diff --git a/CMakeLists.txt b/CMakeLists.txt
index 285250b..32d03e3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -92,7 +92,7 @@ add_subdirectory(src/render)
 add_subdirectory(src/thread)
 add_subdirectory(src/ui)
 
-target_compile_definitions(mujoco PRIVATE _GNU_SOURCE CCD_STATIC_DEFINE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)
+target_compile_definitions(mujoco PRIVATE _GNU_SOURCE MUJOCO_DLL_EXPORTS -DMC_IMPLEM_ENABLE)
 if(MUJOCO_ENABLE_AVX_INTRINSICS)
   target_compile_definitions(mujoco PUBLIC mjUSEPLATFORMSIMD)
 endif()
@@ -117,7 +117,7 @@ target_link_libraries(
           lodepng
           qhullstatic_r
           tinyobjloader
-          tinyxml2
+          tinyxml2::tinyxml2
 )
 
 set_target_properties(
diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index 4e3e2c8..f6143d9 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -90,153 +90,203 @@ set(BUILD_SHARED_LIBS
     CACHE INTERNAL "Build SHARED libraries"
 )
 
+
 if(NOT TARGET lodepng)
-  FetchContent_Declare(
+  fetchcontent_declare(
     lodepng
-    GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
-    GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
   )
+endif()
+
+if(NOT TARGET lodepng)
+  if(NOT MUJOCO_USE_SYSTEM_lodepng)
+    fetchcontent_declare(
+      lodepng
+      GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
+      GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
+    )
 
-  FetchContent_GetProperties(lodepng)
-  if(NOT lodepng_POPULATED)
-    FetchContent_Populate(lodepng)
-    # This is not a CMake project.
-    set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp)
-    set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h)
-    add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
-    target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-    target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-    target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
+    fetchcontent_getproperties(lodepng)
+    if(NOT lodepng_POPULATED)
+      fetchcontent_populate(lodepng)
+      # This is not a CMake project.
+      set(LODEPNG_SRCS ${lodepng_SOURCE_DIR}/lodepng.cpp)
+      set(LODEPNG_HEADERS ${lodepng_SOURCE_DIR}/lodepng.h)
+      add_library(lodepng STATIC ${LODEPNG_HEADERS} ${LODEPNG_SRCS})
+      target_compile_options(lodepng PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+      target_link_options(lodepng PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+      target_include_directories(lodepng PUBLIC ${lodepng_SOURCE_DIR})
+    endif()
+  else()
+    find_package(lodepng REQUIRED)
   endif()
 endif()
 
 if(NOT TARGET marchingcubecpp)
-  FetchContent_Declare(
+  fetchcontent_declare(
     marchingcubecpp
-    GIT_REPOSITORY https://github.com/aparis69/MarchingCubeCpp.git
-    GIT_TAG ${MUJOCO_DEP_VERSION_MarchingCubeCpp}
   )
 
-  FetchContent_GetProperties(marchingcubecpp)
+  fetchcontent_getproperties(marchingcubecpp)
   if(NOT marchingcubecpp_POPULATED)
-    FetchContent_Populate(marchingcubecpp)
+    fetchcontent_populate(marchingcubecpp)
     include_directories(${marchingcubecpp_SOURCE_DIR})
   endif()
 endif()
 
+option(MUJOCO_USE_SYSTEM_qhull "Use installed qhull version." OFF)
+mark_as_advanced(MUJOCO_USE_SYSTEM_qhull)
+
 set(QHULL_ENABLE_TESTING OFF)
 
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  ${MUJOCO_USE_SYSTEM_qhull}
   PACKAGE_NAME
-  qhull
+  Qhull
   LIBRARY_NAME
   qhull
-  GIT_REPO
-  https://github.com/qhull/qhull.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_qhull}
   TARGETS
   qhull
   EXCLUDE_FROM_ALL
 )
-# MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
-# Add it to the target.
-target_include_directories(
-  qhullstatic_r INTERFACE $<BUILD_INTERFACE:${qhull_SOURCE_DIR}/src/libqhull_r>
-)
-target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+
+if(NOT MUJOCO_USE_SYSTEM_qhull)
+  # MuJoCo includes a file from libqhull_r which is not exported by the qhull include directories.
+  # Add it to the target.
+  target_include_directories(
+    qhullstatic_r INTERFACE $<BUILD_INTERFACE:${qhull_SOURCE_DIR}/src/libqhull_r>
+  )
+  target_compile_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+  target_link_options(qhullstatic_r PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+else()
+  if(NOT TARGET qhullstatic_r)
+    add_library(qhullstatic_r INTERFACE)
+    set_target_properties(qhullstatic_r PROPERTIES INTERFACE_LINK_LIBRARIES Qhull::qhull_r)
+
+    # Workaround as headers are installed in <prefix>/include/libqhull_r/something.h
+    # but mujoco include them as #include <something.h>
+    get_property(qhull_include_dirs TARGET Qhull::qhull_r PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+    foreach(qhull_include_dir IN LISTS qhull_include_dirs)
+      target_include_directories(qhullstatic_r INTERFACE ${qhull_include_dirs}/libqhull_r)
+    endforeach()
+    target_include_directories(qhullstatic_r INTERFACE )
+  endif()
+endif()
+
+option(MUJOCO_USE_SYSTEM_tinyxml2 "Use installed tinyxml2 version." OFF)
+mark_as_advanced(MUJOCO_USE_SYSTEM_tinyxml2)
 
 set(tinyxml2_BUILD_TESTING OFF)
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  ${MUJOCO_USE_SYSTEM_tinyxml2}
   PACKAGE_NAME
   tinyxml2
   LIBRARY_NAME
   tinyxml2
-  GIT_REPO
-  https://github.com/leethomason/tinyxml2.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_tinyxml2}
   TARGETS
-  tinyxml2
+  tinyxml2::tinyxml2
   EXCLUDE_FROM_ALL
 )
-target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+
+if(NOT MUJOCO_USE_SYSTEM_tinyxml2)
+  target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+  target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+endif()
+
+option(MUJOCO_USE_SYSTEM_tinyobjloader "Use installed tinyobjloader version." OFF)
+mark_as_advanced(MUJOCO_USE_SYSTEM_tinyobjloader)
 
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  ${MUJOCO_USE_SYSTEM_tinyobjloader}
   PACKAGE_NAME
   tinyobjloader
   LIBRARY_NAME
   tinyobjloader
-  GIT_REPO
-  https://github.com/tinyobjloader/tinyobjloader.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_tinyobjloader}
   TARGETS
   tinyobjloader
   EXCLUDE_FROM_ALL
 )
 
+if(MUJOCO_USE_SYSTEM_tinyobjloader)
+  # As of tinyobjloader v2.0.0rc10, the tinyobjloader target is named tinyobjloader in the build,
+  # but tinyobjloader::tinyobjloader when it is installed. To deal with this, if tinyobjloader is
+  # found in the system, we create an ALIAS
+  # The following is equivalent to add_library(tinyobjloader ALIAS tinyobjloader::tinyobjloader),
+  # but compatible with CMake 3.16 . Once the minimum CMake is bumped to CMake 3.18, we can use
+  # the simpler version
+  add_library(tinyobjloader INTERFACE IMPORTED)
+  set_target_properties(tinyobjloader PROPERTIES INTERFACE_LINK_LIBRARIES tinyobjloader::tinyobjloader)
+endif()
+
+option(MUJOCO_USE_SYSTEM_sdflib "Use installed sdflib version." OFF)
+mark_as_advanced(MUJOCO_USE_SYSTEM_sdflib)
+
 option(SDFLIB_USE_ASSIMP OFF)
 option(SDFLIB_USE_OPENMP OFF)
 option(SDFLIB_USE_ENOKI OFF)
+
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  ${MUJOCO_USE_SYSTEM_sdflib}
   PACKAGE_NAME
-  sdflib
+  SdfLib
   LIBRARY_NAME
   sdflib
-  GIT_REPO
-  https://github.com/UPC-ViRVIG/SdfLib.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_sdflib}
   TARGETS
-  SdfLib
+  SdfLib::SdfLib
   EXCLUDE_FROM_ALL
 )
-target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+
+if(NOT MUJOCO_USE_SYSTEM_sdflib)
+  target_compile_options(SdfLib PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+  target_link_options(SdfLib PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+endif()
+
+option(MUJOCO_USE_SYSTEM_ccd "Use installed ccd version." OFF)
+mark_as_advanced(MUJOCO_USE_SYSTEM_ccd)
 
 set(ENABLE_DOUBLE_PRECISION ON)
 set(CCD_HIDE_ALL_SYMBOLS ON)
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  ${MUJOCO_USE_SYSTEM_ccd}
   PACKAGE_NAME
   ccd
   LIBRARY_NAME
   ccd
-  GIT_REPO
-  https://github.com/danfis/libccd.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_ccd}
   TARGETS
   ccd
   EXCLUDE_FROM_ALL
 )
-target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
-
-# libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
-# TODO(stunya): Remove this after https://github.com/danfis/libccd/pull/77 is merged.
-if(WIN32)
-  if(MSVC)
-    # C4005 is the MSVC equivalent of -Wmacro-redefined.
-    target_compile_options(ccd PRIVATE /wd4005)
-  else()
-    target_compile_options(ccd PRIVATE -Wno-macro-redefined)
+
+if(NOT MUJOCO_USE_SYSTEM_ccd)
+  target_compile_options(ccd PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
+  target_link_options(ccd PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
+  # This is necessary to ensure that the any library that consumes the ccd
+  # compiled internally by MuJoCo (as static library) has CCD_EXPORT correctly
+  # defined as an empty string. For ccd itself, this is ensured by the variable
+  # CCD_HIDE_ALL_SYMBOLS set to ON before the call to findorfetch
+  # See https://github.com/danfis/libccd/pull/79
+  target_compile_definitions(ccd INTERFACE CCD_STATIC_DEFINE)
+
+  # libCCD has an unconditional `#define _CRT_SECURE_NO_WARNINGS` on Windows.
+  # TODO(stunya): Remove this after https://github.com/danfis/libccd/pull/77 is merged.
+  if(WIN32)
+    if(MSVC)
+      # C4005 is the MSVC equivalent of -Wmacro-redefined.
+      target_compile_options(ccd PRIVATE /wd4005)
+    else()
+      target_compile_options(ccd PRIVATE -Wno-macro-redefined)
+    endif()
   endif()
 endif()
 
 if(MUJOCO_BUILD_TESTS)
+  option(MUJOCO_USE_SYSTEM_abseil "Use installed abseil version." OFF)
+  mark_as_advanced(MUJOCO_USE_SYSTEM_abseil)
+
   set(ABSL_PROPAGATE_CXX_STD ON)
 
   # This specific version of Abseil does not have the following variable. We need to work with BUILD_TESTING
@@ -249,15 +299,11 @@ if(MUJOCO_BUILD_TESTS)
   set(ABSL_BUILD_TESTING OFF)
   findorfetch(
     USE_SYSTEM_PACKAGE
-    OFF
+    ${MUJOCO_USE_SYSTEM_abseil}
     PACKAGE_NAME
     absl
     LIBRARY_NAME
     abseil-cpp
-    GIT_REPO
-    https://github.com/abseil/abseil-cpp.git
-    GIT_TAG
-    ${MUJOCO_DEP_VERSION_abseil}
     TARGETS
     absl::core_headers
     EXCLUDE_FROM_ALL
@@ -268,6 +314,9 @@ if(MUJOCO_BUILD_TESTS)
       CACHE BOOL "Build tests." FORCE
   )
 
+  option(MUJOCO_USE_SYSTEM_gtest "Use installed gtest version." OFF)
+  mark_as_advanced(MUJOCO_USE_SYSTEM_gtest)
+
   # Avoid linking errors on Windows by dynamically linking to the C runtime.
   set(gtest_force_shared_crt
       ON
@@ -276,22 +325,20 @@ if(MUJOCO_BUILD_TESTS)
 
   findorfetch(
     USE_SYSTEM_PACKAGE
-    OFF
+    ${MUJOCO_USE_SYSTEM_gtest}
     PACKAGE_NAME
     GTest
     LIBRARY_NAME
     googletest
-    GIT_REPO
-    https://github.com/google/googletest.git
-    GIT_TAG
-    ${MUJOCO_DEP_VERSION_gtest}
     TARGETS
-    gtest
-    gmock
-    gtest_main
+    GTest::gmock
+    GTest::gtest_main
     EXCLUDE_FROM_ALL
   )
 
+  option(MUJOCO_USE_SYSTEM_benchmark "Use installed benchmark version." OFF)
+  mark_as_advanced(MUJOCO_USE_SYSTEM_benchmark)
+
   set(BENCHMARK_EXTRA_FETCH_ARGS "")
   if(WIN32 AND NOT MSVC)
     set(BENCHMARK_EXTRA_FETCH_ARGS
@@ -310,15 +357,11 @@ if(MUJOCO_BUILD_TESTS)
 
   findorfetch(
     USE_SYSTEM_PACKAGE
-    OFF
+    ${MUJOCO_USE_SYSTEM_benchmark}
     PACKAGE_NAME
     benchmark
     LIBRARY_NAME
     benchmark
-    GIT_REPO
-    https://github.com/google/benchmark.git
-    GIT_TAG
-    ${MUJOCO_DEP_VERSION_benchmark}
     TARGETS
     benchmark::benchmark
     benchmark::benchmark_main
@@ -328,26 +371,42 @@ if(MUJOCO_BUILD_TESTS)
 endif()
 
 if(MUJOCO_TEST_PYTHON_UTIL)
+  option(MUJOCO_USE_SYSTEM_Eigen3 "Use installed Eigen3 version." OFF)
+  mark_as_advanced(MUJOCO_USE_SYSTEM_Eigen3)
+
   add_compile_definitions(EIGEN_MPL2_ONLY)
-  if(NOT TARGET eigen)
-    # Support new IN_LIST if() operator.
-    set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
+  if(NOT TARGET Eigen3::Eigen)
+    if(NOT MUJOCO_USE_SYSTEM_Eigen3)
+      # Support new IN_LIST if() operator.
+      set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
+    endif()
 
-    FetchContent_Declare(
+    fetchcontent_declare(
       Eigen3
-      GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
-      GIT_TAG ${MUJOCO_DEP_VERSION_Eigen3}
     )
 
-    FetchContent_GetProperties(Eigen3)
+    fetchcontent_getproperties(Eigen3)
     if(NOT Eigen3_POPULATED)
-      FetchContent_Populate(Eigen3)
+      fetchcontent_populate(Eigen3)
 
       # Mark the library as IMPORTED as a workaround for https://gitlab.kitware.com/cmake/cmake/-/issues/15415
       add_library(Eigen3::Eigen INTERFACE IMPORTED)
       set_target_properties(
         Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
       )
+
+      fetchcontent_getproperties(Eigen3)
+      # if(NOT Eigen3_POPULATED)
+      #   fetchcontent_populate(Eigen3)
+
+      #   # Mark the library as IMPORTED as a workaround for https://gitlab.kitware.com/cmake/cmake/-/issues/15415
+      #   add_library(Eigen3::Eigen INTERFACE IMPORTED)
+      #   set_target_properties(
+      #     Eigen3::Eigen PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${eigen3_SOURCE_DIR}"
+      #   )
+      # endif()
+    else()
+      find_package(Eigen3 REQUIRED)
     endif()
   endif()
 endif()
diff --git a/plugin/sdf/CMakeLists.txt b/plugin/sdf/CMakeLists.txt
index 3e216fc..e7e3a1e 100644
--- a/plugin/sdf/CMakeLists.txt
+++ b/plugin/sdf/CMakeLists.txt
@@ -37,7 +37,7 @@ set(MUJOCO_SDF_SRCS
 add_library(sdf SHARED)
 target_sources(sdf PRIVATE ${MUJOCO_SDF_SRCS})
 target_include_directories(sdf PRIVATE ${MUJOCO_SDF_INCLUDE})
-target_link_libraries(sdf PRIVATE mujoco SdfLib)
+target_link_libraries(sdf PRIVATE mujoco SdfLib::SdfLib)
 target_compile_options(
   sdf
   PRIVATE ${AVX_COMPILE_OPTIONS}
diff --git a/python/mujoco/util/CMakeLists.txt b/python/mujoco/util/CMakeLists.txt
index 666a372..d89bb49 100644
--- a/python/mujoco/util/CMakeLists.txt
+++ b/python/mujoco/util/CMakeLists.txt
@@ -63,8 +63,8 @@ if(BUILD_TESTING)
   target_link_libraries(
     array_traits_test
     array_traits
-    gmock
-    gtest_main
+    GTest::gmock
+    GTest::gtest_main
   )
   gtest_add_tests(TARGET array_traits_test SOURCES array_traits_test.cc)
 
@@ -72,8 +72,8 @@ if(BUILD_TESTING)
   target_link_libraries(
     func_traits_test
     func_traits
-    gmock
-    gtest_main
+    GTest::gmock
+    GTest::gtest_main
   )
   gtest_add_tests(TARGET func_traits_test SOURCES func_traits_test.cc)
 
@@ -81,8 +81,8 @@ if(BUILD_TESTING)
   target_link_libraries(
     func_wrap_test
     func_wrap
-    gmock
-    gtest_main
+    GTest::gmock
+    GTest::gtest_main
   )
   gtest_add_tests(TARGET func_wrap_test SOURCES func_wrap_test.cc)
 
@@ -90,8 +90,8 @@ if(BUILD_TESTING)
   target_link_libraries(
     tuple_tools_test
     func_wrap
-    gmock
-    gtest_main
+    GTest::gmock
+    GTest::gtest_main
   )
   gtest_add_tests(TARGET tuple_tools_test SOURCES tuple_tools_test.cc)
 endif()
diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
index 5141406..75ff788 100644
--- a/simulate/cmake/SimulateDependencies.cmake
+++ b/simulate/cmake/SimulateDependencies.cmake
@@ -81,10 +81,6 @@ findorfetch(
   glfw3
   LIBRARY_NAME
   glfw3
-  GIT_REPO
-  https://github.com/glfw/glfw.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_glfw3}
   TARGETS
   glfw
   EXCLUDE_FROM_ALL
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 6bec911..2a16c21 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -30,7 +30,7 @@ macro(mujoco_test name)
   )
 
   add_executable(${name} ${name}.cc)
-  target_link_libraries(${name} gtest_main mujoco)
+  target_link_libraries(${name} GTest::gtest_main mujoco)
   target_include_directories(${name} PRIVATE ${MUJOCO_TEST_INCLUDE})
   set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
   # gtest_discover_tests is recommended over gtest_add_tests, but has some issues in Windows.
@@ -59,20 +59,20 @@ target_link_libraries(
   PUBLIC absl::core_headers
          absl::strings
          absl::synchronization
-         gtest
-         gmock
+         GTest::gtest
+         GTest::gmock
          mujoco::mujoco
 )
 target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)
 
 mujoco_test(fixture_test)
-target_link_libraries(fixture_test fixture gmock)
+target_link_libraries(fixture_test fixture GTest::gmock)
 
 mujoco_test(header_test)
-target_link_libraries(header_test fixture gmock)
+target_link_libraries(header_test fixture GTest::gmock)
 
 mujoco_test(pipeline_test)
-target_link_libraries(pipeline_test fixture gmock)
+target_link_libraries(pipeline_test fixture GTest::gmock)
 
 add_subdirectory(benchmark)
 add_subdirectory(engine)