diff --git a/cmake/MujocoOptions.cmake b/cmake/MujocoOptions.cmake
index 05658b74..de146d89 100644
--- a/cmake/MujocoOptions.cmake
+++ b/cmake/MujocoOptions.cmake
@@ -92,7 +92,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
       -Wimplicit-fallthrough
       -Wunused
       -Wvla
-      -Wno-extra-semi
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
diff --git a/sample/cmake/SampleOptions.cmake b/sample/cmake/SampleOptions.cmake
index 05658b74..de146d89 100644
--- a/sample/cmake/SampleOptions.cmake
+++ b/sample/cmake/SampleOptions.cmake
@@ -92,7 +92,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
       -Wimplicit-fallthrough
       -Wunused
       -Wvla
-      -Wno-extra-semi
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
diff --git a/simulate/cmake/SimulateOptions.cmake b/simulate/cmake/SimulateOptions.cmake
index 05658b74..de146d89 100644
--- a/simulate/cmake/SimulateOptions.cmake
+++ b/simulate/cmake/SimulateOptions.cmake
@@ -92,7 +92,6 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
       -Wimplicit-fallthrough
       -Wunused
       -Wvla
-      -Wno-extra-semi
       -Wno-int-in-bool-context
       -Wno-sign-compare
       -Wno-unknown-pragmas
diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
index ab324e6e..c6f202ea 100644
--- a/src/engine/engine_collision_driver.c
+++ b/src/engine/engine_collision_driver.c
@@ -1012,7 +1012,7 @@ static inline int SAPcmp(mjtSAP* obj1, mjtSAP* obj2, void* context) {
 }
 
 // define SAPsort function for sorting SAP sorting
-mjSORT(SAPsort, mjtSAP, SAPcmp)
+mjSORT(SAPsort, mjtSAP, SAPcmp);
 
 
 // given list of axis-aligned bounding boxes in AAMM (xmin[3], xmax[3]) format,
diff --git a/src/engine/engine_sensor.c b/src/engine/engine_sensor.c
index f8fba7ea..8c78a525 100644
--- a/src/engine/engine_sensor.c
+++ b/src/engine/engine_sensor.c
@@ -56,7 +56,7 @@ static int ContactInfoCompare(const ContactInfo* a, const ContactInfo* b, void*
 
   return 0;
 }
-mjPARTIAL_SORT(ContactSelect, ContactInfo, ContactInfoCompare)
+mjPARTIAL_SORT(ContactSelect, ContactInfo, ContactInfoCompare);
 
 
 // apply cutoff after each stage
diff --git a/src/engine/engine_sort.h b/src/engine/engine_sort.h
index a5ac28f3..7ede45ee 100644
--- a/src/engine/engine_sort.h
+++ b/src/engine/engine_sort.h
@@ -70,7 +70,7 @@
       tmp = src; src = dest; dest = tmp;                                                           \
     }                                                                                              \
     if (src != arr) memcpy(arr, src, n * sizeof(type));                                            \
-  }
+  } static inline void name(type* arr, type* buf, int n, void* context)
 
 
 // sub-macro that sifts down a node in a max heap to its correct position
@@ -106,6 +106,6 @@
     /* copy back and sort the result */                                                            \
     for (int j = 0; j < k; j++) arr[j] = buf[j];                                                   \
     _mjINSERTION_SORT(type, arr, 0, k, cmp, context);                                              \
-  }
+  } static inline void name(type* arr, type* buf, int n, int k, void* context)
 
 #endif  // MUJOCO_SRC_ENGINE_ENGINE_SORT_H_
diff --git a/src/render/render_gl3.c b/src/render/render_gl3.c
index 5b4be041..133e5d6a 100644
--- a/src/render/render_gl3.c
+++ b/src/render/render_gl3.c
@@ -789,7 +789,7 @@ static inline int geomcmp(int* i, int* j, void* context) {
 }
 
 // define geomSort function for sorting geoms
-mjSORT(geomSort, int, geomcmp)
+mjSORT(geomSort, int, geomcmp);
 
 
 
diff --git a/test/benchmark/sort_benchmark_test.cc b/test/benchmark/sort_benchmark_test.cc
index a1f65d7c..16bc836c 100644
--- a/test/benchmark/sort_benchmark_test.cc
+++ b/test/benchmark/sort_benchmark_test.cc
@@ -43,7 +43,7 @@ int CompareSortable(const Sortable* a, const Sortable* b, void* context) {
 }
 
 // Instantiate the sort function.
-mjSORT(SortSortable, Sortable, CompareSortable)
+mjSORT(SortSortable, Sortable, CompareSortable);
 
 // Generate data for sorting benchmarks.
 std::vector<Sortable> GenerateData(int n, double unsorted_fraction) {
diff --git a/test/engine/engine_sort_test.cc b/test/engine/engine_sort_test.cc
index 23410a21..3ed9c5fc 100644
--- a/test/engine/engine_sort_test.cc
+++ b/test/engine/engine_sort_test.cc
@@ -77,8 +77,8 @@ int IntCompare(int* i, int* j, void* context) {
     return 1;
   }
 }
-mjSORT(IntSort, int, IntCompare)
-mjPARTIAL_SORT(IntSelect, int, IntCompare)
+mjSORT(IntSort, int, IntCompare);
+mjPARTIAL_SORT(IntSelect, int, IntCompare);
 
 int IntStructCompare(const IntStruct* x, const IntStruct* y, void* context) {
   IntStruct* a = (IntStruct*)x;
@@ -91,8 +91,8 @@ int IntStructCompare(const IntStruct* x, const IntStruct* y, void* context) {
     return 1;
   }
 }
-mjSORT(IntStructSort, IntStruct, IntStructCompare)
-mjPARTIAL_SORT(IntStructSelect, IntStruct, IntStructCompare)
+mjSORT(IntStructSort, IntStruct, IntStructCompare);
+mjPARTIAL_SORT(IntStructSelect, IntStruct, IntStructCompare);
 
 TEST_F(EngineSortTest, Sort) {
   int total = 0;