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Best/efficient development workflow?

I've recently started open-source, contributing to OpenCV. I searched through the questions, never really found a good exhaustive development workflow. (Might be a rookie search)
My current workflow:

  1. Sync up everything with upstream, create a new branch.
  2. Run cmake-gui, configure and generate. [BUILD_opencv_world checked]
  3. Install OpenCV globally (via sudo make install -j12) <- This takes a huge, huge amount of time.
  4. Make changes in files. (actual contribution)
  5. Repeat 3)
  6. Create a directory in a separate location, use CMakeLists.txt to find OpenCV package, bind libs to arbitrary test.cpp
  7. Compile, check if changes were correct. Repeat 4) and 5) until the changes make sense.
  8. Push and create a PR.

The step 3) is very time consuming, if I were to shift from master to 3.4 or vice versa, or if I were to quickly check out another working branch. Is there any workaround to this? (Might be a rookie overview of the problem, any help would be much appreciated!)