diff --git a/.github/workflows/e2e-manual.yml b/.github/workflows/e2e-manual.yml
new file mode 100644
index 000000000..3881aa7fc
--- /dev/null
+++ b/.github/workflows/e2e-manual.yml
@@ -0,0 +1,35 @@
+# Manually run randomly generated E2E testnets (as nightly).
+name: e2e-manual
+on:
+  workflow_dispatch:
+
+jobs:
+  e2e-nightly-test:
+    # Run parallel jobs for the listed testnet groups (must match the
+    # ./build/generator -g flag)
+    strategy:
+      fail-fast: false
+      matrix:
+        group: ['00', '01', '02', '03']
+    runs-on: ubuntu-latest
+    timeout-minutes: 60
+    steps:
+      - uses: actions/setup-go@v2
+        with:
+          go-version: '1.17'
+
+      - uses: actions/checkout@v2.4.0
+
+      - name: Build
+        working-directory: test/e2e
+        # Run make jobs in parallel, since we can't run steps in parallel.
+        run: make -j2 docker generator runner tests
+
+      - name: Generate testnets
+        working-directory: test/e2e
+        # When changing -g, also change the matrix groups above
+        run: ./build/generator -g 4 -d networks/nightly/
+
+      - name: Run ${{ matrix.p2p }} p2p testnets
+        working-directory: test/e2e
+        run: ./run-multiple.sh networks/nightly/*-group${{ matrix.group }}-*.toml
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 00c58211c..a4fc13aa0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,18 @@
 
 Friendly reminder, we have a [bug bounty program](https://hackerone.com/cosmos).
 
+## v0.34.16
+
+Special thanks to external contributors on this release: @yihuang
+
+### BUG FIXES
+
+- [consensus] [\#7617](https://github.com/tendermint/tendermint/issues/7617) calculate prevote message delay metric (backport #7551) (@williambanfield).
+- [consensus] [\#7631](https://github.com/tendermint/tendermint/issues/7631) check proposal non-nil in prevote message delay metric (backport #7625) (@williambanfield).
+- [statesync] [\#7885](https://github.com/tendermint/tendermint/issues/7885) statesync: assert app version matches (backport #7856) (@cmwaters).
+- [statesync] [\#7881](https://github.com/tendermint/tendermint/issues/7881) fix app hash in state rollback (backport #7837) (@cmwaters).
+- [cli] [#7837](https://github.com/tendermint/tendermint/pull/7837) fix app hash in state rollback. (@yihuang).
+
 ## v0.34.15
 
 Special thanks to external contributors on this release: @thanethomson
diff --git a/CHANGELOG_PENDING.md b/CHANGELOG_PENDING.md
index b9addbd99..bee423db9 100644
--- a/CHANGELOG_PENDING.md
+++ b/CHANGELOG_PENDING.md
@@ -23,5 +23,3 @@ Friendly reminder, we have a [bug bounty program](https://hackerone.com/tendermi
 ### IMPROVEMENTS
 
 ### BUG FIXES
-
-- [cli] [#7837](https://github.com/tendermint/tendermint/pull/7837) fix app hash in state rollback. (@yihuang)
diff --git a/Makefile b/Makefile
index 50354ebd5..fa7a13d8c 100644
--- a/Makefile
+++ b/Makefile
@@ -186,12 +186,12 @@ DESTINATION = ./index.html.md
 ###############################################################################
 
 build-docs:
-	cd docs && \
-	while read p; do \
-		(git checkout $${p} . && npm install && VUEPRESS_BASE="/$${p}/" npm run build) ; \
-		mkdir -p ~/output/$${p} ; \
-		cp -r .vuepress/dist/* ~/output/$${p}/ ; \
-		cp ~/output/$${p}/index.html ~/output ; \
+	@cd docs && \
+	while read -r branch path_prefix; do \
+		(git checkout $${branch} && npm ci && VUEPRESS_BASE="/$${path_prefix}/" npm run build) ; \
+		mkdir -p ~/output/$${path_prefix} ; \
+		cp -r .vuepress/dist/* ~/output/$${path_prefix}/ ; \
+		cp ~/output/$${path_prefix}/index.html ~/output ; \
 	done < versions ;
 .PHONY: build-docs
 
diff --git a/crypto/secp256k1/secp256k1.go b/crypto/secp256k1/secp256k1.go
index fa387e355..0fbd9ad2d 100644
--- a/crypto/secp256k1/secp256k1.go
+++ b/crypto/secp256k1/secp256k1.go
@@ -122,6 +122,26 @@ func GenPrivKeySecp256k1(secret []byte) PrivKey {
 	return PrivKey(privKey32)
 }
 
+// used to reject malleable signatures
+// see:
+//  - https://github.com/ethereum/go-ethereum/blob/f9401ae011ddf7f8d2d95020b7446c17f8d98dc1/crypto/signature_nocgo.go#L90-L93
+//  - https://github.com/ethereum/go-ethereum/blob/f9401ae011ddf7f8d2d95020b7446c17f8d98dc1/crypto/crypto.go#L39
+var secp256k1halfN = new(big.Int).Rsh(secp256k1.S256().N, 1)
+
+// Sign creates an ECDSA signature on curve Secp256k1, using SHA256 on the msg.
+// The returned signature will be of the form R || S (in lower-S form).
+func (privKey PrivKey) Sign(msg []byte) ([]byte, error) {
+	priv, _ := secp256k1.PrivKeyFromBytes(secp256k1.S256(), privKey)
+
+	sig, err := priv.Sign(crypto.Sha256(msg))
+	if err != nil {
+		return nil, err
+	}
+
+	sigBytes := serializeSig(sig)
+	return sigBytes, nil
+}
+
 //-------------------------------------
 
 var _ crypto.PubKey = PubKey{}
@@ -171,3 +191,47 @@ func (pubKey PubKey) Equals(other crypto.PubKey) bool {
 func (pubKey PubKey) Type() string {
 	return KeyType
 }
+
+// VerifySignature verifies a signature of the form R || S.
+// It rejects signatures which are not in lower-S form.
+func (pubKey PubKey) VerifySignature(msg []byte, sigStr []byte) bool {
+	if len(sigStr) != 64 {
+		return false
+	}
+
+	pub, err := secp256k1.ParsePubKey(pubKey, secp256k1.S256())
+	if err != nil {
+		return false
+	}
+
+	// parse the signature:
+	signature := signatureFromBytes(sigStr)
+	// Reject malleable signatures. libsecp256k1 does this check but btcec doesn't.
+	// see: https://github.com/ethereum/go-ethereum/blob/f9401ae011ddf7f8d2d95020b7446c17f8d98dc1/crypto/signature_nocgo.go#L90-L93
+	if signature.S.Cmp(secp256k1halfN) > 0 {
+		return false
+	}
+
+	return signature.Verify(crypto.Sha256(msg), pub)
+}
+
+// Read Signature struct from R || S. Caller needs to ensure
+// that len(sigStr) == 64.
+func signatureFromBytes(sigStr []byte) *secp256k1.Signature {
+	return &secp256k1.Signature{
+		R: new(big.Int).SetBytes(sigStr[:32]),
+		S: new(big.Int).SetBytes(sigStr[32:64]),
+	}
+}
+
+// Serialize signature to R || S.
+// R, S are padded to 32 bytes respectively.
+func serializeSig(sig *secp256k1.Signature) []byte {
+	rBytes := sig.R.Bytes()
+	sBytes := sig.S.Bytes()
+	sigBytes := make([]byte, 64)
+	// 0 pad the byte arrays from the left if they aren't big enough.
+	copy(sigBytes[32-len(rBytes):32], rBytes)
+	copy(sigBytes[64-len(sBytes):64], sBytes)
+	return sigBytes
+}
diff --git a/crypto/secp256k1/secp256k1_nocgo.go b/crypto/secp256k1/secp256k1_nocgo.go
deleted file mode 100644
index 6b52dc5d2..000000000
--- a/crypto/secp256k1/secp256k1_nocgo.go
+++ /dev/null
@@ -1,76 +0,0 @@
-//go:build !libsecp256k1
-// +build !libsecp256k1
-
-package secp256k1
-
-import (
-	"math/big"
-
-	secp256k1 "github.com/btcsuite/btcd/btcec"
-
-	"github.com/tendermint/tendermint/crypto"
-)
-
-// used to reject malleable signatures
-// see:
-//  - https://github.com/ethereum/go-ethereum/blob/f9401ae011ddf7f8d2d95020b7446c17f8d98dc1/crypto/signature_nocgo.go#L90-L93
-//  - https://github.com/ethereum/go-ethereum/blob/f9401ae011ddf7f8d2d95020b7446c17f8d98dc1/crypto/crypto.go#L39
-var secp256k1halfN = new(big.Int).Rsh(secp256k1.S256().N, 1)
-
-// Sign creates an ECDSA signature on curve Secp256k1, using SHA256 on the msg.
-// The returned signature will be of the form R || S (in lower-S form).
-func (privKey PrivKey) Sign(msg []byte) ([]byte, error) {
-	priv, _ := secp256k1.PrivKeyFromBytes(secp256k1.S256(), privKey)
-
-	sig, err := priv.Sign(crypto.Sha256(msg))
-	if err != nil {
-		return nil, err
-	}
-
-	sigBytes := serializeSig(sig)
-	return sigBytes, nil
-}
-
-// VerifySignature verifies a signature of the form R || S.
-// It rejects signatures which are not in lower-S form.
-func (pubKey PubKey) VerifySignature(msg []byte, sigStr []byte) bool {
-	if len(sigStr) != 64 {
-		return false
-	}
-
-	pub, err := secp256k1.ParsePubKey(pubKey, secp256k1.S256())
-	if err != nil {
-		return false
-	}
-
-	// parse the signature:
-	signature := signatureFromBytes(sigStr)
-	// Reject malleable signatures. libsecp256k1 does this check but btcec doesn't.
-	// see: https://github.com/ethereum/go-ethereum/blob/f9401ae011ddf7f8d2d95020b7446c17f8d98dc1/crypto/signature_nocgo.go#L90-L93
-	if signature.S.Cmp(secp256k1halfN) > 0 {
-		return false
-	}
-
-	return signature.Verify(crypto.Sha256(msg), pub)
-}
-
-// Read Signature struct from R || S. Caller needs to ensure
-// that len(sigStr) == 64.
-func signatureFromBytes(sigStr []byte) *secp256k1.Signature {
-	return &secp256k1.Signature{
-		R: new(big.Int).SetBytes(sigStr[:32]),
-		S: new(big.Int).SetBytes(sigStr[32:64]),
-	}
-}
-
-// Serialize signature to R || S.
-// R, S are padded to 32 bytes respectively.
-func serializeSig(sig *secp256k1.Signature) []byte {
-	rBytes := sig.R.Bytes()
-	sBytes := sig.S.Bytes()
-	sigBytes := make([]byte, 64)
-	// 0 pad the byte arrays from the left if they aren't big enough.
-	copy(sigBytes[32-len(rBytes):32], rBytes)
-	copy(sigBytes[64-len(sBytes):64], sBytes)
-	return sigBytes
-}
diff --git a/version/version.go b/version/version.go
index 146465ed5..d51cd1918 100644
--- a/version/version.go
+++ b/version/version.go
@@ -7,7 +7,7 @@ var (
 const (
 	// TMVersionDefault is the used as the fallback version of Tendermint Core
 	// when not using git describe. It is formatted with semantic versioning.
-	TMVersionDefault = "0.34.15"
+	TMVersionDefault = "0.34.16"
 	// ABCISemVer is the semantic version of the ABCI library
 	ABCISemVer = "0.17.0"