diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
index 8ea6d0b..5069540 100644
--- a/.github/ci/packages.apt
+++ b/.github/ci/packages.apt
@@ -2,19 +2,14 @@ binutils-dev
 libgflags-dev
 libgz-cmake3-dev
 libgz-common5-dev
-libgz-fuel-tools9-dev
 libgz-sim8-dev
 libgz-gui8-dev
 libgz-math7-dev
 libgz-math7-eigen3-dev
 libgz-msgs10-dev
-libgz-physics7-dev
 libgz-plugin2-dev
-libgz-rendering8-dev
-libgz-sensors8-dev
 libgz-tools2-dev
 libgz-transport13-dev
-libsdformat14-dev
 libtinyxml2-dev
 libwebsockets-dev
 libxi-dev
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a6e0a3b..5e1ca9b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -133,10 +133,8 @@ gz_create_docs(
   TAGFILES
    "${GZ-MATH_DOXYGEN_TAGFILE} = ${GZ-MATH_API_URL}"
    "${GZ-MSGS_DOXYGEN_TAGFILE} = ${GZ-MSGS_API_URL}"
-   "${GZ-PHYSICS_DOXYGEN_TAGFILE} = ${GZ-PHYSICS_API_URL}"
    "${GZ-PLUGIN_DOXYGEN_TAGFILE} = ${GZ-PLUGIN_API_URL}"
    "${GZ-TRANSPORT_DOXYGEN_TAGFILE} = ${GZ-TRANSPORT_API_URL}"
-   "${GZ-SENSORS_DOXYGEN_TAGFILE} = ${GZ-SENSORS_API_URL}"
    "${GZ-COMMON_DOXYGEN_TAGFILE} = ${GZ-COMMON_API_URL}"
    "${GZ-SIM_DOXYGEN_TAGFILE} = ${GZ-SIM_API_URL}"
    "${GZ-GUI_DOXYGEN_TAGFILE} = ${GZ-GUI_API_URL}"
diff --git a/package.xml b/package.xml
index bb45074..f44b42b 100644
--- a/package.xml
+++ b/package.xml
@@ -13,14 +13,10 @@
   <depend>binutils</depend>
   <depend>gz-cmake3</depend>
   <depend>gz-common5</depend>
-  <depend>gz-fuel-tools9</depend>
   <depend>gz-gui8</depend>
   <depend>gz-math7</depend>
   <depend>gz-msgs10</depend>
-  <depend>gz-physics7</depend>
   <depend>gz-plugin2</depend>
-  <depend>gz-rendering8</depend>
-  <depend>gz-sensors8</depend>
   <depend>gz-sim8</depend>
   <depend>gz-tools2</depend>
   <depend>gz-transport13</depend>
@@ -29,7 +25,6 @@
   <depend>libxi-dev</depend>
   <depend>libxmu-dev</depend>
   <depend>libyaml-dev</depend>
-  <depend>sdformat14</depend>
   <depend>tinyxml2</depend>
   <depend>uuid</depend>