from NV12 encoded video frame to show with opencv
+        // Visualizing the frame on slower hosts might have overhead
+        cv::imshow("video", videoIn->getCvFrame());
+
+        int key = cv::waitKey(1);
+        if(key == 'q' || key == 'Q') {
+            return 0;
+        }
+    }
+    return 0;
+}
diff --git a/package.xml b/package.xml
index a42c32150..48b64e993 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>depthai</name>
-  <version>2.20.1</version>
+  <version>2.20.2</version>
   <description>DepthAI core is a C++ library which comes with firmware and an API to interact with OAK Platform</description>
 
   <maintainer email="sachin@luxonis.com">Sachin Guruswamy</maintainer>