diff --git a/Formula/ignition-physics5.rb b/Formula/ignition-physics5.rb
index f6b747bdd..d2a46ba3f 100644
--- a/Formula/ignition-physics5.rb
+++ b/Formula/ignition-physics5.rb
@@ -4,19 +4,21 @@ class IgnitionPhysics5 < Formula
   url "https://osrf-distributions.s3.amazonaws.com/ign-physics/releases/ignition-physics5-5.3.2.tar.bz2"
   sha256 "4262512fbb6952712234c5cbeed69cdabca338931bb6c587a1ef7d487a5f262b"
   license "Apache-2.0"
-  revision 1
+  revision 2
 
   head "https://github.com/gazebosim/gz-physics.git", branch: "ign-physics5"
 
   bottle do
     root_url "https://osrf-distributions.s3.amazonaws.com/bottles-simulation"
-    sha256 cellar: :any, ventura:  "3493a87d1120ffbf9214263f3bf2db615f932b72a75984d2d95011860e81cb8d"
-    sha256 cellar: :any, monterey: "58beb1a2a04067bd51db1f412ca0e02360ad7f1ed737aab980d5441f2c0b9db1"
-    sha256 cellar: :any, big_sur:  "c9b119681bdf174676192cfdc86a7bc628f3a1b55e97546ed4c58d6a1c2048b3"
+    sha256 cellar: :any, ventura:  "ac9d10fedc61d2b9db49969c19e07c0687b4607d1916bab49be57a7a347e7a57"
+    sha256 cellar: :any, monterey: "2365a03533b6c0d30394f55b9d3686adb8b04df50de2186688b2fc41b57f18da"
+    sha256 cellar: :any, big_sur:  "4bb15f5e986a956abf3a9cc4a667eea5c01070a505c8a02028a62afb2a01d007"
   end
 
   depends_on "cmake" => :build
 
+  depends_on "gz-plugin2" => :test
+
   depends_on "bullet"
   depends_on "dartsim"
   depends_on "google-benchmark"
@@ -36,9 +38,13 @@ class IgnitionPhysics5 < Formula
   end
 
   def install
+    rpaths = [
+      rpath,
+      rpath(source: lib/"ign-physics-5/engine-plugins", target: lib),
+    ]
     cmake_args = std_cmake_args
     cmake_args << "-DBUILD_TESTING=OFF"
-    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpath}"
+    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpaths.join(";")}"
 
     mkdir "build" do
       system "cmake", "..", *cmake_args
@@ -47,6 +53,20 @@ def install
   end
 
   test do
+    # test plugins in subfolders
+    %w[bullet dartsim tpe].each do |engine|
+      p = lib/"ign-physics-5/engine-plugins/libignition-physics-#{engine}-plugin.dylib"
+      # Use gz-plugin --info command to check plugin linking
+      cmd = Formula["gz-plugin2"].opt_libexec/"gz/plugin2/gz-plugin"
+      args = ["--info", "--plugin"] << p
+      # print command and check return code
+      system cmd, *args
+      # check that library was loaded properly
+      _, stderr = system_command(cmd, args: args)
+      error_string = "Error while loading the library"
+      assert stderr.exclude?(error_string), error_string
+    end
+    # build against API
     (testpath/"test.cpp").write <<-EOS
       #include "ignition/plugin/Loader.hh"
       #include "ignition/physics/ConstructEmpty.hh"
@@ -64,6 +84,15 @@ def install
         return engine == nullptr;
       }
     EOS
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+      find_package(ignition-physics5 REQUIRED)
+      find_package(ignition-plugin1 REQUIRED COMPONENTS all)
+      add_executable(test_cmake test.cpp)
+      target_link_libraries(test_cmake
+          ignition-physics5::ignition-physics5
+          ignition-plugin1::loader)
+    EOS
     system "pkg-config", "ignition-physics5"
     cflags   = `pkg-config --cflags ignition-physics5`.split
     ldflags  = `pkg-config --libs ignition-physics5`.split
@@ -77,8 +106,13 @@ def install
                    *loader_ldflags,
                    "-lc++",
                    "-o", "test"
-    # Disable test due to gazebosim/gz-physics#442
-    # system "./test"
+    system "./test"
+    # test building with cmake
+    mkdir "build" do
+      system "cmake", ".."
+      system "make"
+      system "./test_cmake"
+    end
     # check for Xcode frameworks in bottle
     cmd_not_grep_xcode = "! grep -rnI 'Applications[/]Xcode' #{prefix}"
     system cmd_not_grep_xcode
diff --git a/Formula/ignition-transport11.rb b/Formula/ignition-transport11.rb
index ab7cb997c..28187d3f9 100644
--- a/Formula/ignition-transport11.rb
+++ b/Formula/ignition-transport11.rb
@@ -4,16 +4,16 @@ class IgnitionTransport11 < Formula
   url "https://osrf-distributions.s3.amazonaws.com/ign-transport/releases/ignition-transport11-11.4.1.tar.bz2"
   sha256 "f18501cbd5c78b584b3db1960a3049d6ae416bab7f0289af64eadda13d1c5da5"
   license "Apache-2.0"
-  revision 3
+  revision 4
   version_scheme 1
 
   head "https://github.com/gazebosim/gz-transport.git", branch: "ign-transport11"
 
   bottle do
     root_url "https://osrf-distributions.s3.amazonaws.com/bottles-simulation"
-    sha256 ventura:  "b53196b78408ba553eeb7daa2474e9607d57417cbb8cb842b13f42d4a97c2c4a"
-    sha256 monterey: "0cb5f2a96834eb7eb40c718038864e29ea70618aaac56af82f79e9f8c2ee490c"
-    sha256 big_sur:  "cd33798169761ad6a6750bb6f5003c12b361c25ddba3a91412671e1f802f6f3c"
+    sha256 ventura:  "adbac4b7cf0afc45d52fae7a6c3aef9c39764ace064d1a96687dc487bbd9ed30"
+    sha256 monterey: "084ee9a5ef1af37ae0640064294fdad9a87849f8254570de7bdfac0d8a377fa2"
+    sha256 big_sur:  "0edb3f21e239c71024a0b61dd92f16d0f20cdaab2b3f3723451bbf7bd1f5b0e6"
   end
 
   depends_on "doxygen" => [:build, :optional]
@@ -31,9 +31,13 @@ class IgnitionTransport11 < Formula
   depends_on "zeromq"
 
   def install
+    rpaths = [
+      rpath,
+      rpath(source: libexec/"gz/transport11", target: lib),
+    ]
     cmake_args = std_cmake_args
     cmake_args << "-DBUILD_TESTING=Off"
-    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpath}"
+    cmake_args << "-DCMAKE_INSTALL_RPATH=#{rpaths.join(";")}"
 
     mkdir "build" do
       system "cmake", "..", *cmake_args
@@ -42,6 +46,10 @@ def install
   end
 
   test do
+    # test CLI executables
+    system libexec/"gz/transport11/ign-transport-service"
+    system libexec/"gz/transport11/ign-transport-topic"
+    # build against API
     (testpath/"test.cpp").write <<-EOS
       #include <iostream>
       #include <ignition/transport.hh>