Systems and methods for actuating engine valves are disclosed. The systems may include primary and auxiliary rocker arms disposed adjacent to each other on a rocker arm shaft. The primary rocker arm may actuate engine valves for primary valve actuation motions, such as main exhaust events, in response to an input from a first valve train element, such as a cam. The auxiliary rocker arm may receive one or more auxiliary valve actuation motions, such as for engine braking, exhaust gas recirculation, and/or brake gas recirculation events, from a second valve train element to actuate one of the engine valves. Master and slave pistons may be provided in the primary rocker arm. The master piston may be actuated by the auxiliary rocker arm.