diff --git a/.github/workflows/doc.yml b/.github/workflows/doc.yml
index 883db0468b..53c6c51825 100644
--- a/.github/workflows/doc.yml
+++ b/.github/workflows/doc.yml
@@ -10,6 +10,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+---
 name: "Build Documentation"
 on:
   pull_request:
@@ -30,13 +31,22 @@ jobs:
       - uses: actions/setup-python@v4
         with:
           python-version: '3.8'
+      - name: Install LaTeX packages
+        run: |
+          sudo apt-get update -y
+          sudo apt-get install -y \
+            texlive-latex-recommended texlive-fonts-recommended \
+            texlive-latex-base texlive-latex-extra latexmk texlive-luatex \
+            fonts-freefont-otf xindy
       - name: Generate Documentation
         run: |
           cd Documentation/
           pip3 install pipenv
           pipenv install
-          pipenv run make html
+          pipenv run make html latexpdf
       - uses: actions/upload-artifact@v3
         with:
           name: sphinx-docs
-          path: Documentation/_build/html/
+          path: |
+            Documentation/_build/html/
+            Documentation/_build/latex/*.pdf
diff --git a/Documentation/components/nxgraphics/NXOrganization.gif b/Documentation/components/nxgraphics/NXOrganization.gif
deleted file mode 100644
index 6bae8e5529..0000000000
Binary files a/Documentation/components/nxgraphics/NXOrganization.gif and /dev/null differ
diff --git a/Documentation/components/nxgraphics/NXOrganization.png b/Documentation/components/nxgraphics/NXOrganization.png
new file mode 100644
index 0000000000..37f9c1ab38
Binary files /dev/null and b/Documentation/components/nxgraphics/NXOrganization.png differ
diff --git a/Documentation/components/nxgraphics/index.rst b/Documentation/components/nxgraphics/index.rst
index 7c0614be4a..f5740a45c8 100644
--- a/Documentation/components/nxgraphics/index.rst
+++ b/Documentation/components/nxgraphics/index.rst
@@ -83,7 +83,7 @@ That NuttX directory organization is discussed in `Appendix
 B <#grapicsdirs>`__ of this document. The logic modules are discussed in
 the following sub-paragraphs.
 
-.. figure:: NXOrganization.gif
+.. figure:: NXOrganization.png
   :align: center
 
 NX Graphics Library (``NXGL``)
diff --git a/Documentation/conf.py b/Documentation/conf.py
index d485278e45..c4d696d92f 100644
--- a/Documentation/conf.py
+++ b/Documentation/conf.py
@@ -119,3 +119,5 @@ linkcheck_ignore = [
     "https://github.com/pyenv/pyenv#installation",
     "http://openocd.zylin.com/#/c/4103/",
 ]
+
+latex_engine = "lualatex"
diff --git a/Documentation/platforms/arm/nrf52/boards/nrf52832-mdk/index.rst b/Documentation/platforms/arm/nrf52/boards/nrf52832-mdk/index.rst
index 388f81ab5f..17fd92a2c4 100644
--- a/Documentation/platforms/arm/nrf52/boards/nrf52832-mdk/index.rst
+++ b/Documentation/platforms/arm/nrf52/boards/nrf52832-mdk/index.rst
@@ -7,7 +7,7 @@ the nRF52832 SoC from Nordic. It features 24 I/Os an on-board RGB led and a chip
 It also includes an embedded DAPlink debugger which allows to flash/debug and monitor UART
 from the USB port.
 
-.. figure:: pinout.webp
+.. figure:: pinout.png
    :align: center
 
    Pinout diagram
diff --git a/Documentation/platforms/arm/nrf52/boards/nrf52832-mdk/pinout.png b/Documentation/platforms/arm/nrf52/boards/nrf52832-mdk/pinout.png
new file mode 100644
index 0000000000..9ee05cfb79
Binary files /dev/null and b/Documentation/platforms/arm/nrf52/boards/nrf52832-mdk/pinout.png differ
diff --git a/Documentation/platforms/arm/nrf52/boards/nrf52832-mdk/pinout.webp b/Documentation/platforms/arm/nrf52/boards/nrf52832-mdk/pinout.webp
deleted file mode 100644
index 52683a37bd..0000000000
Binary files a/Documentation/platforms/arm/nrf52/boards/nrf52832-mdk/pinout.webp and /dev/null differ