diff --git a/.github/workflows/alpine-build.yml b/.github/workflows/alpine-build.yml
index 6317d4309..633f966c2 100644
--- a/.github/workflows/alpine-build.yml
+++ b/.github/workflows/alpine-build.yml
@@ -19,7 +19,12 @@ jobs:
         run: apk add --no-cache build-base cmake linux-headers git
       - uses: actions/checkout@v6
       - name: configure
-        run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DCMAKE_COMPILE_WARNING_AS_ERROR=ON
+        run: >
+          mkdir build &&
+          cd build &&
+          cmake ..
+          -DBUILDING_TESTS=1
+          -DCMAKE_COMPILE_WARNING_AS_ERROR=ON
       - name: build
         run: cmake --build build --config Debug
       - name: test
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 3d6486cee..033b80cf2 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -12,7 +12,7 @@ jobs:
   build:
     timeout-minutes: 60
     runs-on: ubuntu-latest
-    name: build (${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}})
+    name: build ${{matrix.env.cc}}(${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}})
     strategy:
       fail-fast: false
       matrix:
@@ -20,21 +20,38 @@ jobs:
           - ROBOT_MODEL: 'ur5'
             URSIM_VERSION: '3.14.3'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3'
+            cc: gcc
+            cxx: g++
           - ROBOT_MODEL: 'ur5e'
             URSIM_VERSION: '5.9.4'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
+            cc: gcc
+            cxx: g++
           - ROBOT_MODEL: 'ur20'
             URSIM_VERSION: 'latest'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
+            cc: gcc
+            cxx: g++
+          - ROBOT_MODEL: 'ur16e'
+            URSIM_VERSION: '5.12.6'
+            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
+            cc: clang
+            cxx: clang++
           - ROBOT_MODEL: 'ur5e'
             URSIM_VERSION: '10.7.0'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
+            cc: gcc
+            cxx: g++
           - ROBOT_MODEL: 'ur5e'
             URSIM_VERSION: '10.11.0'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
+            cc: gcc
+            cxx: g++
           - ROBOT_MODEL: 'ur5e'
             URSIM_VERSION: '10.12.0'
             PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
+            cc: gcc
+            cxx: g++
 
     steps:
       - uses: actions/checkout@v6
@@ -67,6 +84,8 @@ jobs:
           -DWITH_ASAN=ON
           -DPRIMARY_CLIENT_STRICT_PARSING=ON
           -DCMAKE_COMPILE_WARNING_AS_ERROR=ON
+          -DCMAKE_C_COMPILER=${{ matrix.env.cc }}
+          -DCMAKE_CXX_COMPILER=${{ matrix.env.cxx }}
         env:
           CXXFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
           CFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 99db15ba2..593f50f13 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -8,7 +8,7 @@ include(FetchContent)
 FetchContent_Declare(
   googletest
   GIT_REPOSITORY https://github.com/google/googletest.git
-  GIT_TAG        v1.15.2
+  GIT_TAG        v1.17.0
 )
 # For Windows: Prevent overriding the parent project's compiler/linker settings
 set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
diff --git a/tests/fake_rtde_server.h b/tests/fake_rtde_server.h
index b34eec510..a621f8331 100644
--- a/tests/fake_rtde_server.h
+++ b/tests/fake_rtde_server.h
@@ -33,11 +33,11 @@ class RTDEServer
 
   std::thread send_thread_;
 
-  virtual void connectionCallback(const socket_t filedescriptor);
+  void connectionCallback(const socket_t filedescriptor);
 
-  virtual void disconnectionCallback(const socket_t filedescriptor);
+  void disconnectionCallback(const socket_t filedescriptor);
 
-  virtual void messageCallback(const socket_t filedescriptor, char* buffer, int nbytesrecv);
+  void messageCallback(const socket_t filedescriptor, char* buffer, int nbytesrecv);
 
   void sendDataLoop();
   std::atomic<bool> send_loop_running_;
diff --git a/tests/test_deprecated_ur_driver_construction.cpp b/tests/test_deprecated_ur_driver_construction.cpp
index 41a29e519..31c7c62ba 100644
--- a/tests/test_deprecated_ur_driver_construction.cpp
+++ b/tests/test_deprecated_ur_driver_construction.cpp
@@ -33,6 +33,14 @@
 #include <thread>
 #include "ur_client_library/ur/ur_driver.h"
 
+// This file adds tests for deprecated constructors of UrDriver. To avoid a compiler warning in CI
+// we suppress the warning inside this file / compilation unit.
+#ifdef _MSC_VER
+#  pragma warning(disable : 4996)
+#else
+#  pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#endif
+
 const std::string SCRIPT_FILE = "../resources/external_control.urscript";
 const std::string OUTPUT_RECIPE = "resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "resources/rtde_input_recipe.txt";