diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
index 9fa3ba7da6c..5b9ee7c3920 100644
--- a/.github/ISSUE_TEMPLATE/bug_report.md
+++ b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -2,10 +2,11 @@
 name: Bug report
 about: Report a bug
 labels: bug
+
 ---
 
 <!-- If you're not sure whether your problem is a bug, please ask a question at
-http://answers.gazebosim.org instead.-->
+https://robotics.stackexchange.com instead.-->
 
 ## Environment
 * OS Version: <!-- e.g, Ubuntu 20.04 -->
diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md
index 87233a479a5..72ed73ad9a8 100644
--- a/.github/ISSUE_TEMPLATE/feature_request.md
+++ b/.github/ISSUE_TEMPLATE/feature_request.md
@@ -2,11 +2,12 @@
 name: Feature request
 about: Request a new feature
 labels: enhancement
+
 ---
 
 <!-- If you're not sure on the specifics of the feature or would like a broader
 discussion, please consider posting a proposal to
-http://community.gazebosim.org/ instead.-->
+https://robotics.stackexchange.com instead.-->
 
 ## Desired behavior
 <!-- Describe the current problem and the feature you want implemented.-->
diff --git a/src/Util_TEST.cc b/src/Util_TEST.cc
index 6cc56dbd1b1..b1aca1def78 100644
--- a/src/Util_TEST.cc
+++ b/src/Util_TEST.cc
@@ -17,6 +17,8 @@
 
 #include <gtest/gtest.h>
 #include <gz/common/Console.hh>
+#include <gz/common/testing/TestPaths.hh>
+sfe
 #include <sdf/Actor.hh>
 #include <sdf/Light.hh>
 #include <sdf/Types.hh>
diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
index 33e3db42241..060508feb03 100644
--- a/src/systems/physics/Physics.cc
+++ b/src/systems/physics/Physics.cc
@@ -774,7 +774,7 @@ void Physics::Configure(const Entity &_entity,
   // 3. Use DART by default
   if (pluginLib.empty())
   {
-    pluginLib = "gz-physics-dartsim-plugin";
+    pluginLib = "gz::physics::dartsim::Plugin";
   }
 
   // Deprecated: accept ignition-prefixed engines
@@ -806,58 +806,10 @@ void Physics::Configure(const Entity &_entity,
       "include_entity_names", true).first;
   }
 
-  // Find engine shared library
-  // Look in:
-  // * Paths from environment variable
-  // * Engines installed with gz-physics
-  common::SystemPaths systemPaths;
-  systemPaths.SetPluginPathEnv(this->dataPtr->pluginPathEnv);
-  systemPaths.AddPluginPaths(gz::physics::getEngineInstallDir());
-
-  auto pathToLib = systemPaths.FindSharedLibrary(pluginLib);
-  if (pathToLib.empty())
-  {
-    // Try deprecated environment variable
-    // TODO(CH3): Deprecated. Remove on tock.
-    common::SystemPaths systemPathsDep;
-    systemPathsDep.SetPluginPathEnv(this->dataPtr->pluginPathEnvDeprecated);
-    pathToLib = systemPathsDep.FindSharedLibrary(pluginLib);
-
-    if (pathToLib.empty())
-    {
-      gzerr << "Failed to find plugin [" << pluginLib
-      << "]. Have you checked the " << this->dataPtr->pluginPathEnv
-      << " environment variable?" << std::endl;
-
-      return;
-    }
-    else
-    {
-      gzwarn << "Found plugin [" << pluginLib
-             << "] using deprecated environment variable ["
-             << this->dataPtr->pluginPathEnvDeprecated << "]. Please use ["
-             << this->dataPtr->pluginPathEnv << "] instead." << std::endl;
-    }
-  }
-
   // Load engine plugin
   plugin::Loader pluginLoader;
-  auto plugins = pluginLoader.LoadLib(pathToLib);
-  if (plugins.empty())
-  {
-    gzerr << "Unable to load the [" << pathToLib << "] library.\n";
-    return;
-  }
 
-  auto classNames = pluginLoader.PluginsImplementing<
-      physics::ForwardStep::Implementation<
-      physics::FeaturePolicy3d>>();
-  if (classNames.empty())
-  {
-    gzerr << "No physics plugins found in library [" << pathToLib << "]."
-           << std::endl;
-    return;
-  }
+  std::vector<std::string> classNames = {pluginLib};
 
   // Get the first plugin that works
   for (auto className : classNames)
@@ -866,8 +818,7 @@ void Physics::Configure(const Entity &_entity,
 
     if (!plugin)
     {
-      gzwarn << "Failed to instantiate [" << className << "] from ["
-              << pathToLib << "]" << std::endl;
+      gzwarn << "Failed to instantiate [" << className << "]" << std::endl;
       continue;
     }
 
@@ -877,8 +828,7 @@ void Physics::Configure(const Entity &_entity,
 
     if (nullptr != this->dataPtr->engine)
     {
-      gzdbg << "Loaded [" << className << "] from library ["
-             << pathToLib << "]" << std::endl;
+      gzdbg << "Loaded [" << className << "]" << std::endl;
       break;
     }
 
@@ -898,9 +848,7 @@ void Physics::Configure(const Entity &_entity,
 
   if (nullptr == this->dataPtr->engine)
   {
-    gzerr << "Failed to load a valid physics engine from [" << pathToLib
-           << "]."
-           << std::endl;
+    gzerr << "Failed to load a valid physics engine." << std::endl;
     return;
   }