diff --git a/cmake/MujocoOptions.cmake b/cmake/MujocoOptions.cmake
index 952163a1..74bf25bb 100644
--- a/cmake/MujocoOptions.cmake
+++ b/cmake/MujocoOptions.cmake
@@ -108,13 +108,16 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
-# Enable interprocedural optimization (LTO) by default for non-Debug builds, but
-# only when the caller has not made an explicit choice. Checking the value (rather
-# than whether it is DEFINED) meant an explicit `-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF`
-# was silently overridden back to ON, e.g. in CI where LTO is disabled to cut
-# build time.
-if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
-  set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
+# Provide a user-facing option to control Link-Time Optimization (LTO/IPO).
+# When ON (the default), LTO is enabled for non-Debug builds unless the caller
+# has already set CMAKE_INTERPROCEDURAL_OPTIMIZATION explicitly.
+# Users can disable LTO entirely with -DMUJOCO_ENABLE_LTO=OFF.
+option(MUJOCO_ENABLE_LTO "Enable Link-Time Optimization (LTO) for non-Debug builds." ON)
+
+if(MUJOCO_ENABLE_LTO)
+  if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
+    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
+  endif()
 endif()
 
 include(MujocoHarden)
diff --git a/sample/cmake/SampleOptions.cmake b/sample/cmake/SampleOptions.cmake
index 952163a1..74bf25bb 100644
--- a/sample/cmake/SampleOptions.cmake
+++ b/sample/cmake/SampleOptions.cmake
@@ -108,13 +108,16 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
-# Enable interprocedural optimization (LTO) by default for non-Debug builds, but
-# only when the caller has not made an explicit choice. Checking the value (rather
-# than whether it is DEFINED) meant an explicit `-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF`
-# was silently overridden back to ON, e.g. in CI where LTO is disabled to cut
-# build time.
-if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
-  set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
+# Provide a user-facing option to control Link-Time Optimization (LTO/IPO).
+# When ON (the default), LTO is enabled for non-Debug builds unless the caller
+# has already set CMAKE_INTERPROCEDURAL_OPTIMIZATION explicitly.
+# Users can disable LTO entirely with -DMUJOCO_ENABLE_LTO=OFF.
+option(MUJOCO_ENABLE_LTO "Enable Link-Time Optimization (LTO) for non-Debug builds." ON)
+
+if(MUJOCO_ENABLE_LTO)
+  if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
+    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
+  endif()
 endif()
 
 include(MujocoHarden)
diff --git a/simulate/cmake/SimulateOptions.cmake b/simulate/cmake/SimulateOptions.cmake
index 952163a1..74bf25bb 100644
--- a/simulate/cmake/SimulateOptions.cmake
+++ b/simulate/cmake/SimulateOptions.cmake
@@ -108,13 +108,16 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang
   endif()
 endif()
 
-# Enable interprocedural optimization (LTO) by default for non-Debug builds, but
-# only when the caller has not made an explicit choice. Checking the value (rather
-# than whether it is DEFINED) meant an explicit `-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF`
-# was silently overridden back to ON, e.g. in CI where LTO is disabled to cut
-# build time.
-if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
-  set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
+# Provide a user-facing option to control Link-Time Optimization (LTO/IPO).
+# When ON (the default), LTO is enabled for non-Debug builds unless the caller
+# has already set CMAKE_INTERPROCEDURAL_OPTIMIZATION explicitly.
+# Users can disable LTO entirely with -DMUJOCO_ENABLE_LTO=OFF.
+option(MUJOCO_ENABLE_LTO "Enable Link-Time Optimization (LTO) for non-Debug builds." ON)
+
+if(MUJOCO_ENABLE_LTO)
+  if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION AND (CMAKE_BUILD_TYPE AND NOT CMAKE_BUILD_TYPE STREQUAL "Debug"))
+    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION ON)
+  endif()
 endif()
 
 include(MujocoHarden)
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 9d136432..13ba059c 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -56,7 +56,7 @@ macro(mujoco_test name)
   set_target_properties(${name} PROPERTIES BUILD_RPATH ${CMAKE_LIBRARY_OUTPUT_DIRECTORY})
   # gtest_discover_tests is recommended over gtest_add_tests, but has issues on Windows.
   # It also requires a GoogleTest binary, so we fall back for custom MAIN_TARGET (e.g. benchmarks).
-  if(WIN32 OR _ARGS_MAIN_TARGET)
+  if(WIN32 OR APPLE OR _ARGS_MAIN_TARGET)
     gtest_add_tests(
       TARGET ${name}
       SOURCES ${name}.cc