diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index 9ae3b3bfce5..a184df2ec42 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -32,9 +32,9 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        # macos-12 is Intel runner, macos-14 is Apple Silicon
+        # macos-13 is Intel runner, macos-14 is Apple Silicon
         # https://github.com/actions/runner-images
-        os: [macos-12, macos-14]
+        os: [macos-13, macos-14]
         CONFIG: [ON, OFF]
     env:
       BUILD_SHARED_LIBS: ${{ matrix.CONFIG }}
@@ -68,15 +68,9 @@ jobs:
         run: |
           brew install ccache pkg-config
 
-          if [[ ${{ runner.arch}} == "ARM64"  ]]; then
+          if [[ ${{ runner.arch }} == "ARM64"  ]]; then
             # Fix gfortran not found issue
             ln -s $(which gfortran-13) /usr/local/bin/gfortran
-
-            # Default macos-14 image Xcode (version 15.0.1) linker causes build issues.
-            # Newer Xcode versions work, but embree recommends Apple clang <= 14 on
-            # arm64 to avoid possible "EXEC_BAD_INSTRUCTION" runtime exceptions:
-            # https://github.com/embree/embree/releases/tag/v4.3.1
-            sudo xcode-select -switch /Applications/Xcode_14.3.1.app
           fi
 
           # Install libomp 11.1.0 from old brew bottle for x64 catalina (10.15)
@@ -84,7 +78,6 @@ jobs:
           # install for the current OS.
           # https://github.com/microsoft/LightGBM/issues/4229
           if [[ ${{ runner.arch}} == "X64"  ]]; then
-            brew unlink libomp
             # x64 catalina (10.15) bottle
             export LIBOMP_BOTTLE_HASH=45a5aa653bd45bd5ff5858580b1a4670c4b5a51ea29d68d45a53f72f56010e05
           else # ARM64
@@ -142,7 +135,7 @@ jobs:
     permissions:
       contents: write  # Release upload
     name: Fuse x64 and ARM64 viewer app
-    runs-on: [macos-12]
+    runs-on: [macos-13]
     needs: [MacOS]
     steps:
       - name: Checkout source code  # for gh release upload
@@ -191,9 +184,9 @@ jobs:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
       matrix:
-        # macos-12 is Intel runner, macos-14 is Apple Silicon
+        # macos-13 is Intel runner, macos-14 is Apple Silicon
         # https://github.com/actions/runner-images
-        os: [macos-12, macos-14]
+        os: [macos-13, macos-14]
         python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
@@ -260,12 +253,10 @@ jobs:
           # Fix macos-14 arm64 runner image issues, see comments in MacOS job.
           if [[ ${{ runner.arch}} == "ARM64"  ]]; then
             ln -s $(which gfortran-13) /usr/local/bin/gfortran
-            sudo xcode-select -switch /Applications/Xcode_14.3.1.app
           fi
 
           # Install libomp 11.1.0. See comment above.
           if [[ ${{ runner.arch}} == "X64"  ]]; then
-            brew unlink libomp
             # x64 catalina (10.15) bottle
             export LIBOMP_BOTTLE_HASH=45a5aa653bd45bd5ff5858580b1a4670c4b5a51ea29d68d45a53f72f56010e05
           else # ARM64
@@ -308,7 +299,7 @@ jobs:
     name: Fuse universal2 wheel
     permissions:
       contents: write  # Release upload
-    runs-on: [macos-12]
+    runs-on: [macos-13]
     needs: [build-wheel]
     strategy:
       fail-fast: false
@@ -379,7 +370,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [macos-12, macos-14]
+        os: [macos-13, macos-14]
         python_version: ['3.8', '3.9', '3.10', '3.11', '3.12']
         is_main:
           - ${{ github.ref == 'refs/heads/main' }}
diff --git a/.github/workflows/ubuntu-cuda.yml b/.github/workflows/ubuntu-cuda.yml
index daab8f7af61..00dd303dcf1 100644
--- a/.github/workflows/ubuntu-cuda.yml
+++ b/.github/workflows/ubuntu-cuda.yml
@@ -180,7 +180,7 @@ jobs:
           gcloud compute ssh "${INSTANCE_NAME}" \
             --zone="${GCE_ZONE}" \
             --command="ls -alh \
-                    && gsutil cp ${CCACHE_TAR_NAME}.tar.gz gs://open3d-ci-cache/"
+                    && gsutil cp ${CCACHE_TAR_NAME}.tar.xz gs://open3d-ci-cache/"
 
       - name: VM delete
         if: always()
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7b047cd0b82..08a49c5476c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -476,6 +476,8 @@ if(WIN32)
     #       Then, we could use -fvisibility=hidden for Linux as well
     SET(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
     if(MSVC)
+        # MSVC standards-compliant mode: Error in PoissonRecon 3rd party header
+        # add_compile_options($<$<COMPILE_LANGUAGE:CXX>:"/permissive-">)   
         # Make sure we don't hit the 65535 object member limit with MSVC
         #
         # /bigobj allows object files with more than 65535 members
diff --git a/cpp/open3d/CMakeLists.txt b/cpp/open3d/CMakeLists.txt
index e31bb2b83f3..00b04684b2c 100644
--- a/cpp/open3d/CMakeLists.txt
+++ b/cpp/open3d/CMakeLists.txt
@@ -89,6 +89,7 @@ target_sources(Open3D PRIVATE
 open3d_ispc_target_sources_TARGET_OBJECTS(Open3D PRIVATE
     camera
     core
+    core_impl
     data
     geometry
     tgeometry
@@ -101,6 +102,7 @@ open3d_ispc_target_sources_TARGET_OBJECTS(Open3D PRIVATE
     tpipelines_kernel
     utility
     visualization
+    visualization_impl
 )
 
 if (BUILD_GUI)
diff --git a/cpp/open3d/core/CMakeLists.txt b/cpp/open3d/core/CMakeLists.txt
index 7926d3fbcc6..c34cea3fc6d 100644
--- a/cpp/open3d/core/CMakeLists.txt
+++ b/cpp/open3d/core/CMakeLists.txt
@@ -41,22 +41,7 @@ target_sources(core PRIVATE
     hashmap/HashBackendBuffer.cpp
     hashmap/HashMap.cpp
     hashmap/HashSet.cpp
-    kernel/Arange.cpp
-    kernel/ArangeCPU.cpp
-    kernel/BinaryEW.cpp
-    kernel/BinaryEWCPU.cpp
-    kernel/IndexGetSet.cpp
-    kernel/IndexGetSetCPU.cpp
-    kernel/IndexReduction.cpp
-    kernel/IndexReductionCPU.cpp
     kernel/Kernel.cpp
-    kernel/NonZero.cpp
-    kernel/NonZeroCPU.cpp
-    kernel/Reduction.cpp
-    kernel/ReductionCPU.cpp
-    kernel/UnaryEW.cpp
-    kernel/UnaryEWCPU.cpp
-    kernel/UnaryEWSYCL.cpp
     linalg/AddMM.cpp
     linalg/AddMMCPU.cpp
     linalg/Det.cpp
@@ -82,11 +67,33 @@ target_sources(core PRIVATE
     nns/NNSIndex.cpp
 )
 
+# core_impl contains the implementation of core functions that are not exposed in the public API
+open3d_ispc_add_library(core_impl OBJECT)
+set_target_properties(core_impl PROPERTIES CXX_VISIBILITY_PRESET "hidden")
+
+target_sources(core_impl PRIVATE
+    kernel/Arange.cpp
+    kernel/ArangeCPU.cpp
+    kernel/BinaryEW.cpp
+    kernel/BinaryEWCPU.cpp
+    kernel/IndexGetSet.cpp
+    kernel/IndexGetSetCPU.cpp
+    kernel/IndexReduction.cpp
+    kernel/IndexReductionCPU.cpp
+    kernel/NonZero.cpp
+    kernel/NonZeroCPU.cpp
+    kernel/Reduction.cpp
+    kernel/ReductionCPU.cpp
+    kernel/UnaryEW.cpp
+    kernel/UnaryEWCPU.cpp
+    kernel/UnaryEWSYCL.cpp
+)
+
 if (BUILD_CUDA_MODULE)
     target_sources(core PRIVATE
         MemoryManagerCUDA.cpp
     )
-    target_sources(core PRIVATE
+    target_sources(core_impl PRIVATE
         hashmap/CUDA/CreateCUDAHashBackend.cu
         hashmap/CUDA/CUDAHashBackendBuffer.cu
         hashmap/CUDA/SlabNodeManager.cu
@@ -116,6 +123,8 @@ endif()
 if (BUILD_ISPC_MODULE)
     target_sources(core PRIVATE
         Indexer.ispc
+    )
+    target_sources(core_impl PRIVATE
         kernel/BinaryEWCPU.ispc
         kernel/UnaryEWCPU.ispc
     )
@@ -126,6 +135,12 @@ open3d_set_global_properties(core)
 open3d_set_open3d_lib_properties(core)
 open3d_link_3rdparty_libraries(core)
 
+open3d_show_and_abort_on_warning(core_impl)
+open3d_set_global_properties(core_impl)
+open3d_set_open3d_lib_properties(core_impl)
+open3d_link_3rdparty_libraries(core_impl)
+
 if(BUILD_CUDA_MODULE)
     target_include_directories(core SYSTEM PRIVATE ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES})
+    target_include_directories(core_impl SYSTEM PRIVATE ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES})
 endif()
diff --git a/cpp/open3d/core/SYCLContext.cpp b/cpp/open3d/core/SYCLContext.cpp
index b7ac71d1045..30c5f6f6afc 100644
--- a/cpp/open3d/core/SYCLContext.cpp
+++ b/cpp/open3d/core/SYCLContext.cpp
@@ -54,22 +54,22 @@ SYCLContext::SYCLContext() {
     } catch (const sycl::exception &e) {
     }
 
-    if (devices_.size() == 0) {
-        // SYCL CPU fallback.
-        // This could happen if the Intel GPGPU driver is not installed or if
-        // your CPU does not have integrated GPU.
-        try {
-            const sycl::device &sycl_device =
-                    sycl::device(sycl::cpu_selector_v);
-            const Device open3d_device = Device("SYCL:0");
+    // SYCL CPU fallback.
+    // This could happen if the Intel GPGPU driver is not installed or if
+    // your CPU does not have integrated GPU.
+    try {
+        if (devices_.size() == 0) {
             utility::LogWarning(
                     "SYCL GPU device is not available, falling back to SYCL "
                     "host device.");
-            devices_.push_back(open3d_device);
-            device_to_sycl_device_[open3d_device] = sycl_device;
-            device_to_default_queue_[open3d_device] = sycl::queue(sycl_device);
-        } catch (const sycl::exception &e) {
         }
+        const sycl::device &sycl_device = sycl::device(sycl::cpu_selector_v);
+        const Device open3d_device =
+                Device("SYCL:" + std::to_string(devices_.size()));
+        devices_.push_back(open3d_device);
+        device_to_sycl_device_[open3d_device] = sycl_device;
+        device_to_default_queue_[open3d_device] = sycl::queue(sycl_device);
+    } catch (const sycl::exception &e) {
     }
 
     if (devices_.size() == 0) {
diff --git a/cpp/open3d/core/SYCLUtils.cpp b/cpp/open3d/core/SYCLUtils.cpp
index d92e44fe509..011ee5eb653 100644
--- a/cpp/open3d/core/SYCLUtils.cpp
+++ b/cpp/open3d/core/SYCLUtils.cpp
@@ -118,14 +118,32 @@ static std::string SYCLDeviceToString(const sycl::device &device) {
 
 void PrintSYCLDevices(bool print_all) {
 #ifdef BUILD_SYCL_MODULE
-    const char *filter = std::getenv("SYCL_DEVICE_FILTER");
+    const char *filter = std::getenv("ONEAPI_DEVICE_SELECTOR");
     if (filter) {
         utility::LogWarning(
-                "SYCL_DEVICE_FILTER environment variable is set to {}. To see "
-                "the correct device id, please unset SYCL_DEVICE_FILTER.",
+                "ONEAPI_DEVICE_SELECTOR environment variable is set to {}. To "
+                "see the correct device id, please unset "
+                "ONEAPI_DEVICE_SELECTOR.",
                 filter);
     }
 
+    int nd = 0;
+    utility::LogInfo("# Open3D SYCL device");
+    try {
+        utility::LogInfo(
+                "- Device(\"SYCL:{}\"): {}", nd,
+                SYCLDeviceToString(sycl::device(sycl::gpu_selector_v)));
+        ++nd;
+    } catch (const sycl::exception &e) {
+    }
+    try {
+        utility::LogInfo("# Open3D SYCL device (CPU fallback)");
+        utility::LogInfo(
+                "- Device(\"SYCL:{}\"): {}", nd,
+                SYCLDeviceToString(sycl::device(sycl::cpu_selector_v)));
+    } catch (const sycl::exception &e) {
+        if (nd == 0) utility::LogInfo("- Device(\"SYCL:0\"): N/A");
+    }
     if (print_all) {
         utility::LogInfo("# All SYCL devices");
         const std::vector<sycl::platform> &platforms =
@@ -168,24 +186,6 @@ void PrintSYCLDevices(bool print_all) {
         } catch (const sycl::exception &e) {
             utility::LogInfo("- sycl::accelerator_selector_v: N/A");
         }
-
-        utility::LogInfo("# Open3D SYCL device");
-        try {
-            const sycl::device &device = sycl::device(sycl::gpu_selector_v);
-            utility::LogInfo("- Device(\"SYCL:0\"): {}",
-                             SYCLDeviceToString(device));
-        } catch (const sycl::exception &e) {
-            utility::LogInfo("- Device(\"SYCL:0\"): N/A");
-        }
-    } else {
-        utility::LogInfo("# Open3D SYCL device");
-        try {
-            const sycl::device &device = sycl::device(sycl::gpu_selector_v);
-            utility::LogInfo("- Device(\"SYCL:0\"): {}",
-                             SYCLDeviceToString(device));
-        } catch (const sycl::exception &e) {
-            utility::LogInfo("- Device(\"SYCL:0\"): N/A");
-        }
     }
 
 #else
diff --git a/cpp/open3d/geometry/SurfaceReconstructionBallPivoting.cpp b/cpp/open3d/geometry/SurfaceReconstructionBallPivoting.cpp
index 994dbc6e8c8..2774b314364 100644
--- a/cpp/open3d/geometry/SurfaceReconstructionBallPivoting.cpp
+++ b/cpp/open3d/geometry/SurfaceReconstructionBallPivoting.cpp
@@ -17,6 +17,7 @@
 
 namespace open3d {
 namespace geometry {
+namespace {
 
 class BallPivotingVertex;
 class BallPivotingEdge;
@@ -733,6 +734,7 @@ class BallPivoting {
     std::vector<BallPivotingVertexPtr> vertices;
     std::shared_ptr<TriangleMesh> mesh_;
 };
+}  // namespace
 
 std::shared_ptr<TriangleMesh> TriangleMesh::CreateFromPointCloudBallPivoting(
         const PointCloud& pcd, const std::vector<double>& radii) {
diff --git a/cpp/open3d/geometry/SurfaceReconstructionPoisson.cpp b/cpp/open3d/geometry/SurfaceReconstructionPoisson.cpp
index a1553d6a653..7195166701f 100644
--- a/cpp/open3d/geometry/SurfaceReconstructionPoisson.cpp
+++ b/cpp/open3d/geometry/SurfaceReconstructionPoisson.cpp
@@ -39,7 +39,7 @@
 
 namespace open3d {
 namespace geometry {
-namespace poisson {
+namespace {
 
 // The order of the B-Spline used to splat in data for color interpolation
 static const int DATA_DEGREE = 0;
@@ -713,7 +713,7 @@ void Execute(const open3d::geometry::PointCloud& pcd,
                       Time() - startTime, FEMTree<Dim, Real>::MaxMemoryUsage());
 }
 
-}  // namespace poisson
+}  // namespace
 
 std::tuple<std::shared_ptr<TriangleMesh>, std::vector<double>>
 TriangleMesh::CreateFromPointCloudPoisson(const PointCloud& pcd,
@@ -722,10 +722,9 @@ TriangleMesh::CreateFromPointCloudPoisson(const PointCloud& pcd,
                                           float scale,
                                           bool linear_fit,
                                           int n_threads) {
-    static const BoundaryType BType = poisson::DEFAULT_FEM_BOUNDARY;
+    static const BoundaryType BType = DEFAULT_FEM_BOUNDARY;
     typedef IsotropicUIntPack<
-            poisson::DIMENSION,
-            FEMDegreeAndBType</* Degree */ 1, BType>::Signature>
+            DIMENSION, FEMDegreeAndBType</* Degree */ 1, BType>::Signature>
             FEMSigs;
 
     if (!pcd.HasNormals()) {
@@ -746,8 +745,8 @@ TriangleMesh::CreateFromPointCloudPoisson(const PointCloud& pcd,
 
     auto mesh = std::make_shared<TriangleMesh>();
     std::vector<double> densities;
-    poisson::Execute<float>(pcd, mesh, densities, static_cast<int>(depth),
-                            width, scale, linear_fit, FEMSigs());
+    Execute<float>(pcd, mesh, densities, static_cast<int>(depth), width, scale,
+                   linear_fit, FEMSigs());
 
     ThreadPool::Terminate();
 
diff --git a/cpp/open3d/visualization/CMakeLists.txt b/cpp/open3d/visualization/CMakeLists.txt
index fd794dcea24..8cf18c2088c 100644
--- a/cpp/open3d/visualization/CMakeLists.txt
+++ b/cpp/open3d/visualization/CMakeLists.txt
@@ -1,6 +1,9 @@
 open3d_ispc_add_library(visualization OBJECT)
 
-target_sources(visualization PRIVATE
+open3d_ispc_add_library(visualization_impl OBJECT)
+set_target_properties(visualization_impl PROPERTIES CXX_VISIBILITY_PRESET hidden)
+
+target_sources(visualization_impl PRIVATE
     shader/GeometryRenderer.cpp
     shader/ImageMaskShader.cpp
     shader/ImageShader.cpp
@@ -62,14 +65,14 @@ if (BUILD_GUI)
         rendering/Renderer.cpp
         rendering/RendererHandle.cpp
         rendering/RotationInteractorLogic.cpp
+        rendering/filament/FilamentEngine.cpp
+        rendering/filament/FilamentRenderer.cpp
     )
 
-    target_sources(visualization PRIVATE
+    target_sources(visualization_impl PRIVATE
         rendering/filament/FilamentCamera.cpp
-        rendering/filament/FilamentEngine.cpp
         rendering/filament/FilamentEntitiesMods.cpp
         rendering/filament/FilamentGeometryBuffersBuilder.cpp
-        rendering/filament/FilamentRenderer.cpp
         rendering/filament/FilamentRenderToBuffer.cpp
         rendering/filament/FilamentResourceManager.cpp
         rendering/filament/FilamentScene.cpp
@@ -131,7 +134,7 @@ open3d_add_encoded_shader(shader
 # Source group for Visual Studio
 add_source_group(shader/glsl)
 
-add_dependencies(visualization shader)
+add_dependencies(visualization_impl shader)
 
 
 open3d_show_and_abort_on_warning(visualization)
@@ -139,6 +142,11 @@ open3d_set_global_properties(visualization)
 open3d_set_open3d_lib_properties(visualization)
 open3d_link_3rdparty_libraries(visualization)
 
+open3d_show_and_abort_on_warning(visualization_impl)
+open3d_set_global_properties(visualization_impl)
+open3d_set_open3d_lib_properties(visualization_impl)
+open3d_link_3rdparty_libraries(visualization_impl)
+
 # export GUI_RESOURCE_DIR to parent scope
 if (BUILD_GUI)
     set(GUI_RESOURCE_DIR ${GUI_RESOURCE_DIR} PARENT_SCOPE)
diff --git a/cpp/pybind/core/sycl_utils.cpp b/cpp/pybind/core/sycl_utils.cpp
index ea37e0b3961..9a28dcb5072 100644
--- a/cpp/pybind/core/sycl_utils.cpp
+++ b/cpp/pybind/core/sycl_utils.cpp
@@ -23,6 +23,12 @@ void pybind_sycl_utils_definitions(py::module& m) {
     m_sycl.def("get_available_devices", sy::GetAvailableSYCLDevices,
                "Return a list of available SYCL devices.");
 
+    m_sycl.def("print_sycl_devices", sy::PrintSYCLDevices,
+               "print_all"_a = false,
+               "Print SYCL device available to Open3D (either the best "
+               "available GPU, or a fallback CPU device).  If `print_all` is "
+               "specified, also print SYCL devices of other types.");
+
     m_sycl.def("enable_persistent_jit_cache", sy::enablePersistentJITCache,
                "Enables the JIT cache for SYCL. This sets an environment "
                "variable and "
diff --git a/cpp/tests/core/CoreTest.cpp b/cpp/tests/core/CoreTest.cpp
index babfc30a0e3..8f1486ce4c6 100644
--- a/cpp/tests/core/CoreTest.cpp
+++ b/cpp/tests/core/CoreTest.cpp
@@ -105,7 +105,11 @@ PermuteDevicePairsWithSYCL::TestCases() {
     std::vector<core::Device> devices;
     devices.insert(devices.end(), cpu_devices.begin(), cpu_devices.end());
     devices.insert(devices.end(), cuda_devices.begin(), cuda_devices.end());
-    devices.insert(devices.end(), sycl_devices.begin(), sycl_devices.end());
+    // Skip the last SYCL device - this is the CPU fallback
+    if (sycl_devices.size() > 1) {
+        devices.insert(devices.end(), sycl_devices.begin(),
+                       sycl_devices.end() - 1);
+    }
 
     // Self-pairs and cross pairs (bidirectional).
     std::vector<std::pair<core::Device, core::Device>> device_pairs;
diff --git a/docker/Dockerfile.ci b/docker/Dockerfile.ci
index ac98e50236f..189fa6c50b0 100755
--- a/docker/Dockerfile.ci
+++ b/docker/Dockerfile.ci
@@ -141,10 +141,10 @@ RUN CCACHE_DIR=$(ccache -p | grep cache_dir | grep -oE "[^ ]+$") \
  && CCACHE_DIR_PARENT=$(dirname ${CCACHE_DIR}) \
  && mkdir -p ${CCACHE_DIR_PARENT} \
  && cd ${CCACHE_DIR_PARENT} \
- && (wget -q https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.gz || true) \
- && if [ -f ${CCACHE_TAR_NAME}.tar.gz ]; then tar -xf ${CCACHE_TAR_NAME}.tar.gz; fi \
+ && (wget -q https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.xz https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.gz || true) \
+ && if [ -f ${CCACHE_TAR_NAME}.tar.?z ]; then tar -xf ${CCACHE_TAR_NAME}.tar.?z; fi \
  && mkdir -p ${CCACHE_DIR} \
- && ccache -M 5G \
+ && ccache -M 4G \
  && ccache -s
 
 # Checkout Open3D-ML main branch
@@ -235,7 +235,7 @@ RUN ccache -s \
  && CCACHE_DIR_NAME=$(basename ${CCACHE_DIR}) \
  && CCACHE_DIR_PARENT=$(dirname ${CCACHE_DIR}) \
  && cd ${CCACHE_DIR_PARENT} \
- && tar -czf /${CCACHE_TAR_NAME}.tar.gz ${CCACHE_DIR_NAME} \
+ && tar -caf /${CCACHE_TAR_NAME}.tar.xz ${CCACHE_DIR_NAME} \
  && if [ "${PACKAGE}" = "ON" ]; then mv /root/Open3D/build/package/open3d-devel*.tar.xz /; fi \
  && if [ "${PACKAGE}" = "VIEWER" ]; then mv /root/Open3D/build/package-Open3DViewer-deb/open3d-viewer-*-Linux.deb /; fi \
  && ls -alh /
diff --git a/docker/Dockerfile.wheel b/docker/Dockerfile.wheel
index 25372da258d..eb60286b620 100644
--- a/docker/Dockerfile.wheel
+++ b/docker/Dockerfile.wheel
@@ -76,11 +76,11 @@ RUN CCACHE_DIR=$(ccache -p | grep cache_dir | grep -oE "[^ ]+$") \
  && CCACHE_DIR_PARENT=$(dirname ${CCACHE_DIR}) \
  && mkdir -p ${CCACHE_DIR_PARENT} \
  && cd ${CCACHE_DIR_PARENT} \
- && (wget -q https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.gz || true) \
- && if [ -f ${CCACHE_TAR_NAME}.tar.gz ]; then tar -xf ${CCACHE_TAR_NAME}.tar.gz; fi
+ && (wget -q https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.xz https://storage.googleapis.com/open3d-ci-cache/${CCACHE_TAR_NAME}.tar.gz || true) \
+ && if [ -f ${CCACHE_TAR_NAME}.tar.?z ]; then tar -xf ${CCACHE_TAR_NAME}.tar.?z; fi
 # We need to set ccache size explicitly with -M, otherwise the default size is
 # *not* determined by ccache's default, but the downloaded ccache file's config.
-RUN ccache -M 5G \
+RUN ccache -M 4G \
  && ccache -s
 
 # Miniconda
@@ -141,6 +141,6 @@ RUN ccache -s \
  && CCACHE_DIR_NAME=$(basename ${CCACHE_DIR}) \
  && CCACHE_DIR_PARENT=$(dirname ${CCACHE_DIR}) \
  && cd ${CCACHE_DIR_PARENT} \
- && tar -czf /${CCACHE_TAR_NAME}.tar.gz ${CCACHE_DIR_NAME}
+ && tar -caf /${CCACHE_TAR_NAME}.tar.xz ${CCACHE_DIR_NAME}
 
 RUN echo "Docker build done."
diff --git a/docker/docker_build.sh b/docker/docker_build.sh
index 56cc75fb030..e6c22bb10df 100755
--- a/docker/docker_build.sh
+++ b/docker/docker_build.sh
@@ -225,9 +225,9 @@ cuda_wheel_build() {
     python_package_dir=/root/Open3D/build/lib/python_package
     docker run -v "${PWD}:/opt/mount" --rm open3d-ci:wheel \
         bash -c "cp ${python_package_dir}/pip_package/open3d*.whl /opt/mount \
-              && cp /${CCACHE_TAR_NAME}.tar.gz /opt/mount \
+              && cp /${CCACHE_TAR_NAME}.tar.xz /opt/mount \
               && chown $(id -u):$(id -g) /opt/mount/open3d*.whl \
-              && chown $(id -u):$(id -g) /opt/mount/${CCACHE_TAR_NAME}.tar.gz"
+              && chown $(id -u):$(id -g) /opt/mount/${CCACHE_TAR_NAME}.tar.xz"
 }
 
 ci_build() {
@@ -417,7 +417,7 @@ cpu-shared-release_export_env() {
     export BASE_IMAGE=ubuntu:20.04
     export DEVELOPER_BUILD=OFF
     export CCACHE_TAR_NAME=open3d-ci-cpu
-    export PYTHON_VERSION=3.12   # no TF versions after 2.13.2 for Python 3.8
+    export PYTHON_VERSION=3.12 # no TF versions after 2.13.2 for Python 3.8
     export BUILD_SHARED_LIBS=ON
     export BUILD_CUDA_MODULE=OFF
     # TODO: tensorflow tests moved here till PyTorch supports cxx11_abi
diff --git a/python/test/open3d_test.py b/python/test/open3d_test.py
index f72a14ec58d..21fb7bf9c51 100755
--- a/python/test/open3d_test.py
+++ b/python/test/open3d_test.py
@@ -20,14 +20,15 @@ def list_devices(enable_cuda=True, enable_sycl=False):
     Returns a list of devices that are available for Open3D to use:
     - Device("CPU:0")
     - Device("CUDA:0") if built with CUDA support and a CUDA device is available.
-    - Device("SYCL:0") if built with SYCL support and a SYCL device is available.
+    - Device("SYCL:0") if built with SYCL support and a SYCL GPU device is available.
     """
     import open3d as o3d
 
     devices = [o3d.core.Device("CPU:0")]
     if enable_cuda and o3d.core.cuda.device_count() > 0:
         devices.append(o3d.core.Device("CUDA:0"))
-    if enable_sycl and o3d.core.sycl.is_available():
+    # Ignore fallback SYCL CPU device
+    if enable_sycl and len(o3d.core.sycl.get_available_devices()) > 1:
         devices.append(o3d.core.Device("SYCL:0"))
     return devices
 
diff --git a/python/test/t/geometry/test_raycasting_scene.py b/python/test/t/geometry/test_raycasting_scene.py
index 7820ff3e31c..2164f96d6fe 100755
--- a/python/test/t/geometry/test_raycasting_scene.py
+++ b/python/test/t/geometry/test_raycasting_scene.py
@@ -403,25 +403,58 @@ def test_sphere_wrong_occupancy():
 
     occupancy = scene.compute_occupancy(query_points)
     expected = np.array(
-        [[[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
-          [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
-          [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]],
-         [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 1.0, 1.0, 0.0, 0.0],
-          [0.0, 1.0, 1.0, 1.0, 1.0, 0.0], [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
-          [0.0, 0.0, 1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]],
-         [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
-          [0.0, 1.0, 1.0, 1.0, 1.0, 0.0], [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
-          [0.0, 1.0, 1.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]],
-         [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
-          [0.0, 1.0, 1.0, 1.0, 1.0, 0.0], [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
-          [0.0, 1.0, 1.0, 1.0, 1.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]],
-         [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 1.0, 1.0, 0.0, 0.0],
-          [0.0, 1.0, 1.0, 1.0, 1.0, 0.0], [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
-          [0.0, 0.0, 1.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]],
-         [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
-          [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
-          [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]],
-        dtype=np.float32)
+        [
+            [
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+            ],
+            [
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 1.0, 1.0, 0.0, 0.0],
+                [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
+                [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
+                [0.0, 0.0, 1.0, 1.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+            ],
+            [
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
+                [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
+                [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
+                [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+            ],
+            [
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
+                [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
+                [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
+                [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+            ],
+            [
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 1.0, 1.0, 0.0, 0.0],
+                [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
+                [0.0, 1.0, 1.0, 1.0, 1.0, 0.0],
+                [0.0, 0.0, 1.0, 1.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+            ],
+            [
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+            ],
+        ],
+        dtype=np.float32,
+    )
     np.testing.assert_equal(occupancy.numpy(), expected)
 
     # we should get the same result with more samples
diff --git a/util/ci_utils.sh b/util/ci_utils.sh
index 5ba30b071dc..1adb4b7d8c5 100644
--- a/util/ci_utils.sh
+++ b/util/ci_utils.sh
@@ -50,7 +50,7 @@ install_python_dependencies() {
     if [[ "with-cuda" =~ ^($options)$ ]]; then
         TF_ARCH_NAME=tensorflow
         TF_ARCH_DISABLE_NAME=tensorflow-cpu
-        CUDA_VER=$(nvcc --version | grep "release " | cut -c33-37 | sed 's|[^0-9]||g')    # e.g.: 117, 118, 121, ...
+        CUDA_VER=$(nvcc --version | grep "release " | cut -c33-37 | sed 's|[^0-9]||g') # e.g.: 117, 118, 121, ...
         TORCH_GLNX="torch==${TORCH_VER}+cu${CUDA_VER}"
     else
         # tensorflow-cpu wheels for macOS arm64 are not available
@@ -260,14 +260,16 @@ test_wheel() {
     #     find "$DLL_PATH"/cpu/ -type f -execdir otool -L {} \;
     # fi
     echo
-    if [ "$BUILD_PYTORCH_OPS" == ON ]; then
+    if python -c "import sys, open3d; sys.exit(not open3d._build_config['BUILD_PYTORCH_OPS'])"; then
+        BUILD_PYTORCH_OPS=ON
         python -m pip install -r "$OPEN3D_ML_ROOT/requirements-torch.txt"
-        python  -W default -c \
+        python -W default -c \
             "import open3d.ml.torch; print('PyTorch Ops library loaded:', open3d.ml.torch._loaded)"
     fi
-    if [ "$BUILD_TENSORFLOW_OPS" == ON ]; then
+    if python -c "import sys, open3d; sys.exit(not open3d._build_config['BUILD_TENSORFLOW_OPS'])"; then
+        BUILD_TENSORFLOW_OPS=ON
         python -m pip install -r "$OPEN3D_ML_ROOT/requirements-tensorflow.txt"
-        python  -W default -c \
+        python -W default -c \
             "import open3d.ml.tf.ops; print('TensorFlow Ops library loaded:', open3d.ml.tf.ops)"
     fi
     if [ "$BUILD_TENSORFLOW_OPS" == ON ] && [ "$BUILD_PYTORCH_OPS" == ON ]; then