diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 547977f3e..353006085 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -39,7 +39,7 @@ jobs:
   pretty:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -55,7 +55,7 @@ jobs:
   markdown-lint-check:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - uses: gaurav-nelson/github-action-markdown-link-check@v1
       with:
         use-verbose-mode: 'yes'
@@ -64,7 +64,7 @@ jobs:
   cmake-version:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -94,7 +94,7 @@ jobs:
       CC: ${{ matrix.compiler_c }}
       CXX: ${{ matrix.compiler_cpp }}
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -108,7 +108,7 @@ jobs:
   scan-build:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -122,14 +122,14 @@ jobs:
   mbedtls3-build:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
       run: |
         sudo apt-get --no-install-recommends install -y ninja-build libreadline-dev libncurses-dev
         rm -rf third_party/mbedtls/repo
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         repository: ARMmbed/mbedtls
         ref: v3.2.1
@@ -161,7 +161,7 @@ jobs:
             gcc_download_url: https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2019q4/RC2.1/gcc-arm-none-eabi-9-2019-q4-major-x86_64-linux.tar.bz2
             gcc_extract_dir: gcc-arm-none-eabi-9-2019-q4-major
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -193,7 +193,7 @@ jobs:
       CC: gcc-${{ matrix.gcc_ver }}
       CXX: g++-${{ matrix.gcc_ver }}
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -221,7 +221,7 @@ jobs:
       CC: clang-${{ matrix.clang_ver }}
       CXX: clang++-${{ matrix.clang_ver }}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: true
       - name: Bootstrap
@@ -254,7 +254,7 @@ jobs:
       CXXFLAGS: -m32 -Wconversion
       LDFLAGS: -m32
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: true
       - name: Bootstrap
@@ -277,7 +277,7 @@ jobs:
   gn:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -308,7 +308,7 @@ jobs:
       CC: ${{ matrix.CC }}
       CXX: ${{ matrix.CXX }}
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -326,7 +326,7 @@ jobs:
   android:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 534dcf7c4..330569464 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -45,7 +45,7 @@ jobs:
         include:
           - docker_name: environment
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
 
diff --git a/.github/workflows/makefile-check.yml b/.github/workflows/makefile-check.yml
index 4f9556727..a3dfc87eb 100644
--- a/.github/workflows/makefile-check.yml
+++ b/.github/workflows/makefile-check.yml
@@ -38,7 +38,7 @@ jobs:
   makefile-check:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Check
diff --git a/.github/workflows/otbr.yml b/.github/workflows/otbr.yml
index fead1b366..2c618385f 100644
--- a/.github/workflows/otbr.yml
+++ b/.github/workflows/otbr.yml
@@ -53,7 +53,7 @@ jobs:
       # of OMR prefix and Domain prefix is not deterministic.
       BORDER_ROUTING: 0
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build OTBR Docker
@@ -163,7 +163,7 @@ jobs:
       NAT64: ${{ matrix.nat64 }}
       MAX_JOBS: 3
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Build OTBR Docker
       env:
         GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
@@ -214,7 +214,7 @@ jobs:
     - thread-border-router
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
diff --git a/.github/workflows/otci.yml b/.github/workflows/otci.yml
index 1a88ee686..a55963fc1 100644
--- a/.github/workflows/otci.yml
+++ b/.github/workflows/otci.yml
@@ -48,7 +48,7 @@ jobs:
       VIRTUAL_TIME: ${{ matrix.virtual_time }}
       REAL_DEVICE: 0
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Bootstrap
       run: |
         sudo rm /etc/apt/sources.list.d/* && sudo apt-get update
diff --git a/.github/workflows/otns.yml b/.github/workflows/otns.yml
index a916a6e01..55db447a5 100644
--- a/.github/workflows/otns.yml
+++ b/.github/workflows/otns.yml
@@ -48,7 +48,7 @@ jobs:
     name: Unittests
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - uses: actions/setup-go@v1
       with:
         go-version: '1.14'
@@ -88,7 +88,7 @@ jobs:
     name: Examples
     runs-on: ubuntu-20.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - uses: actions/setup-go@v1
         with:
           go-version: '1.14'
@@ -146,7 +146,7 @@ jobs:
     env:
       STRESS_LEVEL: ${{ matrix.stress_level }}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - uses: actions/setup-go@v1
         with:
           go-version: '1.14'
@@ -189,7 +189,7 @@ jobs:
       - stress-tests
     runs-on: ubuntu-20.04
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
       - name: Bootstrap
         run: |
           sudo apt-get --no-install-recommends install -y lcov
diff --git a/.github/workflows/posix.yml b/.github/workflows/posix.yml
index 552db037c..0cf0f452b 100644
--- a/.github/workflows/posix.yml
+++ b/.github/workflows/posix.yml
@@ -42,7 +42,7 @@ jobs:
       CFLAGS: -DCLI_COAP_SECURE_USE_COAP_DEFAULT_HANDLER=1 -DOPENTHREAD_CONFIG_MLE_MAX_CHILDREN=15
       CXXFLAGS: -DCLI_COAP_SECURE_USE_COAP_DEFAULT_HANDLER=1 -DOPENTHREAD_CONFIG_MLE_MAX_CHILDREN=15
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Bootstrap
       run: |
         sudo apt-get --no-install-recommends install -y expect ninja-build lcov socat
@@ -110,7 +110,7 @@ jobs:
   tcplp-buffering:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build
@@ -129,7 +129,7 @@ jobs:
       VIRTUAL_TIME: 1
       VIRTUAL_TIME_UART: 1
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -163,7 +163,7 @@ jobs:
     env:
       COVERAGE: 1
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -197,7 +197,7 @@ jobs:
       OT_DAEMON: ${{ matrix.OT_DAEMON }}
       OT_READLINE: 'readline'
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Bootstrap
       run: |
         sudo rm /etc/apt/sources.list.d/* && sudo apt-get update
@@ -241,7 +241,7 @@ jobs:
       OT_DAEMON: ${{ matrix.OT_DAEMON }}
       OT_READLINE: 'off'
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Bootstrap
       run: |
         rm -f '/usr/local/bin/2to3'
@@ -257,7 +257,7 @@ jobs:
   rcp-stack-reset:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Bootstrap
       env:
         GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
@@ -286,7 +286,7 @@ jobs:
     - thread-cert
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
diff --git a/.github/workflows/simulation-1.1.yml b/.github/workflows/simulation-1.1.yml
index e3c269c07..40f9254d9 100644
--- a/.github/workflows/simulation-1.1.yml
+++ b/.github/workflows/simulation-1.1.yml
@@ -45,7 +45,7 @@ jobs:
       THREAD_VERSION: 1.1
       VIRTUAL_TIME: 1
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -71,7 +71,7 @@ jobs:
       VIRTUAL_TIME: 1
       MULTIPLY: 3
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -114,7 +114,7 @@ jobs:
       THREAD_VERSION: 1.1
       VIRTUAL_TIME: 1
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -160,7 +160,7 @@ jobs:
       VIRTUAL_TIME: 1
       MESSAGE_USE_HEAP: ${{ matrix.message_use_heap }}
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -200,7 +200,7 @@ jobs:
       TIME_SYNC: 1
       VIRTUAL_TIME: 1
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -235,7 +235,7 @@ jobs:
       CXXFLAGS: -DCLI_COAP_SECURE_USE_COAP_DEFAULT_HANDLER=1 -DOPENTHREAD_CONFIG_MLE_MAX_CHILDREN=15
       THREAD_VERSION: 1.1
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Bootstrap
       run: |
         sudo apt-get --no-install-recommends install -y expect ninja-build lcov socat
@@ -269,7 +269,7 @@ jobs:
     env:
       THREAD_VERSION: 1.1
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -317,7 +317,7 @@ jobs:
       VIRTUAL_TIME: 1
       CXXFLAGS: "-DOPENTHREAD_CONFIG_LOG_PREPEND_UPTIME=0"
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -355,7 +355,7 @@ jobs:
     - multiple-instance
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
diff --git a/.github/workflows/simulation-1.2.yml b/.github/workflows/simulation-1.2.yml
index d099110ab..c44331298 100644
--- a/.github/workflows/simulation-1.2.yml
+++ b/.github/workflows/simulation-1.2.yml
@@ -55,7 +55,7 @@ jobs:
         compiler: [{c: "gcc", cxx: "g++", gcov: "gcc"}, { c: "clang-10", cxx: "clang++-10", gcov: "llvm"}]
         arch: ["m32", "m64"]
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -111,7 +111,7 @@ jobs:
       INTER_OP: 1
       INTER_OP_BBR: 0
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -169,7 +169,7 @@ jobs:
       THREAD_VERSION: 1.3
       MULTIPLY: 3
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -208,7 +208,7 @@ jobs:
       THREAD_VERSION: 1.3
       VIRTUAL_TIME: 0
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -251,7 +251,7 @@ jobs:
       VIRTUAL_TIME: 1
       INTER_OP: 1
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -306,7 +306,7 @@ jobs:
     - thread-1-3-posix
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
diff --git a/.github/workflows/size.yml b/.github/workflows/size.yml
index 2fae6778e..c283bee49 100644
--- a/.github/workflows/size.yml
+++ b/.github/workflows/size.yml
@@ -39,7 +39,7 @@ jobs:
   size-report:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Bootstrap
       if: "github.event_name == 'push'"
       run: |
diff --git a/.github/workflows/toranj.yml b/.github/workflows/toranj.yml
index 2d1f23b9e..1f8a8041f 100644
--- a/.github/workflows/toranj.yml
+++ b/.github/workflows/toranj.yml
@@ -47,7 +47,7 @@ jobs:
       COVERAGE: 1
       TORANJ_RADIO : ${{ matrix.TORANJ_RADIO }}
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -96,7 +96,7 @@ jobs:
       TORANJ_RADIO : ${{ matrix.TORANJ_RADIO }}
       TORANJ_CLI: 1
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -123,7 +123,7 @@ jobs:
     name: toranj-unittest
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
@@ -146,7 +146,7 @@ jobs:
     - toranj-cli
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Bootstrap
diff --git a/.github/workflows/version.yml b/.github/workflows/version.yml
index 6246f2081..5fecaefdf 100644
--- a/.github/workflows/version.yml
+++ b/.github/workflows/version.yml
@@ -38,7 +38,7 @@ jobs:
   api-version:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Check