diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index d919b6e..68485aa 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -106,9 +106,9 @@ find_package(Git REQUIRED)
 
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  ON
   PACKAGE_NAME
-  qhull
+  Qhull
   LIBRARY_NAME
   qhull
   GIT_REPO
@@ -130,18 +130,22 @@ findorfetch(
   "true"
   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 TARGET qhullstatic_r)
+  add_library(qhullstatic_r INTERFACE)
+  target_link_libraries(qhullstatic_r INTERFACE 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()
 
 set(tinyxml2_BUILD_TESTING OFF)
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  ON
   PACKAGE_NAME
   tinyxml2
   LIBRARY_NAME
@@ -154,12 +158,10 @@ findorfetch(
   tinyxml2
   EXCLUDE_FROM_ALL
 )
-target_compile_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_COMPILE_OPTIONS})
-target_link_options(tinyxml2 PRIVATE ${MUJOCO_MACOS_LINK_OPTIONS})
 
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  ON
   PACKAGE_NAME
   tinyobjloader
   LIBRARY_NAME
@@ -177,7 +179,7 @@ set(ENABLE_DOUBLE_PRECISION ON)
 set(CCD_HIDE_ALL_SYMBOLS ON)
 findorfetch(
   USE_SYSTEM_PACKAGE
-  OFF
+  ON
   PACKAGE_NAME
   ccd
   LIBRARY_NAME
@@ -190,8 +192,6 @@ findorfetch(
   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.
@@ -217,7 +217,7 @@ if(MUJOCO_BUILD_TESTS)
   set(ABSL_BUILD_TESTING OFF)
   findorfetch(
     USE_SYSTEM_PACKAGE
-    OFF
+    ON
     PACKAGE_NAME
     absl
     LIBRARY_NAME
@@ -244,7 +244,7 @@ if(MUJOCO_BUILD_TESTS)
 
   findorfetch(
     USE_SYSTEM_PACKAGE
-    OFF
+    ON
     PACKAGE_NAME
     GTest
     LIBRARY_NAME
@@ -278,7 +278,7 @@ if(MUJOCO_BUILD_TESTS)
 
   findorfetch(
     USE_SYSTEM_PACKAGE
-    OFF
+    ON
     PACKAGE_NAME
     benchmark
     LIBRARY_NAME
@@ -297,6 +297,9 @@ endif()
 
 if(MUJOCO_TEST_PYTHON_UTIL)
   add_compile_definitions(EIGEN_MPL2_ONLY)
+  find_package(Eigen3 REQUIRED)
+  # Doing that so the next if is not triggered
+  add_library(eigen ALIAS Eigen3::Eigen)
   if(NOT TARGET eigen)
     # Support new IN_LIST if() operator.
     set(CMAKE_POLICY_DEFAULT_CMP0057 NEW)
diff --git a/sample/cmake/SampleDependencies.cmake b/sample/cmake/SampleDependencies.cmake
index 3534929..6732055 100644
--- a/sample/cmake/SampleDependencies.cmake
+++ b/sample/cmake/SampleDependencies.cmake
@@ -26,8 +26,8 @@ option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version."
 )
 unset(DEFAULT_USE_SYSTEM_MUJOCO)
 
-option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." OFF)
-option(MUJOCO_SAMPLES_USE_SYSTEM_GLFW "Use installed GLFW version." OFF)
+option(MUJOCO_SAMPLES_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." ON)
+option(MUJOCO_SAMPLES_USE_SYSTEM_GLFW "Use installed GLFW version." ON)
 
 set(MUJOCO_DEP_VERSION_glfw
     7d5a16ce714f0b5f4efa3262de22e4d948851525 # 3.3.6
@@ -59,7 +59,7 @@ findorfetch(
 )
 
 option(MUJOCO_EXTRAS_STATIC_GLFW
-       "Link MuJoCo sample apps and simulate libraries against GLFW statically." ON
+       "Link MuJoCo sample apps and simulate libraries against GLFW statically." OFF
 )
 if(MUJOCO_EXTRAS_STATIC_GLFW)
   set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})
diff --git a/simulate/cmake/SimulateDependencies.cmake b/simulate/cmake/SimulateDependencies.cmake
index 9fba6a2..6404d29 100644
--- a/simulate/cmake/SimulateDependencies.cmake
+++ b/simulate/cmake/SimulateDependencies.cmake
@@ -26,8 +26,8 @@ option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version."
 )
 unset(DEFAULT_USE_SYSTEM_MUJOCO)
 
-option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." OFF)
-option(MUJOCO_SIMULATE_USE_SYSTEM_GLFW "Use installed GLFW version." OFF)
+option(MUJOCO_SIMULATE_USE_SYSTEM_MUJOCO "Use installed MuJoCo version." ON)
+option(MUJOCO_SIMULATE_USE_SYSTEM_GLFW "Use installed GLFW version." ON)
 
 set(MUJOCO_DEP_VERSION_glfw
     7d5a16ce714f0b5f4efa3262de22e4d948851525 # 3.3.6
@@ -59,7 +59,7 @@ findorfetch(
 )
 
 option(MUJOCO_EXTRAS_STATIC_GLFW
-       "Link MuJoCo sample apps and simulate libraries against GLFW statically." ON
+       "Link MuJoCo sample apps and simulate libraries against GLFW statically." OFF
 )
 if(MUJOCO_EXTRAS_STATIC_GLFW)
   set(BUILD_SHARED_LIBS_OLD ${BUILD_SHARED_LIBS})