diff --git a/test/engine/engine_core_smooth_test.cc b/test/engine/engine_core_smooth_test.cc
index 451724c8..814cc205 100644
--- a/test/engine/engine_core_smooth_test.cc
+++ b/test/engine/engine_core_smooth_test.cc
@@ -14,7 +14,6 @@
 
 // Tests for engine/engine_core_smooth.c.
 
-#include <cstddef>
 #include <string>
 
 #include <gmock/gmock.h>
diff --git a/test/engine/engine_plugin_test.cc b/test/engine/engine_plugin_test.cc
index 3d7e6960..73f17247 100644
--- a/test/engine/engine_plugin_test.cc
+++ b/test/engine/engine_plugin_test.cc
@@ -17,9 +17,7 @@
 
 #include "src/engine/engine_plugin.h"
 
-#include <array>
 #include <cstdint>
-#include <cstring>
 #include <sstream>
 #include <vector>
 
diff --git a/test/engine/engine_ray_test.cc b/test/engine/engine_ray_test.cc
index 794b7b15..eb41e18b 100644
--- a/test/engine/engine_ray_test.cc
+++ b/test/engine/engine_ray_test.cc
@@ -14,11 +14,6 @@
 
 // Tests for ray casting.
 
-#include <array>
-#include <cstddef>
-#include <cstring>
-#include <string>
-
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
 #include <mujoco/mjdata.h>
diff --git a/test/engine/engine_sensor_test.cc b/test/engine/engine_sensor_test.cc
index 66a0e58b..d34b852f 100644
--- a/test/engine/engine_sensor_test.cc
+++ b/test/engine/engine_sensor_test.cc
@@ -14,11 +14,6 @@
 
 // Tests for engine/engine_sensor.c.
 
-#include <array>
-#include <cstddef>
-#include <cstdio>
-#include <string>
-
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
 #include <mujoco/mjmodel.h>
diff --git a/test/engine/engine_util_errmem_test.cc b/test/engine/engine_util_errmem_test.cc
index 670168ee..4e9dd62f 100644
--- a/test/engine/engine_util_errmem_test.cc
+++ b/test/engine/engine_util_errmem_test.cc
@@ -17,7 +17,6 @@
 #include <cstring>
 #include <string>
 
-#include <gmock/gmock.h>
 #include <gtest/gtest.h>
 #include "src/engine/engine_util_errmem.h"
 
diff --git a/test/engine/engine_util_misc_test.cc b/test/engine/engine_util_misc_test.cc
index eb26e6ac..1da0b4d7 100644
--- a/test/engine/engine_util_misc_test.cc
+++ b/test/engine/engine_util_misc_test.cc
@@ -26,13 +26,20 @@ namespace {
 using ::testing::HasSubstr;
 
 TEST_F(MujocoTest, PrintsMemoryWarning) {
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 10)), HasSubstr("1K bytes"));
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 20)), HasSubstr("1M bytes"));
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30)), HasSubstr("1G bytes"));
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 40)), HasSubstr("1T bytes"));
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 50)), HasSubstr("1P bytes"));
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 60)), HasSubstr("1E bytes"));
-  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30)+1), HasSubstr("1073741825 bytes"));
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 10)),
+              HasSubstr("1K bytes"));
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 20)),
+              HasSubstr("1M bytes"));
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30)),
+              HasSubstr("1G bytes"));
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 40)),
+              HasSubstr("1T bytes"));
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 50)),
+              HasSubstr("1P bytes"));
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 60)),
+              HasSubstr("1E bytes"));
+  EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30) + 1),
+              HasSubstr("1073741825 bytes"));
 }
 
 }  // namespace
diff --git a/test/engine/engine_vfs_test.cc b/test/engine/engine_vfs_test.cc
index a3b17327..297cce09 100644
--- a/test/engine/engine_vfs_test.cc
+++ b/test/engine/engine_vfs_test.cc
@@ -12,7 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <cstddef>
 #include <string>
 
 #include <gmock/gmock.h>
diff --git a/test/xml/xml_native_reader_test.cc b/test/xml/xml_native_reader_test.cc
index e4a9397c..d8228ca0 100644
--- a/test/xml/xml_native_reader_test.cc
+++ b/test/xml/xml_native_reader_test.cc
@@ -15,7 +15,6 @@
 // Tests for xml/xml_native_reader.cc.
 
 #include <array>
-#include <cstddef>
 #include <limits>
 #include <string>
 
diff --git a/test/xml/xml_native_writer_test.cc b/test/xml/xml_native_writer_test.cc
index 7de399f0..6c9d6470 100644
--- a/test/xml/xml_native_writer_test.cc
+++ b/test/xml/xml_native_writer_test.cc
@@ -18,22 +18,15 @@
 #include <unistd.h>
 #endif
 
-#include <algorithm>
 #include <array>
 #include <clocale>
-#include <cstddef>
 #include <cstdio>
-#include <cstdlib>
-#include <cstring>
 #include <filesystem>
-#include <memory>
-#include <sstream>
 #include <string>
 #include <vector>
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include <absl/container/flat_hash_set.h>
 #include <absl/strings/match.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjtnum.h>