diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6c1747f3..ab69cf5e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -158,7 +158,7 @@ target_link_libraries(
           lodepng
           qhullstatic_r
           tinyobjloader
-          tinyxml2
+          tinyxml2::tinyxml2
 )
 
 set_target_properties(
diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index d2404bc1..5c7ddaf6 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -87,8 +87,6 @@ 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)
@@ -111,8 +109,6 @@ 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)
@@ -132,13 +128,9 @@ 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
@@ -160,12 +152,8 @@ 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})
@@ -183,10 +171,6 @@ findorfetch(
   tinyobjloader
   LIBRARY_NAME
   tinyobjloader
-  GIT_REPO
-  https://github.com/tinyobjloader/tinyobjloader.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_tinyobjloader}
   TARGETS
   tinyobjloader
   EXCLUDE_FROM_ALL
@@ -216,10 +200,6 @@ findorfetch(
   ccd
   LIBRARY_NAME
   ccd
-  GIT_REPO
-  https://github.com/danfis/libccd.git
-  GIT_TAG
-  ${MUJOCO_DEP_VERSION_ccd}
   TARGETS
   ccd
   EXCLUDE_FROM_ALL
@@ -256,8 +256,6 @@ set(BUILD_TESTS OFF)
 set(BUILD_TESTS OFF)
 fetchpackage(
   PACKAGE_NAME  miniz
-  GIT_REPO      https://github.com/richgel999/miniz.git
-  GIT_TAG       ${MUJOCO_DEP_VERSION_miniz}
   TARGETS       miniz
 )
 if(_BUILD_TESTS_WAS_DEFINED)
@@ -261,10 +241,6 @@ if(MUJOCO_BUILD_TESTS OR MUJOCO_BUILD_STUDIO OR MUJOCO_USE_FILAMENT)
     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
@@ -291,14 +267,9 @@ 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
   )
 
@@ -323,10 +294,6 @@ 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
@@ -337,14 +304,12 @@ 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..8f4ce043 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)
 
diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
index 7885f5f9..97b8b783 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 f459a6ca..6830509d 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -82,8 +82,8 @@ target_link_libraries(
          absl::synchronization
          absl::flat_hash_map
          absl::flat_hash_set
-         gtest
-         gmock
+         GTest::gmock
+         GTest::gtest_main
          mujoco::mujoco
 )
 target_include_directories(fixture PRIVATE ${mujoco_SOURCE_DIR}/include gmock)