A valve actuation system for an engine is provided. The valve actuation system can include two or more engine cylinders, each cylinder having at least one intake valve configured to control air-flow into each of the two or more cylinders and at least one exhaust valve configured to control the flow of exhaust gases out of each of the two or more cylinders. The at least one first cylinder includes an exhaust cam lobe configured to control the valve timing of an exhaust valve of the at least one first cylinder and to cause an exhaust valve of a second cylinder to open during an expansion stroke of the second cylinder.