diff --git a/.github/workflows/build_matrix.json b/.github/workflows/build_matrix.json
index 0d5d2635..33a440fd 100644
--- a/.github/workflows/build_matrix.json
+++ b/.github/workflows/build_matrix.json
@@ -22,6 +22,20 @@
       "tmpdir": "/tmp",
       "tier": "core"
     },
+    {
+      "os": "ubuntu-24.04",
+      "label": "ubuntu-24.04-clang-20",
+      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-20 -DCMAKE_CXX_COMPILER:STRING=clang++-20 -DMUJOCO_HARDEN:BOOL=ON",
+      "tmpdir": "/tmp",
+      "tier": "core"
+    },
+    {
+      "os": "ubuntu-24.04",
+      "label": "ubuntu-24.04-clang-19",
+      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-19 -DCMAKE_CXX_COMPILER:STRING=clang++-19 -DMUJOCO_HARDEN:BOOL=ON",
+      "tmpdir": "/tmp",
+      "tier": "core"
+    },
     {
       "os": "ubuntu-24.04",
       "label": "ubuntu-24.04-clang-18",
@@ -50,20 +64,6 @@
       "tmpdir": "/tmp",
       "tier": "extended"
     },
-    {
-      "os": "ubuntu-22.04",
-      "label": "ubuntu-22.04-clang-14",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-14 -DCMAKE_CXX_COMPILER:STRING=clang++-14 -DMUJOCO_HARDEN:BOOL=ON",
-      "tmpdir": "/tmp",
-      "tier": "extended"
-    },
-    {
-      "os": "ubuntu-22.04",
-      "label": "ubuntu-22.04-clang-13",
-      "cmake_args": "-G Ninja -DCMAKE_C_COMPILER:STRING=clang-13 -DCMAKE_CXX_COMPILER:STRING=clang++-13 -DCMAKE_EXE_LINKER_FLAGS:STRING=-rtlib=compiler-rt -DCMAKE_SHARED_LINKER_FLAGS:STRING=-rtlib=compiler-rt -DMUJOCO_HARDEN:BOOL=ON",
-      "tmpdir": "/tmp",
-      "tier": "core"
-    },
     {
       "os": "macos-15",
       "label": "macos-15-arm64",