diff --git a/.github/workflows/build-rust.yml b/.github/workflows/build-rust.yml
index 8621a569..c8c0f33f 100644
--- a/.github/workflows/build-rust.yml
+++ b/.github/workflows/build-rust.yml
@@ -15,35 +15,27 @@ jobs:
           - artifact-name: Rust Native - Windows x86_64 (CasADi)
             optimizer_backend: casadi
             os: windows-2022
-            rust-target: x86_64-pc-windows-gnu
           - artifact-name: Rust Native - macOS x86_64 (CasADi)
             optimizer_backend: casadi
             os: macOS-13
-            rust-target: x86_64-apple-darwin
           - artifact-name: Rust Native - macOS arm64 (CasADi)
             optimizer_backend: casadi
             os: macOS-14
-            rust-target: aarch64-apple-darwin
           - artifact-name: Rust Native - Linux x86_64 (CasADi)
             optimizer_backend: casadi
             os: ubuntu-latest
-            rust-target: x86_64-unknown-linux-gnu
           - artifact-name: Rust Native - Windows x86_64 (Sleipnir)
             optimizer_backend: sleipnir
             os: windows-2022
-            rust-target: x86_64-pc-windows-msvc
           - artifact-name: Rust Native - macOS x86_64 (Sleipnir)
             optimizer_backend: sleipnir
             os: macOS-13
-            rust-target: x86_64-apple-darwin
           - artifact-name: Rust Native - macOS arm64 (Sleipnir)
             optimizer_backend: sleipnir
             os: macOS-14
-            rust-target: aarch64-apple-darwin
           - artifact-name: Rust Native - Linux x86_64 (Sleipnir)
             optimizer_backend: sleipnir
             os: ubuntu-latest
-            rust-target: x86_64-unknown-linux-gnu
 
     name: "${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
@@ -51,21 +43,22 @@ jobs:
     steps:
       - uses: actions/checkout@v4
 
+      - name: Set to Windows GNU Rust Toolchain
+        if: matrix.os == 'windows-2022' && matrix.optimizer_backend == 'casadi'
+        run: |
+          rustup install 1.69-gnu
+          rustup default 1.69-gnu
+
       - name: Set up MinGW
         if: matrix.os == 'windows-2022' && matrix.optimizer_backend == 'casadi'
         run: |
           choco upgrade mingw --version=11.2.0 -y --no-progress --allow-downgrade
           echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw64\bin >> $env:GITHUB_PATH
 
-      - name: Set up Rust
-        uses: hecrj/setup-rust-action@v1
-        with:
-          targets: ${{matrix.rust-target}}
-
       - name: Build Rust
         working-directory: rust
-        run: cargo build --target ${{ matrix.rust-target }} --features ${{ matrix.optimizer_backend }}
+        run: cargo build --features ${{ matrix.optimizer_backend }}
 
       - name: Run Rust
         working-directory: rust
-        run: cargo run --example swerve --target ${{ matrix.rust-target }} --features ${{ matrix.optimizer_backend }}
+        run: cargo run --example swerve --features ${{ matrix.optimizer_backend }}
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 483c5647..99359862 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -15,15 +15,15 @@ jobs:
         include:
           - artifact-name: Native - Windows (CasADi)
             # FIXME: Tests give "Exit code 0xc0000135" for missing DLLs
-            cmake-flags: "-G \"MinGW Makefiles\" -DCMAKE_CXX_COMPILER=x86_64-w64-mingw32-g++ -DBUILD_TESTING=OFF"
+            cmake-flags: "-G \"MinGW Makefiles\" -DBUILD_TESTING=OFF"
             optimizer_backend: casadi
             os: windows-2022
           - artifact-name: Native - macOS x86_64 (CasADi)
-            cmake-flags: "-DCMAKE_APPLE_SILICON_PROCESSOR=x86_64"
+            cmake-flags:
             optimizer_backend: casadi
             os: macOS-13
           - artifact-name: Native - macOS arm64 (CasADi)
-            cmake-flags: "-DCMAKE_APPLE_SILICON_PROCESSOR=arm64"
+            cmake-flags:
             optimizer_backend: casadi
             os: macOS-14
           - artifact-name: Native - Linux (CasADi)
diff --git a/cmake/modules/FetchCasADi.cmake b/cmake/modules/FetchCasADi.cmake
index 17e05b15..2a84ca96 100644
--- a/cmake/modules/FetchCasADi.cmake
+++ b/cmake/modules/FetchCasADi.cmake
@@ -26,10 +26,7 @@ macro(fetch_casadi)
         )
         set(CASADI_INSTALL_DEST "bin")
     elseif(APPLE)
-        if(
-            CMAKE_APPLE_SILICON_PROCESSOR MATCHES "arm64"
-            OR CMAKE_OSX_ARCHITECTURES MATCHES "arm64"
-        )
+        if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm64")
             message(STATUS "Building for macOS arm64")
             set(CASADI_URL
                 https://github.com/casadi/casadi/releases/download/3.6.4/casadi-3.6.4-osx_arm64-py311.zip
@@ -45,10 +42,7 @@ macro(fetch_casadi)
                 ${CASADI_LIBDIR}/libquadmath.0.dylib
                 ${CASADI_LIBDIR}/libgcc_s.1.1.dylib
             )
-        elseif(
-            CMAKE_APPLE_SILICON_PROCESSOR MATCHES "x86_64"
-            OR CMAKE_OSX_ARCHITECTURES MATCHES "x86_64"
-        )
+        elseif(${CMAKE_SYSTEM_PROCESSOR} MATCHES "x86_64")
             message(STATUS "Building for macOS x86_64")
             set(CASADI_URL
                 https://github.com/casadi/casadi/releases/download/3.6.4/casadi-3.6.4-osx64-py311.zip
diff --git a/cmake/modules/InstallJavaLibs.cmake b/cmake/modules/InstallJavaLibs.cmake
index c8f9a8f8..6e53601f 100644
--- a/cmake/modules/InstallJavaLibs.cmake
+++ b/cmake/modules/InstallJavaLibs.cmake
@@ -13,9 +13,9 @@ macro(installjavalibs)
             set(JAVA_LIB_TARGET_PATH ${JAVA_LIB_TARGET_PATH}/windows/x86)
         endif()
     elseif(APPLE)
-        if(CMAKE_APPLE_SILICON_PROCESSOR MATCHES "arm64")
+        if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm64")
             set(JAVA_LIB_TARGET_PATH ${JAVA_LIB_TARGET_PATH}/osx/arm64)
-        elseif(CMAKE_APPLE_SILICON_PROCESSOR MATCHES "x86_64")
+        elseif(${CMAKE_SYSTEM_PROCESSOR} MATCHES "x86_64")
             set(JAVA_LIB_TARGET_PATH ${JAVA_LIB_TARGET_PATH}/osx/x86_64)
         endif()
     elseif(UNIX)
diff --git a/node/CMakeLists.txt b/node/CMakeLists.txt
index fcdc95f2..11c83141 100644
--- a/node/CMakeLists.txt
+++ b/node/CMakeLists.txt
@@ -28,7 +28,6 @@ target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_JS_INC})
 target_link_libraries(${PROJECT_NAME} ${CMAKE_JS_LIB})
 
 set(OPTIMIZER_BACKEND casadi)
-set(CMAKE_APPLE_SILICON_PROCESSOR arm64)
 add_subdirectory(
     ${CMAKE_CURRENT_SOURCE_DIR}/..
     ${CMAKE_CURRENT_SOURCE_DIR}/../build