github-action: `dashboardUrl` not set in step outputs?

I just enabled recording on Cypress dashboard for my project, but am having trouble printing the dashboardUrl.

It prints at the end of a run (in the Cypress step itself), but when I try to print it in another step it’s blank

Cypress step:

  (Run Finished)


       Spec                                              Tests  Passing  Failing  Pending  Skipped  
  ┌────────────────────────────────────────────────────────────────────────────────────────────────┐
  │ ✔  smoke.test.ts                            00:14        3        3        -        -        - │
  └────────────────────────────────────────────────────────────────────────────────────────────────┘
    ✔  All specs passed!                        00:14        3        3        -        -        -  


───────────────────────────────────────────────────────────────────────────────────────────────────────
                                                                                                       
  Recorded Run: https://dashboard.cypress.io/projects/xxx/runs/7           

Print step:

Cypress finished with: success
See results at

My configuration

name: Deploy
on:
  pull_request:
    types: [assigned, opened, synchronize, reopened]

jobs:
  build-deploy:
    ...
  smoke-test:
    needs: build-deploy
    runs-on: ubuntu-latest
    name: Smoke test
    timeout-minutes: 5
    steps:
      - name: Checkout
        uses: actions/checkout@v2
      - name: Cypress run
        uses: cypress-io/github-action@v2
        id: cypress
        continue-on-error: true
        with:
          command-prefix: yarn dlx # need this bc using yarn pnp w/o node_modules
          install-command: yarn install --immutable --immutable-cache
          build: yarn build-custom
          headless: true
          config: baseUrl=https://env.com/
          spec: cypress/integration/smoke.test.ts
          record: true
        env:
          CYPRESS_PROJECT_ID: xxx
          CYPRESS_RECORD_KEY: ${{ secrets.CYPRESS_RECORD_KEY }}
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
      - name: Print Dashboard URL
        run: |
          echo Cypress finished with: ${{ steps.cypress.outcome }}
          echo See results at ${{ steps.cypress.outputs.dashboardUrl }}

Update: I also tried echo ${{ toJSON(steps.cypress.outputs) }} in my step and it just prints an empty object {}

Update 2: added missing configuration for command-prefix and custom install