PRs, and really leveraging all the tools GitHub gives you for PRs are another really useful bit of infrastructure.
I think the new test setup on GitHub is already a _huge_ step here -- you need reliable CI that actually matches the expected support surface.
Using tools like pre-commit to have CI-style checking of lots of "non test" things (formatting, etc), and to do this not in a one-off (the current formatting bots) but as a systematic thing that can easily be extended again and again to automate every step possible.
Expand testing and CI to cover much more integration testing and system testing so that more things can be caught early and automatically. FWIW, systems like Bazel really pay dividends here... =/
And once you have the CI automating as much as you can, tie it into a merge queue with no direct commit.