diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1780f874..3ac02be6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -140,7 +140,7 @@ target_link_libraries(
           lodepng
           qhullstatic_r
           tinyobjloader
-          tinyxml2
+          tinyxml2::tinyxml2
 )
 
 set_target_properties(
diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index 5cdc33cb..a4c9f61f 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -93,8 +93,6 @@ set(BUILD_SHARED_LIBS
 if(NOT TARGET lodepng)
   FetchContent_Declare(
     lodepng
-    GIT_REPOSITORY https://github.com/lvandeve/lodepng.git
-    GIT_TAG ${MUJOCO_DEP_VERSION_lodepng}
   )
 
   FetchContent_GetProperties(lodepng)
@@ -113,8 +111,6 @@ endif()
 if(NOT TARGET marchingcubecpp)
   FetchContent_Declare(
     marchingcubecpp
-    GIT_REPOSITORY https://github.com/aparis69/MarchingCubeCpp.git
-    GIT_TAG ${MUJOCO_DEP_VERSION_MarchingCubeCpp}
   )
 
   FetchContent_GetProperties(marchingcubecpp)
@@ -130,13 +126,9 @@ findorfetch(
   USE_SYSTEM_PACKAGE
   OFF
   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
@@ -157,12 +149,8 @@ findorfetch(
   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})
@@ -175,10 +163,6 @@ findorfetch(
   tinyobjloader
   LIBRARY_NAME
   tinyobjloader
-  GIT_REPO
-  https://github.com/tinyobjloader/tinyobjloader.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_tinyobjloader}
   TARGETS
   tinyobjloader
   EXCLUDE_FROM_ALL
@@ -187,8 +171,6 @@ findorfetch(
 if(NOT TARGET trianglemeshdistance)
   FetchContent_Declare(
     trianglemeshdistance
-    GIT_REPOSITORY https://github.com/InteractiveComputerGraphics/TriangleMeshDistance.git
-    GIT_TAG ${MUJOCO_DEP_VERSION_TriangleMeshDistance}
   )
 
   FetchContent_GetProperties(trianglemeshdistance)
@@ -207,10 +189,6 @@ findorfetch(
   ccd
   LIBRARY_NAME
   ccd
-  GIT_REPO
-  https://github.com/danfis/libccd.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_ccd}
   TARGETS
   ccd
   EXCLUDE_FROM_ALL
@@ -247,10 +225,6 @@ if(MUJOCO_BUILD_TESTS)
     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
@@ -274,14 +248,9 @@ if(MUJOCO_BUILD_TESTS)
     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
   )
 
@@ -308,10 +277,6 @@ if(MUJOCO_BUILD_TESTS)
     benchmark
     LIBRARY_NAME
     benchmark
-    GIT_REPO
-    https://github.com/google/benchmark.git
-    GIT_TAG
-    ${MUJOCO_DEP_VERSION_benchmark}
     TARGETS
     benchmark::benchmark
     benchmark::benchmark_main
@@ -322,14 +287,12 @@ endif()
 
 if(MUJOCO_TEST_PYTHON_UTIL)
   add_compile_definitions(EIGEN_MPL2_ONLY)
-  if(NOT TARGET eigen)
+  if(NOT TARGET Eigen3::Eigen)
     # Support new IN_LIST if() operator.
     set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
 
     FetchContent_Declare(
       Eigen3
-      GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
-      GIT_TAG ${MUJOCO_DEP_VERSION_Eigen3}
     )
 
     FetchContent_GetProperties(Eigen3)
diff --git a/python/mujoco/util/CMakeLists.txt b/python/mujoco/util/CMakeLists.txt
index 666a3725..d89bb499 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 5141406c..75ff7884 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 a286a1c6..982f2e68 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -81,8 +81,8 @@ target_link_libraries(
          absl::synchronization
          absl::flat_hash_map
          absl::flat_hash_set
-         gtest
-         gmock
+         GTest::gtest
+         GTest::gmock
          mujoco::mujoco
 )
 target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)