diff --git a/include/gz/sim/InstallationDirectories.hh b/include/gz/sim/InstallationDirectories.hh
new file mode 100644
index 0000000000..08e3b2b29e
--- /dev/null
+++ b/include/gz/sim/InstallationDirectories.hh
@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef GZ_SIM_INSTALLATION_DIRECTORIES_HH_
+#define GZ_SIM_INSTALLATION_DIRECTORIES_HH_
+
+#include <string>
+
+#include <gz/sim/config.hh>
+#include <gz/sim/Export.hh>
+
+namespace gz
+{
+  namespace sim
+  {
+    inline namespace GZ_SIM_VERSION_NAMESPACE {
+
+    /// \brief getInstallPrefix return the install prefix of the library
+    /// i.e. CMAKE_INSTALL_PREFIX unless the library has been moved
+    GZ_SIM_VISIBLE std::string getInstallPrefix();
+
+    /// \brief getGUIConfigPath return the GUI config path
+    GZ_SIM_VISIBLE std::string getGUIConfigPath();
+
+    /// \brief getSystemConfigPath return the system config path
+    GZ_SIM_VISIBLE std::string getSystemConfigPath();
+
+    /// \brief getServerConfigPath return the server config path
+    GZ_SIM_VISIBLE std::string getServerConfigPath();
+
+    /// \brief getPluginInstallDir return the plugin install dir
+    GZ_SIM_VISIBLE std::string getPluginInstallDir();
+
+    /// \brief getGUIPluginInstallDir return the GUI plugin install dir
+    GZ_SIM_VISIBLE std::string getGUIPluginInstallDir();
+
+    /// \brief getWorldInstallDir return the world install dir
+    GZ_SIM_VISIBLE std::string getWorldInstallDir();
+    }
+  }
+}
+
+#endif
diff --git a/include/gz/sim/config.hh.in b/include/gz/sim/config.hh.in
index 894bd0d754..a13b62aa1e 100644
--- a/include/gz/sim/config.hh.in
+++ b/include/gz/sim/config.hh.in
@@ -33,12 +33,12 @@
 
 #define GZ_SIM_VERSION_HEADER "Gazebo Sim, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2018 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
 
-#define GZ_SIM_GUI_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/gui"
-#define GZ_SIM_SYSTEM_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/systems"
-#define GZ_SIM_SERVER_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}"
-#define GZ_SIM_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
-#define GZ_SIM_GUI_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
-#define GZ_SIM_WORLD_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/worlds"
+#define GZ_SIM_GUI_CONFIG_PATH _Pragma ("GCC warning \"'GZ_SIM_GUI_CONFIG_PATH' macro is deprecated, use gz::sim::getGUIConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/gui"
+#define GZ_SIM_SYSTEM_CONFIG_PATH _Pragma ("GCC warning \"'GZ_SIM_SYSTEM_CONFIG_PATH' macro is deprecated, use gz::sim::getSystemConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/systems"
+#define GZ_SIM_SERVER_CONFIG_PATH _Pragma ("GCC warning \"'GZ_SIM_SERVER_CONFIG_PATH' macro is deprecated, use gz::sim::getServerConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}"
+#define GZ_SIM_PLUGIN_INSTALL_DIR _Pragma ("GCC warning \"'GZ_SIM_PLUGIN_INSTALL_DIR' macro is deprecated, use gz::sim::getPluginInstallDir() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
+#define GZ_SIM_GUI_PLUGIN_INSTALL_DIR _Pragma ("GCC warning \"'GZ_SIM_GUI_PLUGIN_INSTALL_DIR' macro is deprecated, use gz::sim::getGUIPluginInstallDir() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
+#define GZ_SIM_WORLD_INSTALL_DIR _Pragma ("GCC warning \"'GZ_SIM_WORLD_INSTALL_DIR' macro is deprecated, use gz::sim::getWorldInstallDir() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/worlds"
 #define GZ_DISTRIBUTION "${GZ_DISTRIBUTION}"
 
 #endif
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 7f35532ce1..fe188f1c48 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -54,6 +54,7 @@ set (sources
   ComponentFactory.cc
   EntityComponentManager.cc
   EntityComponentManagerDiff.cc
+  InstallationDirectories.cc
   Joint.cc
   LevelManager.cc
   Light.cc
@@ -168,6 +169,21 @@ target_link_libraries(${gz_lib_target}
 
 # Create the library target
 gz_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
+gz_add_get_install_prefix_impl(GET_INSTALL_PREFIX_FUNCTION gz::sim::getInstallPrefix
+                               GET_INSTALL_PREFIX_HEADER gz/sim/InstallationDirectories.hh
+                               OVERRIDE_INSTALL_PREFIX_ENV_VARIABLE GZ_SIM_INSTALL_PREFIX)
+
+set_property(
+  SOURCE InstallationDirectories.cc
+  PROPERTY COMPILE_DEFINITIONS
+  GZ_SIM_GUI_CONFIG_RELATIVE_PATH="${GZ_DATA_INSTALL_DIR}/gui"
+  GZ_SIM_SYSTEM_CONFIG_RELATIVE_PATH="${GZ_DATA_INSTALL_DIR}/systems"
+  GZ_SIM_SERVER_CONFIG_RELATIVE_PATH="${GZ_DATA_INSTALL_DIR}"
+  GZ_SIM_PLUGIN_RELATIVE_INSTALL_DIR="${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
+  GZ_SIM_GUI_PLUGIN_RELATIVE_INSTALL_DIR="${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
+  GZ_SIM_WORLD_RELATIVE_INSTALL_DIR="${GZ_DATA_INSTALL_DIR}/worlds"
+)
+
 target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC
   gz-math${GZ_MATH_VER}
@@ -213,6 +229,8 @@ gz_build_tests(TYPE UNIT
     ${PROJECT_LIBRARY_TARGET_NAME}
     ${EXTRA_TEST_LIB_DEPS}
     gz-sim${PROJECT_VERSION_MAJOR}
+  ENVIRONMENT
+    GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
 
 # Some server unit tests require rendering.
diff --git a/src/InstallationDirectories.cc b/src/InstallationDirectories.cc
new file mode 100644
index 0000000000..2aa64e334d
--- /dev/null
+++ b/src/InstallationDirectories.cc
@@ -0,0 +1,67 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include <gz/sim/config.hh>
+#include <gz/sim/InstallationDirectories.hh>
+
+#include <gz/common/Filesystem.hh>
+
+namespace gz
+{
+namespace sim
+{
+inline namespace GZ_SIM_VERSION_NAMESPACE {
+
+std::string getGUIConfigPath()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_SIM_GUI_CONFIG_RELATIVE_PATH);
+}
+
+std::string getSystemConfigPath()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_SIM_SYSTEM_CONFIG_RELATIVE_PATH);
+}
+
+std::string getServerConfigPath()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_SIM_SERVER_CONFIG_RELATIVE_PATH);
+}
+
+std::string getPluginInstallDir()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_SIM_PLUGIN_RELATIVE_INSTALL_DIR);
+}
+
+std::string getGUIPluginInstallDir()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_SIM_GUI_PLUGIN_RELATIVE_INSTALL_DIR);
+}
+
+std::string getWorldInstallDir()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_SIM_WORLD_RELATIVE_INSTALL_DIR);
+}
+
+}
+}
+}
diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc
index b7e79b0cde..59af90581b 100644
--- a/src/ServerConfig.cc
+++ b/src/ServerConfig.cc
@@ -25,6 +25,7 @@
 #include <gz/fuel_tools/Result.hh>
 #include <gz/math/Rand.hh>
 
+#include "gz/sim/InstallationDirectories.hh"
 #include "gz/sim/Util.hh"
 
 using namespace gz;
@@ -265,7 +266,8 @@ class gz::sim::ServerConfigPrivate
             networkSecondaries(_cfg->networkSecondaries),
             seed(_cfg->seed),
             logRecordTopics(_cfg->logRecordTopics),
-            isHeadlessRendering(_cfg->isHeadlessRendering) { }
+            isHeadlessRendering(_cfg->isHeadlessRendering),
+            source(_cfg->source){ }
 
   // \brief The SDF file that the server should load
   public: std::string sdfFile = "";
@@ -811,6 +813,7 @@ ServerConfig::SourceType ServerConfig::Source() const
 }
 
 /////////////////////////////////////////////////
+namespace {
 void copyElement(sdf::ElementPtr _sdf, const tinyxml2::XMLElement *_xml)
 {
   _sdf->SetName(_xml->Value());
@@ -917,6 +920,7 @@ parsePluginsFromDoc(const tinyxml2::XMLDocument &_doc)
   }
   return ret;
 }
+}  // namespace
 
 /////////////////////////////////////////////////
 std::list<ServerConfig::PluginInfo>
@@ -1013,7 +1017,7 @@ sim::loadPluginInfo(bool _isPlayback)
   if (!common::exists(defaultConfig))
   {
     auto installedConfig = common::joinPaths(
-        GZ_SIM_SERVER_CONFIG_PATH,
+        gz::sim::getServerConfigPath(),
         configFilename);
 
     if (!common::createDirectories(defaultConfigDir))
diff --git a/src/SystemLoader.cc b/src/SystemLoader.cc
index 90d86748e2..d68e8d4819 100644
--- a/src/SystemLoader.cc
+++ b/src/SystemLoader.cc
@@ -32,6 +32,7 @@
 
 #include <gz/plugin/Loader.hh>
 
+#include "gz/sim/InstallationDirectories.hh"
 #include <gz/sim/config.hh>
 
 using namespace gz::sim;
@@ -54,12 +55,12 @@ class gz::sim::SystemLoaderPrivate
     common::env(GZ_HOMEDIR, homePath);
     systemPaths.AddPluginPaths(common::joinPaths(
         homePath, ".gz", "sim", "plugins"));
-    systemPaths.AddPluginPaths(GZ_SIM_PLUGIN_INSTALL_DIR);
+    systemPaths.AddPluginPaths(gz::sim::getPluginInstallDir());
 
     // TODO(CH3): Deprecated. Remove on tock.
     systemPaths.AddPluginPaths(homePath + "/.ignition/gazebo/plugins");
 
-    systemPaths.AddPluginPaths(GZ_SIM_PLUGIN_INSTALL_DIR);
+    systemPaths.AddPluginPaths(gz::sim::getPluginInstallDir());
 
     return systemPaths.PluginPaths();
   }
diff --git a/src/SystemLoader_TEST.cc b/src/SystemLoader_TEST.cc
index b654924f34..4709af5fd8 100644
--- a/src/SystemLoader_TEST.cc
+++ b/src/SystemLoader_TEST.cc
@@ -97,9 +97,8 @@ TEST(SystemLoader, PluginPaths)
   for (const auto &s : paths)
   {
     // the returned path string may not be exact match due to extra '/'
-    // appended at the end of the string. So use absPath to generate
-    // a path string that matches the format returned by joinPaths
-    if (common::absPath(s) == testBuildPath)
+    // appended at the end of the string. So use absPath to compare paths
+    if (common::absPath(s) == common::absPath(testBuildPath))
     {
       hasPath = true;
       break;
diff --git a/src/Util.cc b/src/Util.cc
index 552c68b2e1..db9918272f 100644
--- a/src/Util.cc
+++ b/src/Util.cc
@@ -49,6 +49,7 @@
 #include "gz/sim/components/World.hh"
 #include "gz/sim/components/LinearVelocity.hh"
 
+#include "gz/sim/InstallationDirectories.hh"
 #include "gz/sim/Util.hh"
 
 namespace gz
@@ -829,7 +830,7 @@ std::string resolveSdfWorldFile(const std::string &_sdfFile,
     systemPaths.SetFilePathEnv(kResourcePathEnv);
 
     // Worlds installed with gz-sim
-    systemPaths.AddFilePaths(GZ_SIM_WORLD_INSTALL_DIR);
+    systemPaths.AddFilePaths(gz::sim::getWorldInstallDir());
 
     filePath = systemPaths.FindFile(_sdfFile);
   }
diff --git a/src/gui/CMakeLists.txt b/src/gui/CMakeLists.txt
index 0f774b50f2..472eba232d 100644
--- a/src/gui/CMakeLists.txt
+++ b/src/gui/CMakeLists.txt
@@ -75,6 +75,8 @@ gz_build_tests(TYPE UNIT
     gz-sim${PROJECT_VERSION_MAJOR}
     gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
+  ENVIRONMENT
+    GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
 
 if(TARGET UNIT_Gui_clean_exit_TEST)
diff --git a/src/gui/Gui.cc b/src/gui/Gui.cc
index f7ff4f0d8f..ef95a468d3 100644
--- a/src/gui/Gui.cc
+++ b/src/gui/Gui.cc
@@ -29,6 +29,7 @@
 #include <gz/gui/MainWindow.hh>
 #include <gz/gui/Plugin.hh>
 
+#include "gz/sim/InstallationDirectories.hh"
 #include "gz/sim/Util.hh"
 #include "gz/sim/config.hh"
 #include "gz/sim/gui/Gui.hh"
@@ -92,7 +93,7 @@ std::string defaultGuiConfigFile(bool _isPlayback,
     }
 
     auto installedConfig = common::joinPaths(
-        GZ_SIM_GUI_CONFIG_PATH, defaultGuiConfigName);
+        gz::sim::getGUIConfigPath(), defaultGuiConfigName);
     if (!common::copyFile(installedConfig, defaultConfig))
     {
       gzerr << "Failed to copy installed config [" << installedConfig
@@ -275,7 +276,7 @@ std::unique_ptr<gz::gui::Application> createGui(
   auto app = std::make_unique<gz::gui::Application>(
     _argc, _argv, gz::gui::WindowType::kMainWindow);
 
-  app->AddPluginPath(GZ_SIM_GUI_PLUGIN_INSTALL_DIR);
+  app->AddPluginPath(gz::sim::getGUIPluginInstallDir());
 
   auto aboutDialogHandler = new gz::sim::gui::AboutDialogHandler();
   aboutDialogHandler->setParent(app->Engine());
@@ -287,7 +288,7 @@ std::unique_ptr<gz::gui::Application> createGui(
   pathManager->setParent(app->Engine());
 
   // add import path so we can load custom modules
-  app->Engine()->addImportPath(GZ_SIM_GUI_PLUGIN_INSTALL_DIR);
+  app->Engine()->addImportPath(gz::sim::getGUIPluginInstallDir().c_str());
 
   app->SetDefaultConfigPath(defaultConfig);
 
diff --git a/src/gui/QuickStartHandler.cc b/src/gui/QuickStartHandler.cc
index c420bffc64..8659b2756d 100644
--- a/src/gui/QuickStartHandler.cc
+++ b/src/gui/QuickStartHandler.cc
@@ -17,13 +17,16 @@
 
 #include "QuickStartHandler.hh"
 
+#include "gz/sim/InstallationDirectories.hh"
+
 using namespace gz;
 using namespace sim::gui;
 
 /////////////////////////////////////////////////
 QString QuickStartHandler::WorldsPath() const
 {
-  return QString::fromUtf8(this->worldsPath.c_str());
+  std::string worldsPathLocal = gz::sim::getWorldInstallDir();
+  return QString::fromUtf8(worldsPathLocal.c_str());
 }
 
 /////////////////////////////////////////////////
diff --git a/src/gui/QuickStartHandler.hh b/src/gui/QuickStartHandler.hh
index e4648b5bb8..5814adce08 100644
--- a/src/gui/QuickStartHandler.hh
+++ b/src/gui/QuickStartHandler.hh
@@ -68,7 +68,9 @@ class GZ_SIM_GUI_VISIBLE QuickStartHandler : public QObject
   private: bool showAgain{true};
 
   /// \brief Installed worlds path.
-  private: std::string worldsPath{GZ_SIM_WORLD_INSTALL_DIR};
+  /// \warning This variable is unused and can be removed
+  ///          once an ABI break is allowed
+  private: std::string worldsPath{""};
 
   /// \brief Get starting world url.
   private: std::string startingWorld{""};
diff --git a/src/gui/plugins/CMakeLists.txt b/src/gui/plugins/CMakeLists.txt
index 956158f39c..2a837a3e0e 100644
--- a/src/gui/plugins/CMakeLists.txt
+++ b/src/gui/plugins/CMakeLists.txt
@@ -118,7 +118,9 @@ function(gz_add_gui_plugin plugin_name)
           # Used to make test-directory headers visible to the unit tests
           ${PROJECT_SOURCE_DIR}
           # Used to make test_config.h visible to the unit tests
-          ${PROJECT_BINARY_DIR})
+          ${PROJECT_BINARY_DIR}
+        ENVIRONMENT
+          GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
     endif()
   endif()
 
diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc
index ad261fb93f..cd5f0eadc3 100644
--- a/src/gui/plugins/component_inspector/ComponentInspector.cc
+++ b/src/gui/plugins/component_inspector/ComponentInspector.cc
@@ -1215,7 +1215,7 @@ void ComponentInspector::QuerySystems()
       "/system/info"};
   if (!this->dataPtr->node.Request(service, req, timeout, res, result))
   {
-    ignerr << "Unable to query available systems." << std::endl;
+    gzerr << "Unable to query available systems." << std::endl;
     return;
   }
 
@@ -1225,8 +1225,8 @@ void ComponentInspector::QuerySystems()
   {
     if (plugin.filename().empty())
     {
-      ignerr << "Received empty plugin name. This shouldn't happen."
-             << std::endl;
+      gzerr << "Received empty plugin name. This shouldn't happen."
+            << std::endl;
       continue;
     }
 
@@ -1273,7 +1273,7 @@ void ComponentInspector::OnAddSystem(const QString &_name,
   auto it = this->dataPtr->systemMap.find(filenameStr);
   if (it == this->dataPtr->systemMap.end())
   {
-    ignerr << "Internal error: failed to find [" << filenameStr
+    gzerr << "Internal error: failed to find [" << filenameStr
            << "] in system map." << std::endl;
     return;
   }
@@ -1296,11 +1296,11 @@ void ComponentInspector::OnAddSystem(const QString &_name,
       "/entity/system/add"};
   if (!this->dataPtr->node.Request(service, req, timeout, res, result))
   {
-    ignerr << "Error adding new system to entity: "
-           << this->dataPtr->entity << "\n"
-           << "Name: " << name << "\n"
-           << "Filename: " << filename << "\n"
-           << "Inner XML: " << innerxml << std::endl;
+    gzerr << "Error adding new system to entity: "
+          << this->dataPtr->entity << "\n"
+          << "Name: " << name << "\n"
+          << "Filename: " << filename << "\n"
+          << "Inner XML: " << innerxml << std::endl;
   }
 }
 
diff --git a/src/gz.cc b/src/gz.cc
index aa0f908518..cd71e586bf 100644
--- a/src/gz.cc
+++ b/src/gz.cc
@@ -33,6 +33,7 @@
 #include <sdf/Console.hh>
 
 #include "gz/sim/config.hh"
+#include "gz/sim/InstallationDirectories.hh"
 #include "gz/sim/Server.hh"
 #include "gz/sim/ServerConfig.hh"
 
@@ -70,7 +71,8 @@ extern "C" void cmdVerbosity(
 //////////////////////////////////////////////////
 extern "C" const char *worldInstallDir()
 {
-  return GZ_SIM_WORLD_INSTALL_DIR;
+  static std::string worldInstallDir = gz::sim::getWorldInstallDir();
+  return worldInstallDir.c_str();
 }
 
 //////////////////////////////////////////////////
diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
index 3c5e3da2d3..e86c31c117 100644
--- a/src/rendering/RenderUtil.cc
+++ b/src/rendering/RenderUtil.cc
@@ -1266,7 +1266,7 @@ void RenderUtil::Update()
       }
       else
       {
-        ignerr << "Failed to create light" << std::endl;
+        gzerr << "Failed to create light" << std::endl;
       }
     }
 
diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc
index 55d10e9534..f1f758e8e9 100644
--- a/src/rendering/SceneManager.cc
+++ b/src/rendering/SceneManager.cc
@@ -1191,7 +1191,7 @@ rendering::LightPtr SceneManager::CreateLight(Entity _id,
 
   if (this->HasEntity(_id))
   {
-    ignerr << "Light with Id: [" << _id << "] can not be create there is "
+    gzerr << "Light with Id: [" << _id << "] can not be create there is "
               "another entity with the same entity number" << std::endl;
     return nullptr;
   }
@@ -2376,8 +2376,8 @@ SceneManager::LoadAnimations(const sdf::Actor &_actor)
       {
         if (!meshSkel->AddBvhAnimation(animFilename, animScale))
         {
-          ignerr << "Bvh animation in file " << animFilename
-                 << " failed to load during actor creation" << std::endl;
+          gzerr << "Bvh animation in file " << animFilename
+                << " failed to load during actor creation" << std::endl;
           continue;
         }
       }
@@ -2473,8 +2473,8 @@ SceneManagerPrivate::LoadTrajectories(const sdf::Actor &_actor,
       const sdf::Trajectory *trajSdf = _actor.TrajectoryByIndex(i);
       if (nullptr == trajSdf)
       {
-        ignerr << "Null trajectory SDF for [" << _actor.Name() << "]"
-               << std::endl;
+        gzerr << "Null trajectory SDF for [" << _actor.Name() << "]"
+              << std::endl;
         continue;
       }
       common::TrajectoryInfo trajInfo;
@@ -2517,9 +2517,9 @@ SceneManagerPrivate::LoadTrajectories(const sdf::Actor &_actor,
             }
             else
             {
-              ignwarn << "Animation has no x displacement. "
-                      << "Ignoring <interpolate_x> for the animation in '"
-                      << animation->Filename() << "'." << std::endl;
+              gzwarn << "Animation has no x displacement. "
+                     << "Ignoring <interpolate_x> for the animation in '"
+                     << animation->Filename() << "'." << std::endl;
             }
             animInterpolateCheck.insert(animation->Filename());
           }
diff --git a/src/systems/battery_plugin/LinearBatteryPlugin.cc b/src/systems/battery_plugin/LinearBatteryPlugin.cc
index 8f7cc41eb1..7dcf38bc3f 100644
--- a/src/systems/battery_plugin/LinearBatteryPlugin.cc
+++ b/src/systems/battery_plugin/LinearBatteryPlugin.cc
@@ -394,8 +394,8 @@ void LinearBatteryPlugin::Configure(const Entity &_entity,
           std::bind(&LinearBatteryPluginPrivate::OnBatteryStopDrainingMsg,
           this->dataPtr.get(), std::placeholders::_1, std::placeholders::_2,
           std::placeholders::_3));
-      ignmsg << "LinearBatteryPlugin subscribes to stop power draining topic ["
-             << topic << "]." << std::endl;
+      gzmsg << "LinearBatteryPlugin subscribes to stop power draining topic ["
+            << topic << "]." << std::endl;
       sdfElem = sdfElem->GetNextElement("power_draining_topic");
     }
   }
@@ -498,7 +498,7 @@ void LinearBatteryPlugin::PreUpdate(
   bool success = this->dataPtr->battery->SetPowerLoad(
       this->dataPtr->consumerId, total_power_load);
   if (!success)
-      ignerr << "Failed to set consumer power load." << std::endl;
+      gzerr << "Failed to set consumer power load." << std::endl;
 
   // Start draining the battery if the robot has started moving
   if (!this->dataPtr->startDraining)
diff --git a/src/systems/buoyancy/Buoyancy.cc b/src/systems/buoyancy/Buoyancy.cc
index a2c21b9c5a..5bd0ae54b4 100644
--- a/src/systems/buoyancy/Buoyancy.cc
+++ b/src/systems/buoyancy/Buoyancy.cc
@@ -643,7 +643,7 @@ void Buoyancy::PostUpdate(
 bool Buoyancy::IsEnabled(Entity _entity,
     const EntityComponentManager &_ecm) const
 {
-  return this->IsEnabled(_entity, _ecm);
+  return this->dataPtr->IsEnabled(_entity, _ecm);
 }
 
 GZ_ADD_PLUGIN(Buoyancy,
diff --git a/src/systems/environment_preload/EnvironmentPreload.cc b/src/systems/environment_preload/EnvironmentPreload.cc
index fe5b57f940..5c678aa2db 100644
--- a/src/systems/environment_preload/EnvironmentPreload.cc
+++ b/src/systems/environment_preload/EnvironmentPreload.cc
@@ -134,7 +134,7 @@ void EnvironmentPreload::PreUpdate(
               }
               else if (unitName != "radians")
               {
-                ignerr << "Unrecognized unit " << unitName << "\n";
+                gzerr << "Unrecognized unit " << unitName << "\n";
               }
             }
           }
diff --git a/src/systems/environmental_sensor_system/CMakeLists.txt b/src/systems/environmental_sensor_system/CMakeLists.txt
index c589a464bf..ff91c6e175 100644
--- a/src/systems/environmental_sensor_system/CMakeLists.txt
+++ b/src/systems/environmental_sensor_system/CMakeLists.txt
@@ -12,4 +12,6 @@ gz_build_tests(TYPE UNIT
   TransformTypes_TEST.cc
   LIB_DEPS
   gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
+  ENVIRONMENT
+  GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
diff --git a/src/systems/hydrodynamics/Hydrodynamics.cc b/src/systems/hydrodynamics/Hydrodynamics.cc
index ba54d315eb..e657ad8bb5 100644
--- a/src/systems/hydrodynamics/Hydrodynamics.cc
+++ b/src/systems/hydrodynamics/Hydrodynamics.cc
@@ -295,7 +295,7 @@ void Hydrodynamics::Configure(
 {
   if (_sdf->HasElement("waterDensity"))
   {
-    ignwarn <<
+    gzwarn <<
       "<waterDensity> parameter is deprecated and will be removed Ignition G.\n"
       << "\tPlease update your SDF to use <water_density> instead.";
   }
@@ -342,7 +342,7 @@ void Hydrodynamics::Configure(
 
   if (warnBehaviourChange)
   {
-    ignwarn << "You are using parameters that may cause instabilities "
+    gzwarn << "You are using parameters that may cause instabilities "
       << "in your simulation. If your simulation crashes we recommend "
       << "renaming <xUU> -> <xUabsU> and likewise for other axis "
       << "for more information see:" << std::endl
diff --git a/src/systems/logical_audio_sensor_plugin/CMakeLists.txt b/src/systems/logical_audio_sensor_plugin/CMakeLists.txt
index 607c0705d0..9bd43e073e 100644
--- a/src/systems/logical_audio_sensor_plugin/CMakeLists.txt
+++ b/src/systems/logical_audio_sensor_plugin/CMakeLists.txt
@@ -18,4 +18,6 @@ gz_build_tests(TYPE UNIT
     ${gtest_sources}
   LIB_DEPS
     ${PROJECT_LIBRARY_TARGET_NAME}-logicalaudiosensorplugin-system
+  ENVIRONMENT
+    GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
diff --git a/src/systems/multicopter_control/MulticopterVelocityControl.hh b/src/systems/multicopter_control/MulticopterVelocityControl.hh
index 2c1f4b37af..c414d1ec53 100644
--- a/src/systems/multicopter_control/MulticopterVelocityControl.hh
+++ b/src/systems/multicopter_control/MulticopterVelocityControl.hh
@@ -21,6 +21,9 @@
 #include <memory>
 #include <string>
 
+#include <gz/msgs/actuators.pb.h>
+#include <gz/msgs/boolean.pb.h>
+#include <gz/msgs/twist.pb.h>
 #include <gz/transport/Node.hh>
 
 #include <gz/sim/System.hh>
diff --git a/src/systems/performer_detector/PerformerDetector.hh b/src/systems/performer_detector/PerformerDetector.hh
index 84c8e12d9c..bbdb9e3ddf 100644
--- a/src/systems/performer_detector/PerformerDetector.hh
+++ b/src/systems/performer_detector/PerformerDetector.hh
@@ -23,6 +23,7 @@
 #include <string>
 #include <unordered_set>
 
+#include <gz/math/AxisAlignedBox.hh>
 #include <gz/transport/Node.hh>
 
 #include "gz/sim/Model.hh"
diff --git a/src/systems/physics/CMakeLists.txt b/src/systems/physics/CMakeLists.txt
index ad18e3f494..006fe39fa4 100644
--- a/src/systems/physics/CMakeLists.txt
+++ b/src/systems/physics/CMakeLists.txt
@@ -27,4 +27,6 @@ gz_build_tests(TYPE UNIT
   ${gtest_sources}
   LIB_DEPS
   gz-physics${GZ_PHYSICS_VER}::core
+  ENVIRONMENT
+  GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
index 8fa201a12a..c70e2103db 100644
--- a/src/systems/physics/Physics.cc
+++ b/src/systems/physics/Physics.cc
@@ -3763,8 +3763,7 @@ void PhysicsPrivate::UpdateCollisions(EntityComponentManager &_ecm)
   // Note that we are temporarily storing pointers to elements in this
   // ("allContacts") container. Thus, we must make sure it doesn't get destroyed
   // until the end of this function.
-  auto allContacts =
-      std::move(worldCollisionFeature->GetContactsFromLastStep());
+  auto allContacts = worldCollisionFeature->GetContactsFromLastStep();
 
   for (const auto &contactComposite : allContacts)
   {
diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc
index 4790345300..a346076f6d 100644
--- a/src/systems/sensors/Sensors.cc
+++ b/src/systems/sensors/Sensors.cc
@@ -280,12 +280,15 @@ void SensorsPrivate::RunOnce()
 {
   {
     std::unique_lock<std::mutex> cvLock(this->renderMutex);
-    this->renderCv.wait(cvLock, [this]()
+    this->renderCv.wait_for(cvLock, std::chrono::microseconds(1000), [this]()
     {
       return !this->running || this->updateAvailable;
     });
   }
 
+  if (!this->updateAvailable)
+    return;
+
   if (!this->running)
     return;
 
@@ -621,7 +624,7 @@ void Sensors::Update(const UpdateInfo &_info,
        _ecm.HasComponentType(components::WideAngleCamera::typeId)))
   {
     std::unique_lock<std::mutex> lock(this->dataPtr->renderMutex);
-    igndbg << "Initialization needed" << std::endl;
+    gzdbg << "Initialization needed" << std::endl;
     this->dataPtr->renderUtil.Init();
     this->dataPtr->nextUpdateTime = _info.simTime;
   }
diff --git a/src/systems/thruster/Thruster.cc b/src/systems/thruster/Thruster.cc
index c8a4492210..30b1a3e2b1 100644
--- a/src/systems/thruster/Thruster.cc
+++ b/src/systems/thruster/Thruster.cc
@@ -451,7 +451,7 @@ void Thruster::Configure(
   {
     if (!_sdf->HasElement("battery_name"))
     {
-      ignerr << "Specified a <power_load> but missing <battery_name>."
+      gzerr << "Specified a <power_load> but missing <battery_name>."
           "Specify a battery name so the power load can be assigned to it."
           << std::endl;
     }
@@ -586,17 +586,17 @@ void Thruster::PreUpdate(
       });
     if (numBatteriesWithName == 0)
     {
-      ignerr << "Can't assign battery consumption to battery: ["
-             << this->dataPtr->batteryName << "]. No batteries"
-             "were found with the given name." << std::endl;
+      gzerr << "Can't assign battery consumption to battery: ["
+            << this->dataPtr->batteryName << "]. No batteries"
+            "were found with the given name." << std::endl;
       return;
     }
     if (numBatteriesWithName > 1)
     {
-      ignerr << "More than one battery found with name: ["
-             << this->dataPtr->batteryName << "]. Please make"
-             "sure battery names are unique within the system."
-             << std::endl;
+      gzerr << "More than one battery found with name: ["
+            << this->dataPtr->batteryName << "]. Please make"
+            "sure battery names are unique within the system."
+            << std::endl;
       return;
     }
 
diff --git a/src/systems/triggered_publisher/TriggeredPublisher.cc b/src/systems/triggered_publisher/TriggeredPublisher.cc
index 87d0add654..80c92981c2 100644
--- a/src/systems/triggered_publisher/TriggeredPublisher.cc
+++ b/src/systems/triggered_publisher/TriggeredPublisher.cc
@@ -605,31 +605,31 @@ void TriggeredPublisher::Configure(const Entity &,
       serviceInfo.srvName = serviceElem->Get<std::string>("name");
       if (serviceInfo.srvName.empty())
       {
-        ignerr << "Service name cannot be empty\n";
+        gzerr << "Service name cannot be empty\n";
         return;
       }
       serviceInfo.reqType = serviceElem->Get<std::string>("reqType");
       if (serviceInfo.reqType.empty())
       {
-        ignerr << "Service request type cannot be empty\n";
+        gzerr << "Service request type cannot be empty\n";
         return;
       }
       serviceInfo.repType = serviceElem->Get<std::string>("repType");
       if (serviceInfo.repType.empty())
       {
-        ignerr << "Service reply type cannot be empty\n";
+        gzerr << "Service reply type cannot be empty\n";
         return;
       }
       serviceInfo.reqMsg = serviceElem->Get<std::string>("reqMsg");
       if (serviceInfo.reqMsg.empty())
       {
-        ignerr << "Service request message cannot be empty\n";
+        gzerr << "Service request message cannot be empty\n";
         return;
       }
       std::string timeoutInfo = serviceElem->Get<std::string>("timeout");
       if (timeoutInfo.empty())
       {
-        ignerr << "Timeout value cannot be empty\n";
+        gzerr << "Timeout value cannot be empty\n";
         return;
       }
 
@@ -639,7 +639,7 @@ void TriggeredPublisher::Configure(const Entity &,
   }
   if (!sdfClone->HasElement("service") && !sdfClone->HasElement("output"))
   {
-    ignerr << "No output and service specified. Make sure to specify at least"
+    gzerr << "No output and service specified. Make sure to specify at least"
       "one of them." << std::endl;
     return;
   }
@@ -715,16 +715,16 @@ void TriggeredPublisher::CallService(std::size_t pendingSrv)
       auto req = msgs::Factory::New(serviceInfo.reqType, serviceInfo.reqMsg);
       if (!req)
       {
-        ignerr << "Unable to create request for type ["
-               << serviceInfo.reqType << "].\n";
+        gzerr << "Unable to create request for type ["
+              << serviceInfo.reqType << "].\n";
         return;
       }
 
       auto rep = msgs::Factory::New(serviceInfo.repType);
       if (!rep)
       {
-        ignerr << "Unable to create response for type ["
-               << serviceInfo.repType << "].\n";
+        gzerr << "Unable to create response for type ["
+              << serviceInfo.repType << "].\n";
         return;
       }
 
@@ -734,16 +734,16 @@ void TriggeredPublisher::CallService(std::size_t pendingSrv)
       {
         if (!result)
         {
-          ignerr << "Service call [" << serviceInfo.srvName << "] failed\n";
+          gzerr << "Service call [" << serviceInfo.srvName << "] failed\n";
         }
         else
         {
-          ignmsg << "Service call [" << serviceInfo.srvName << "] succeeded\n";
+          gzmsg << "Service call [" << serviceInfo.srvName << "] succeeded\n";
         }
       }
       else
       {
-        ignerr << "Service call [" << serviceInfo.srvName  << "] timed out\n";
+        gzerr << "Service call [" << serviceInfo.srvName  << "] timed out\n";
       }
     }
   }
diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
index df21fb46ec..d702cd4012 100644
--- a/test/integration/CMakeLists.txt
+++ b/test/integration/CMakeLists.txt
@@ -148,6 +148,8 @@ gz_build_tests(TYPE INTEGRATION
     ${tests}
   LIB_DEPS
     ${EXTRA_TEST_LIB_DEPS}
+  ENVIRONMENT
+    GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
 
 
diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc
index 54032c013f..fa3ba96734 100644
--- a/test/integration/log_system.cc
+++ b/test/integration/log_system.cc
@@ -1669,7 +1669,7 @@ TEST_F(LogSystemTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(RecordPeriod))
 #ifndef __APPLE__
   // Log from command line
   {
-    // Command line triggers ign.cc, which handles initializing ignLogDirectory
+    // Command line triggers gz.cc, which handles initializing gzlogDirectory
     std::string cmd = kGzCommand + " -r -v 4 --iterations "
       + std::to_string(numIterations) + " "
       + "--record-period 0.002 "
diff --git a/test/performance/CMakeLists.txt b/test/performance/CMakeLists.txt
index 81cbd25f75..b43c3cba4f 100644
--- a/test/performance/CMakeLists.txt
+++ b/test/performance/CMakeLists.txt
@@ -41,6 +41,8 @@ gz_build_tests(TYPE PERFORMANCE
     ${tests}
   LIB_DEPS
     ${EXTRA_TEST_LIB_DEPS}
+  ENVIRONMENT
+    GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
 
 add_executable(
diff --git a/test/regression/CMakeLists.txt b/test/regression/CMakeLists.txt
index cad4ba516d..126c2b66b4 100644
--- a/test/regression/CMakeLists.txt
+++ b/test/regression/CMakeLists.txt
@@ -19,4 +19,6 @@ gz_build_tests(TYPE REGRESSION
     ${tests}
   LIB_DEPS
     ${EXTRA_TEST_LIB_DEPS}
+  ENVIRONMENT
+    GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
diff --git a/test/test_config.hh.in b/test/test_config.hh.in
index 4ccac6b3be..4681208058 100644
--- a/test/test_config.hh.in
+++ b/test/test_config.hh.in
@@ -18,6 +18,7 @@
 #define GZ_SIM_TEST_CONFIG_HH_
 
 #include <stdlib.h>
+#include <string>
 #include <gz/sim/config.hh>
 
 #define PROJECT_SOURCE_PATH "${PROJECT_SOURCE_DIR}"
diff --git a/tutorials/battery.md b/tutorials/battery.md
index fea877ca5e..c2156cbd0f 100644
--- a/tutorials/battery.md
+++ b/tutorials/battery.md
@@ -187,7 +187,7 @@ At the configure step the parameters are read and saved:
   {
     if (!_sdf->HasElement("battery_name"))
     {
-      ignerr << "Specified a <power_load> but missing <battery_name>."
+      gzerr << "Specified a <power_load> but missing <battery_name>."
           "Specify a battery name so the power load can be assigned to it."
           << std::endl;
     }
@@ -246,14 +246,14 @@ are found with the specified name.
 ```
    if (numBatteriesWithName == 0)
     {
-      ignerr << "Can't assign battery consumption to battery: ["
+      gzerr << "Can't assign battery consumption to battery: ["
              << this->dataPtr->batteryName << "]. No batteries"
              "were found with the given name." << std::endl;
       return;
     }
     if (numBatteriesWithName > 1)
     {
-      ignerr << "More than one battery found with name: ["
+      gzerr << "More than one battery found with name: ["
              << this->dataPtr->batteryName << "]. Please make"
              "sure battery names are unique within the system."
              << std::endl;