diff --git a/xtask/src/argument_parsing.rs b/xtask/src/argument_parsing.rs
index f643cbb610..7284fc553e 100644
--- a/xtask/src/argument_parsing.rs
+++ b/xtask/src/argument_parsing.rs
@@ -29,6 +29,30 @@ impl Package {
             Package::RticTime => "rtic-time",
         }
     }
+
+    pub fn all() -> Vec<Self> {
+        vec![
+            Self::Rtic,
+            Self::RticCommon,
+            Self::RticMacros,
+            Self::RticMonotonics,
+            Self::RticSync,
+            Self::RticTime,
+        ]
+    }
+
+    /// Get the features needed given the selected package
+    ///
+    /// Without package specified the features for RTIC are required
+    /// With only a single package which is not RTIC, no special
+    /// features are needed
+    pub fn extract_features(&self, target: Target, backend: Backends) -> Option<String> {
+        match self {
+            Package::Rtic => Some(target.and_features(backend.to_rtic_feature())),
+            Package::RticMacros => Some(backend.to_rtic_macros_feature().to_owned()),
+            _ => None,
+        }
+    }
 }
 
 pub struct TestMetadata {}
@@ -247,7 +271,16 @@ pub struct PackageOpt {
     /// For which package/workspace member to operate
     ///
     /// If omitted, work on all
-    pub package: Option<Package>,
+    package: Option<Package>,
+}
+
+impl PackageOpt {
+    pub fn packages(&self) -> impl Iterator<Item = Package> {
+        self.package
+            .map(|p| vec![p])
+            .unwrap_or(Package::all())
+            .into_iter()
+    }
 }
 
 #[derive(Args, Debug, Clone)]
diff --git a/xtask/src/cargo_commands.rs b/xtask/src/cargo_commands.rs
index af6114187f..2a15b3c163 100644
--- a/xtask/src/cargo_commands.rs
+++ b/xtask/src/cargo_commands.rs
@@ -1,9 +1,7 @@
 use crate::{
-    argument_parsing::{
-        Backends, BuildOrCheck, ExtraArguments, Globals, Package, PackageOpt, TestMetadata,
-    },
+    argument_parsing::{Backends, BuildOrCheck, ExtraArguments, Globals, PackageOpt, TestMetadata},
     command::{BuildMode, CargoCommand},
-    command_parser, package_feature_extractor,
+    command_parser,
 };
 use log::error;
 use rayon::prelude::*;
@@ -16,26 +14,42 @@ pub fn cargo(
     package: &PackageOpt,
     backend: Backends,
 ) -> anyhow::Result<()> {
-    let target = backend.to_target();
-    let features = package_feature_extractor(target, package, backend);
+    package.packages().for_each(|package| {
+        let target = backend.to_target();
+
+        let features = package.extract_features(target, backend);
+
+        match operation {
+            BuildOrCheck::Check => {
+                log::debug!(target: "xtask::command", "Checking package: {package}")
+            }
+            BuildOrCheck::Build => {
+                log::debug!(target: "xtask::command", "Building package: {package}")
+            }
+        }
+
+        let command = match operation {
+            BuildOrCheck::Check => CargoCommand::Check {
+                cargoarg,
+                package: Some(package),
+                target,
+                features,
+                mode: BuildMode::Release,
+            },
+            BuildOrCheck::Build => CargoCommand::Build {
+                cargoarg,
+                package: Some(package),
+                target,
+                features,
+                mode: BuildMode::Release,
+            },
+        };
+        let res = command_parser(globals, &command, false);
+        if let Err(e) = res {
+            error!("{e}");
+        }
+    });
 
-    let command = match operation {
-        BuildOrCheck::Check => CargoCommand::Check {
-            cargoarg,
-            package: package.package,
-            target,
-            features,
-            mode: BuildMode::Release,
-        },
-        BuildOrCheck::Build => CargoCommand::Build {
-            cargoarg,
-            package: package.package,
-            target,
-            features,
-            mode: BuildMode::Release,
-        },
-    };
-    command_parser(globals, &command, false)?;
     Ok(())
 }
 
@@ -84,18 +98,26 @@ pub fn cargo_clippy(
     package: &PackageOpt,
     backend: Backends,
 ) -> anyhow::Result<()> {
-    let target = backend.to_target();
-    let features = package_feature_extractor(target, package, backend);
-    command_parser(
-        globals,
-        &CargoCommand::Clippy {
-            cargoarg,
-            package: package.package,
-            target,
-            features,
-        },
-        false,
-    )?;
+    package.packages().for_each(|p| {
+        let target = backend.to_target();
+        let features = p.extract_features(target, backend);
+
+        let res = command_parser(
+            globals,
+            &CargoCommand::Clippy {
+                cargoarg,
+                package: Some(p),
+                target,
+                features,
+            },
+            false,
+        );
+
+        if let Err(e) = res {
+            error!("{e}")
+        }
+    });
+
     Ok(())
 }
 
@@ -106,15 +128,22 @@ pub fn cargo_format(
     package: &PackageOpt,
     check_only: bool,
 ) -> anyhow::Result<()> {
-    command_parser(
-        globals,
-        &CargoCommand::Format {
-            cargoarg,
-            package: package.package,
-            check_only,
-        },
-        false,
-    )?;
+    package.packages().for_each(|p| {
+        let res = command_parser(
+            globals,
+            &CargoCommand::Format {
+                cargoarg,
+                package: Some(p),
+                check_only,
+            },
+            false,
+        );
+
+        if let Err(e) = res {
+            error!("{e}")
+        }
+    });
+
     Ok(())
 }
 
@@ -147,32 +176,13 @@ pub fn cargo_test(
     package: &PackageOpt,
     backend: Backends,
 ) -> anyhow::Result<()> {
-    if let Some(package) = package.package {
-        let cmd = TestMetadata::match_package(package, backend);
-        command_parser(globals, &cmd, false)?;
-    } else {
-        // Iterate over all workspace packages
-        for package in [
-            Package::Rtic,
-            Package::RticCommon,
-            Package::RticMacros,
-            Package::RticMonotonics,
-            Package::RticSync,
-            Package::RticTime,
-        ] {
-            let mut error_messages = vec![];
-            let cmd = &TestMetadata::match_package(package, backend);
-            if let Err(err) = command_parser(globals, cmd, false) {
-                error_messages.push(err);
-            }
-
-            if !error_messages.is_empty() {
-                for err in error_messages {
-                    error!("{err}");
-                }
-            }
+    package.packages().for_each(|p| {
+        let cmd = &TestMetadata::match_package(p, backend);
+        if let Err(err) = command_parser(globals, cmd, false) {
+            error!("{err}")
         }
-    }
+    });
+
     Ok(())
 }
 
@@ -209,6 +219,7 @@ pub fn run_test(
             features: features.clone(),
             mode: BuildMode::Release,
         };
+
         if let Err(err) = command_parser(globals, &cmd, false) {
             error!("{err}");
         }
diff --git a/xtask/src/main.rs b/xtask/src/main.rs
index 8f6a556971..f2d01809ba 100644
--- a/xtask/src/main.rs
+++ b/xtask/src/main.rs
@@ -24,7 +24,7 @@ use env_logger::Env;
 use log::{debug, error, info, log_enabled, trace, Level};
 
 use crate::{
-    argument_parsing::{Backends, BuildOrCheck, Cli, Commands, PackageOpt},
+    argument_parsing::{Backends, BuildOrCheck, Cli, Commands},
     build::init_build_dir,
     cargo_commands::{
         build_and_check_size, cargo, cargo_book, cargo_clippy, cargo_doc, cargo_example,
@@ -299,30 +299,6 @@ fn main() -> anyhow::Result<()> {
     Ok(())
 }
 
-/// Get the features needed given the selected package
-///
-/// Without package specified the features for RTIC are required
-/// With only a single package which is not RTIC, no special
-/// features are needed
-fn package_feature_extractor(
-    target: Target,
-    package: &PackageOpt,
-    backend: Backends,
-) -> Option<String> {
-    let default_features = Some(target.and_features(backend.to_rtic_feature()));
-
-    if let Some(package) = package.package {
-        debug!("\nTesting package: {package}");
-        match package {
-            Package::Rtic => default_features,
-            Package::RticMacros => Some(backend.to_rtic_macros_feature().to_owned()),
-            _ => None,
-        }
-    } else {
-        default_features
-    }
-}
-
 // run example binary `example`
 fn command_parser(glob: &Globals, command: &CargoCommand, overwrite: bool) -> anyhow::Result<()> {
     let output_mode = if glob.stderr_inherited {