diff --git a/benchmarks/AutomaticDifferentiationSparse/BrusselatorSparseAD.jmd b/benchmarks/AutomaticDifferentiationSparse/BrusselatorSparseAD.jmd
new file mode 100644
index 000000000..cd3fd4006
--- /dev/null
+++ b/benchmarks/AutomaticDifferentiationSparse/BrusselatorSparseAD.jmd
@@ -0,0 +1,284 @@
+---
+title: Brusselator sparse AD benchmarks
+author: Guillaume Dalle
+---
+
+```julia
+using ADTypes
+using LinearAlgebra, SparseArrays
+using BenchmarkTools, DataFrames
+import DifferentiationInterface as DI
+using Plots
+import SparseDiffTools as SDT
+using SparseConnectivityTracer: TracerSparsityDetector
+using SparseMatrixColorings: GreedyColoringAlgorithm
+using Symbolics: SymbolicsSparsityDetector
+using Test
+```
+
+## Definitions
+
+```julia
+brusselator_f(x, y, t) = (((x - 0.3)^2 + (y - 0.6)^2) <= 0.1^2) * (t >= 1.1) * 5.0
+
+limit(a, N) =
+    if a == N + 1
+        1
+    elseif a == 0
+        N
+    else
+        a
+    end;
+
+function brusselator_2d!(du, u)
+    t = 0.0
+    N = size(u, 1)
+    xyd = range(0; stop=1, length=N)
+    p = (3.4, 1.0, 10.0, step(xyd))
+    A, B, alpha, dx = p
+    alpha = alpha / dx^2
+
+    @inbounds for I in CartesianIndices((N, N))
+        i, j = Tuple(I)
+        x, y = xyd[I[1]], xyd[I[2]]
+        ip1, im1, jp1, jm1 = limit(i + 1, N),
+        limit(i - 1, N), limit(j + 1, N),
+        limit(j - 1, N)
+        du[i, j, 1] =
+            alpha *
+            (u[im1, j, 1] + u[ip1, j, 1] + u[i, jp1, 1] + u[i, jm1, 1] - 4u[i, j, 1]) +
+            B +
+            u[i, j, 1]^2 * u[i, j, 2] - (A + 1) * u[i, j, 1] + brusselator_f(x, y, t)
+        du[i, j, 2] =
+            alpha *
+            (u[im1, j, 2] + u[ip1, j, 2] + u[i, jp1, 2] + u[i, jm1, 2] - 4u[i, j, 2]) +
+            A * u[i, j, 1] - u[i, j, 1]^2 * u[i, j, 2]
+    end
+end;
+
+function init_brusselator_2d(N::Integer)
+    xyd = range(0; stop=1, length=N)
+    N = length(xyd)
+    u = zeros(N, N, 2)
+    for I in CartesianIndices((N, N))
+        x = xyd[I[1]]
+        y = xyd[I[2]]
+        u[I, 1] = 22 * (y * (1 - y))^(3 / 2)
+        u[I, 2] = 27 * (x * (1 - x))^(3 / 2)
+    end
+    return u
+end;
+```
+
+## Correctness
+
+```julia
+x0_32 = init_brusselator_2d(32);
+```
+
+### Sparsity detection
+
+```julia
+S1 = ADTypes.jacobian_sparsity(
+    brusselator_2d!, similar(x0_32), x0_32, TracerSparsityDetector()
+)
+S2 = ADTypes.jacobian_sparsity(
+    brusselator_2d!, similar(x0_32), x0_32, SymbolicsSparsityDetector()
+)
+@test S1 == S2
+```
+
+### Coloring
+
+```julia
+c1 = ADTypes.column_coloring(S1, GreedyColoringAlgorithm())
+c2 = SDT.matrix_colors(S1)
+@test c1 == c2
+```
+
+### Differentiation
+
+```julia
+backend = AutoSparse(
+    AutoForwardDiff();
+    sparsity_detector=TracerSparsityDetector(),
+    coloring_algorithm=GreedyColoringAlgorithm(),
+);
+
+extras = DI.prepare_jacobian(brusselator_2d!, similar(x0_32), backend, x0_32);
+J1 = DI.jacobian!(
+    brusselator_2d!, similar(x0_32), similar(S1, eltype(x0_32)), backend, x0_32, extras
+)
+
+cache = SDT.sparse_jacobian_cache(
+    backend,
+    SDT.JacPrototypeSparsityDetection(; jac_prototype=S1),
+    brusselator_2d!,
+    similar(x0_32),
+    x0_32,
+);
+J2 = SDT.sparse_jacobian!(
+    similar(S1, eltype(x0_32)), backend, cache, brusselator_2d!, similar(x0_32), x0_32
+)
+
+@test J1 == J2
+```
+
+## Benchmarks
+
+```julia
+N_values = 2 .^ (2:8)
+```
+
+### Sparsity detection
+
+```julia
+td1, td2 = zeros(length(N_values)), zeros(length(N_values))
+for (i, N) in enumerate(N_values)
+    @info "Benchmarking sparsity detection: N=$N"
+    x0 = init_brusselator_2d(N)
+    td1[i] = @belapsed ADTypes.jacobian_sparsity(
+        $brusselator_2d!, $(similar(x0)), $x0, TracerSparsityDetector()
+    )
+    td2[i] = @belapsed ADTypes.jacobian_sparsity(
+        $brusselator_2d!, $(similar(x0)), $x0, SymbolicsSparsityDetector()
+    )
+end
+
+pld = plot(;
+    title="Sparsity detection on the Brusselator",
+    xlabel="Input size N",
+    ylabel="Runtime [s]",
+)
+plot!(
+    pld,
+    N_values,
+    td1;
+    lw=2,
+    linestyle=:auto,
+    markershape=:auto,
+    label="SparseConnectivityTracer",
+)
+plot!(pld, N_values, td2; lw=2, linestyle=:auto, markershape=:auto, label="Symbolics")
+plot!(pld; xscale=:log10, yscale=:log10, legend=:topleft, minorgrid=true)
+pld
+```
+
+### Coloring
+
+```julia
+tc1, tc2 = zeros(length(N_values)), zeros(length(N_values))
+for (i, N) in enumerate(N_values)
+    @info "Benchmarking coloring: N=$N"
+    x0 = init_brusselator_2d(N)
+    S = ADTypes.jacobian_sparsity(
+        brusselator_2d!, similar(x0), x0, TracerSparsityDetector()
+    )
+    tc1[i] = @belapsed ADTypes.column_coloring($S, GreedyColoringAlgorithm())
+    tc2[i] = @belapsed SDT.matrix_colors($S)
+end
+
+plc = plot(;
+    title="Coloring on the Brusselator", xlabel="Input size N", ylabel="Runtime [s]"
+)
+plot!(
+    plc,
+    N_values,
+    tc1;
+    lw=2,
+    linestyle=:auto,
+    markershape=:auto,
+    label="SparseMatrixColorings",
+)
+plot!(plc, N_values, tc2; lw=2, linestyle=:auto, markershape=:auto, label="SparseDiffTools")
+plot!(plc; xscale=:log10, yscale=:log10, legend=:topleft, minorgrid=true)
+plc
+```
+
+### Differentiation
+
+```julia
+tj1, tj2 = zeros(length(N_values)), zeros(length(N_values))
+for (i, N) in enumerate(N_values)
+    @info "Benchmarking differentiation: N=$N"
+    x0 = init_brusselator_2d(N)
+    S = ADTypes.jacobian_sparsity(
+        brusselator_2d!, similar(x0), x0, TracerSparsityDetector()
+    )
+    J = similar(S, eltype(x0))
+
+    tj1[i] = @belapsed DI.jacobian!($brusselator_2d!, _y, _J, $backend, $x0, _extras) setup = (
+        _y = similar($x0);
+        _J = similar($J);
+        _extras = DI.prepare_jacobian($brusselator_2d!, similar($x0), $backend, $x0)
+    ) evals = 1
+
+    tj2[i] = @belapsed SDT.sparse_jacobian!(_J, $backend, _cache, $brusselator_2d!, _y, $x0) setup = (
+        _y = similar($x0);
+        _J = similar($J);
+        _cache = SDT.sparse_jacobian_cache(
+            $backend,
+            SDT.JacPrototypeSparsityDetection(; jac_prototype=$S),
+            $brusselator_2d!,
+            similar($x0),
+            $x0,
+        )
+    ) evals = 1
+end
+
+plj = plot(;
+    title="Sparse Jacobian on the Brusselator", xlabel="Input size N", ylabel="Runtime [s]"
+)
+plot!(
+    plj,
+    N_values,
+    tj1;
+    lw=2,
+    linestyle=:auto,
+    markershape=:auto,
+    label="DifferentiationInterface",
+)
+plot!(plj, N_values, tj2; lw=2, linestyle=:auto, markershape=:auto, label="SparseDiffTools")
+plot!(plj; xscale=:log10, yscale=:log10, legend=:topleft, minorgrid=true)
+plj
+```
+
+### Summary
+
+```julia
+pl = plot(;
+    title="Is the new pipeline worth it?\nTest case: Brusselator",
+    xlabel="Input size N",
+    ylabel="Runtime ratio DI / SparseDiffTools",
+)
+plot!(
+    pl,
+    N_values,
+    td2 ./ td1;
+    lw=2,
+    linestyle=:auto,
+    markershape=:auto,
+    label="sparsity detection speedup",
+)
+plot!(
+    pl,
+    N_values,
+    tc2 ./ tc1;
+    lw=2,
+    linestyle=:auto,
+    markershape=:auto,
+    label="coloring speedup",
+)
+plot!(
+    pl,
+    N_values,
+    tj2 ./ tj1;
+    lw=2,
+    linestyle=:auto,
+    markershape=:auto,
+    label="differentiation speedup",
+)
+plot!(pl, N_values, ones(length(N_values)); lw=3, color=:black, label="same speed")
+plot!(pl; xscale=:log10, yscale=:log10, minorgrid=true, legend=:right)
+pl
+```
diff --git a/benchmarks/AutomaticDifferentiationSparse/Manifest.toml b/benchmarks/AutomaticDifferentiationSparse/Manifest.toml
new file mode 100644
index 000000000..ec04c6bc9
--- /dev/null
+++ b/benchmarks/AutomaticDifferentiationSparse/Manifest.toml
@@ -0,0 +1,1945 @@
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+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "gperf_jll"]
+git-tree-sha1 = "431b678a28ebb559d224c0b6b6d01afce87c51ba"
+uuid = "35ca27e7-8b34-5b7f-bca9-bdc33f59eb06"
+version = "3.2.9+0"
+
+[[deps.fzf_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "a68c9655fbe6dfcab3d972808f1aafec151ce3f8"
+uuid = "214eeab7-80f7-51ab-84ad-2988db7cef09"
+version = "0.43.0+0"
+
+[[deps.gperf_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
+git-tree-sha1 = "3516a5630f741c9eecb3720b1ec9d8edc3ecc033"
+uuid = "1a1c6b14-54f6-533d-8383-74cd7377aa70"
+version = "3.1.1+0"
+
+[[deps.libaom_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "1827acba325fdcdf1d2647fc8d5301dd9ba43a9d"
+uuid = "a4ae2306-e953-59d6-aa16-d00cac43593b"
+version = "3.9.0+0"
+
+[[deps.libass_jll]]
+deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl", "Pkg", "Zlib_jll"]
+git-tree-sha1 = "5982a94fcba20f02f42ace44b9894ee2b140fe47"
+uuid = "0ac62f75-1d6f-5e53-bd7c-93b484bb37c0"
+version = "0.15.1+0"
+
+[[deps.libblastrampoline_jll]]
+deps = ["Artifacts", "Libdl"]
+uuid = "8e850b90-86db-534c-a0d3-1478176c7d93"
+version = "5.8.0+1"
+
+[[deps.libevdev_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
+git-tree-sha1 = "141fe65dc3efabb0b1d5ba74e91f6ad26f84cc22"
+uuid = "2db6ffa8-e38f-5e21-84af-90c45d0032cc"
+version = "1.11.0+0"
+
+[[deps.libfdk_aac_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
+git-tree-sha1 = "daacc84a041563f965be61859a36e17c4e4fcd55"
+uuid = "f638f0a6-7fb0-5443-88ba-1cc74229b280"
+version = "2.0.2+0"
+
+[[deps.libinput_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "eudev_jll", "libevdev_jll", "mtdev_jll"]
+git-tree-sha1 = "ad50e5b90f222cfe78aa3d5183a20a12de1322ce"
+uuid = "36db933b-70db-51c0-b978-0f229ee0e533"
+version = "1.18.0+0"
+
+[[deps.libpng_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Zlib_jll"]
+git-tree-sha1 = "d7015d2e18a5fd9a4f47de711837e980519781a4"
+uuid = "b53b4c65-9356-5827-b1ea-8c7a1a84506f"
+version = "1.6.43+1"
+
+[[deps.libvorbis_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Ogg_jll", "Pkg"]
+git-tree-sha1 = "b910cb81ef3fe6e78bf6acee440bda86fd6ae00c"
+uuid = "f27f6e37-5d2b-51aa-960f-b287f2bc3b7a"
+version = "1.3.7+1"
+
+[[deps.mtdev_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
+git-tree-sha1 = "814e154bdb7be91d78b6802843f76b6ece642f11"
+uuid = "009596ad-96f7-51b1-9f1b-5ce2d5e8a71e"
+version = "1.1.6+0"
+
+[[deps.nghttp2_jll]]
+deps = ["Artifacts", "Libdl"]
+uuid = "8e850ede-7688-5339-a07c-302acd2aaf8d"
+version = "1.52.0+1"
+
+[[deps.p7zip_jll]]
+deps = ["Artifacts", "Libdl"]
+uuid = "3f19e933-33d8-53b3-aaab-bd5110c3b7a0"
+version = "17.4.0+2"
+
+[[deps.x264_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
+git-tree-sha1 = "4fea590b89e6ec504593146bf8b988b2c00922b2"
+uuid = "1270edf5-f2f9-52d2-97e9-ab00b5d0237a"
+version = "2021.5.5+0"
+
+[[deps.x265_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
+git-tree-sha1 = "ee567a171cce03570d77ad3a43e90218e38937a9"
+uuid = "dfaa095f-4041-5dcd-9319-2fabd8486b76"
+version = "3.5.0+0"
+
+[[deps.xkbcommon_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg", "Wayland_jll", "Wayland_protocols_jll", "Xorg_libxcb_jll", "Xorg_xkeyboard_config_jll"]
+git-tree-sha1 = "9c304562909ab2bab0262639bd4f444d7bc2be37"
+uuid = "d8fb68d0-12a3-5cfd-a85a-d49703b185fd"
+version = "1.4.1+1"
diff --git a/benchmarks/AutomaticDifferentiationSparse/Project.toml b/benchmarks/AutomaticDifferentiationSparse/Project.toml
new file mode 100644
index 000000000..7441c4b04
--- /dev/null
+++ b/benchmarks/AutomaticDifferentiationSparse/Project.toml
@@ -0,0 +1,32 @@
+[deps]
+ADTypes = "47edcb42-4c32-4615-8424-f2b9edc5f35b"
+BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
+DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
+DifferentiationInterface = "a0c0ee7d-e4b9-4e03-894e-1c5f64a51d63"
+ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
+LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
+Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
+PreallocationTools = "d236fae5-4411-538c-8e31-a6e3d9e00b46"
+SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
+SparseConnectivityTracer = "9f842d2f-2579-4b1d-911e-f412cf18a3f5"
+SparseDiffTools = "47a9eef4-7e08-11e9-0b38-333d64bd3804"
+SparseMatrixColorings = "0a514795-09f3-496d-8182-132a7b665d35"
+Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
+Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
+Weave = "44d3d7a6-8a23-5bf8-98c5-b353f8df5ec9"
+Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f"
+
+[compat]
+ADTypes = "1"
+BenchmarkTools = "1"
+DataFrames = "1"
+DifferentiationInterface = "0.5"
+ForwardDiff = "0.10"
+Plots = "1"
+PreallocationTools = "0.4"
+SparseConnectivityTracer = "0.5"
+SparseDiffTools = "2"
+SparseMatrixColorings = "0.3"
+Symbolics = "5"
+Weave = "0.10"
+Zygote = "0.6"
diff --git a/benchmarks/MethodOfLinesPDE/Project.toml b/benchmarks/MethodOfLinesPDE/Project.toml
index 2b93bb525..e5cf7986e 100644
--- a/benchmarks/MethodOfLinesPDE/Project.toml
+++ b/benchmarks/MethodOfLinesPDE/Project.toml
@@ -12,7 +12,7 @@ Sundials = "c3572dad-4567-51f8-b174-8c6c989267f4"
 
 [compat]
 DiffEqDevTools = "2"
-DomainSets = "0.5, 0.6"
+DomainSets = "0.5, 0.6, 0.7"
 LinearSolve = "1, 2"
 MethodOfLines = "0.9"
 ModelingToolkit = "8"
diff --git a/benchmarks/ModelingToolkit/Multibody_Robot.jmd b/benchmarks/ModelingToolkit/Multibody_Robot.jmd
index 13954afc8..c85b2c237 100644
--- a/benchmarks/ModelingToolkit/Multibody_Robot.jmd
+++ b/benchmarks/ModelingToolkit/Multibody_Robot.jmd
@@ -4,6 +4,7 @@ author: Fredrik Bagge Carlson
 ---
 
 This is a Multibody.jl model of a 6-axis industrial robot with 6 revolute joints. The first three joints are modeled as flexible. The robot is tracking a smooth, predefined reference trajectory.
+
 ```julia
 cd(@__DIR__)
 using Pkg
@@ -16,58 +17,108 @@ using JuliaSimCompiler
 using OrdinaryDiffEq
 using CairoMakie
 using Printf
+```
+
+## Setup
 
+```julia
 time_instantiate = @elapsed @named robot = Robot6DOF()
 robot = complete(robot)
 time_simplify = @elapsed ssys = structural_simplify(IRSystem(robot))
-time_prob = @elapsed prob = ODEProblem(ssys, [
-    robot.mechanics.r1.phi => deg2rad(-60)
-    robot.mechanics.r2.phi => deg2rad(20)
-    robot.mechanics.r3.phi => deg2rad(90)
-    robot.mechanics.r4.phi => deg2rad(0)
-    robot.mechanics.r5.phi => deg2rad(-110)
-    robot.mechanics.r6.phi => deg2rad(0)
-    robot.axis1.motor.Jmotor.phi => deg2rad(-60) * (-105) 
-    robot.axis2.motor.Jmotor.phi => deg2rad(20) * (210)
-    robot.axis3.motor.Jmotor.phi => deg2rad(90) * (60)
-], (0.0, 4.0))
-time_solve = @elapsed sol = solve(prob, Rodas5P(autodiff=false)); # With autodiff=true this takes over 150 seconds
-
-tv = 0:0.01:4
-time_extract_data = @elapsed data = sol(tv, idxs=[
-    robot.pathPlanning.controlBus.axisControlBus1.angle
-    robot.pathPlanning.controlBus.axisControlBus2.angle
-    robot.pathPlanning.controlBus.axisControlBus3.angle
-    robot.pathPlanning.controlBus.axisControlBus4.angle
-    robot.pathPlanning.controlBus.axisControlBus5.angle
-    robot.pathPlanning.controlBus.axisControlBus6.angle
-    robot.mechanics.r1.phi
-    robot.mechanics.r2.phi
-    robot.mechanics.r3.phi
-    robot.mechanics.r4.phi
-    robot.mechanics.r5.phi
-    robot.mechanics.r6.phi
-    robot.axis1.controller.feedback1.output.u
-    robot.axis2.controller.feedback1.output.u
-    robot.axis3.controller.feedback1.output.u
-    robot.axis4.controller.feedback1.output.u
-    robot.axis5.controller.feedback1.output.u
-    robot.axis6.controller.feedback1.output.u
-]);
-
+const C = JuliaSimCompiler.CTarget();
+const LLVM = JuliaSimCompiler.llvm.LLVMTarget();
 labels = ["Instantiate", "Simplify", "Problem creation", "Solve", "Extract data"]
-timings = [time_instantiate, time_simplify, time_prob, time_solve, time_extract_data]
+const u0 = [
+        robot.mechanics.r1.phi => deg2rad(-60)
+        robot.mechanics.r2.phi => deg2rad(20)
+        robot.mechanics.r3.phi => deg2rad(90)
+        robot.mechanics.r4.phi => deg2rad(0)
+        robot.mechanics.r5.phi => deg2rad(-110)
+        robot.mechanics.r6.phi => deg2rad(0)
+        robot.axis1.motor.Jmotor.phi => deg2rad(-60) * (-105) 
+        robot.axis2.motor.Jmotor.phi => deg2rad(20) * (210)
+        robot.axis3.motor.Jmotor.phi => deg2rad(90) * (60)
+    ]
+const tspan = (0.0, 4.0)
+```
+
+## Backend Benchmark Definition
+
+```julia
+function julia_multibody_timings(ssys, target)
+    time_prob = @elapsed prob = if target === JuliaSimCompiler.JuliaTarget()
+        ODEProblem(ssys, u0, tspan)
+    else
+        ODEProblem(ssys, target, u0, tspan)
+    end
+    time_solve = @elapsed sol = solve(prob, Rodas5P(autodiff=false)); # With autodiff=true this takes over 150 seconds
+    
+    tv = 0:0.01:4
+    time_extract_data = @elapsed data = sol(tv, idxs=[
+        robot.pathPlanning.controlBus.axisControlBus1.angle
+        robot.pathPlanning.controlBus.axisControlBus2.angle
+        robot.pathPlanning.controlBus.axisControlBus3.angle
+        robot.pathPlanning.controlBus.axisControlBus4.angle
+        robot.pathPlanning.controlBus.axisControlBus5.angle
+        robot.pathPlanning.controlBus.axisControlBus6.angle
+        robot.mechanics.r1.phi
+        robot.mechanics.r2.phi
+        robot.mechanics.r3.phi
+        robot.mechanics.r4.phi
+        robot.mechanics.r5.phi
+        robot.mechanics.r6.phi
+        robot.axis1.controller.feedback1.output.u
+        robot.axis2.controller.feedback1.output.u
+        robot.axis3.controller.feedback1.output.u
+        robot.axis4.controller.feedback1.output.u
+        robot.axis5.controller.feedback1.output.u
+        robot.axis6.controller.feedback1.output.u
+    ]);
+    timings = [time_instantiate, time_simplify, time_prob, time_solve, time_extract_data]
+end
+```
+
+```julia
+julia_timings = julia_multibody_timings(ssys, JuliaSimCompiler.JuliaTarget())
+
 f = Figure()
 xs = 1:length(labels)
-points = Makie.Point.(xs .- 0.25, timings .+ 1)
-anns = [@sprintf("%3.3g", t) for t in timings]
-barplot(f[1,1], timings, axis=(; title="Timings", xticks = (xs, labels), limits = (nothing, (0, maximum(timings)*1.2 + 2))))
+points = Makie.Point.(xs .- 0.25, julia_timings .+ 1)
+anns = [@sprintf("%3.3g", t) for t in julia_timings]
+barplot(f[1,1], julia_timings, axis=(; title="Julia Backend Timings", xticks = (xs, labels), limits = (nothing, (0, maximum(julia_timings)*1.2 + 2))))
+annotations!(f[1,1], anns, points)
+barplot(f[2,1], julia_timings, axis=(; title="Log Timings", xticks = (xs, labels), yscale=log10))
+f
+```
 
+```julia
+llvm_timings = julia_multibody_timings(ssys, LLVM)
+
+f = Figure()
+xs = 1:length(labels)
+points = Makie.Point.(xs .- 0.25, llvm_timings .+ 1)
+anns = [@sprintf("%3.3g", t) for t in llvm_timings]
+barplot(f[1,1], llvm_timings, axis=(; title="LLVM Backend Timings", xticks = (xs, labels), limits = (nothing, (0, maximum(llvm_timings)*1.2 + 2))))
+annotations!(f[1,1], anns, points)
+barplot(f[2,1], llvm_timings, axis=(; title="Log Timings", xticks = (xs, labels), yscale=log10))
+f
+```
+
+```julia
+c_timings = julia_multibody_timings(ssys, C)
+
+f = Figure()
+xs = 1:length(labels)
+points = Makie.Point.(xs .- 0.25, c_timings .+ 1)
+anns = [@sprintf("%3.3g", t) for t in c_timings]
+barplot(f[1,1], c_timings, axis=(; title="C Backend Timings", xticks = (xs, labels), limits = (nothing, (0, maximum(c_timings)*1.2 + 2))))
 annotations!(f[1,1], anns, points)
-barplot(f[2,1], timings, axis=(; title="Log Timings", xticks = (xs, labels), yscale=log10))
+barplot(f[2,1], c_timings, axis=(; title="Log Timings", xticks = (xs, labels), yscale=log10))
 f
 ```
 
+Since the C backend currently errors, it's omitted from the total timings.
+
 ## OpenModelica
 
 ```julia
@@ -91,26 +142,37 @@ OMJulia.quit(mod)
 ```julia
 colors = Makie.wong_colors()
 labels = ["Build", "Simulate", "Total"]
-julia_build = time_instantiate + time_simplify + time_prob
-julia_sim = time_solve + time_extract_data
+julia_build = sum(julia_timings[1:3])
+julia_sim = sum(julia_timings[4:5])
 julia_total = julia_build + julia_sim
+
+llvm_build = sum(llvm_timings[1:3])
+llvm_sim = sum(llvm_timings[4:5])
+llvm_total = llvm_build + llvm_sim
+
+# c_build = sum(c_timings[1:3])
+# c_sim = sum(c_timings[4:5])
+# c_total = c_build + c_sim
+
 dymola_build = sum([5.075, 3.912, 4.024])/3
 dymola_total = sum([5.267, 4.112, 4.255])/3
 dymola_sim = dymola_total - dymola_build
 
 data = [
     julia_build julia_sim julia_total
+    llvm_build llvm_sim llvm_total
+    # c_build c_sim c_total
     om_build om_sim om_total
     dymola_build dymola_sim dymola_total
 ]
 
-xs = repeat(1:length(labels), inner=3)
-group = repeat([1,2,3], outer=3)
+xs = repeat(1:length(labels), inner=4)
+group = repeat([1,2,3,4], outer=3)
 fig = Figure()
 barplot(fig[1,1], xs, vec(data), dodge=group, color=colors[group], axis=(; title="Timings", xticks = ([1,2,3], labels)))
 
 # Legend
-legendentries = ["Julia", "OpenModelica", "Dymola"]
+legendentries = ["Julia Backend", "LLVM Backend", #= "C Backend", =# "OpenModelica", "Dymola"]
 elements = [PolyElement(polycolor = colors[i]) for i in 1:length(legendentries)]
 title = "Contestants"
 
diff --git a/benchmarks/ModelingToolkit/Project.toml b/benchmarks/ModelingToolkit/Project.toml
index 27361e1c8..4f635e88b 100644
--- a/benchmarks/ModelingToolkit/Project.toml
+++ b/benchmarks/ModelingToolkit/Project.toml
@@ -26,11 +26,11 @@ JuliaSimCompiler = "0.1.9"
 JuliaSimCompilerRuntime = "1.0.0"
 LinearSolve = "2.30.0"
 Multibody = "0.1.0"
-ModelingToolkit = "9.19.0"
+ModelingToolkit = "9.20.0"
 ModelingToolkitStandardLibrary = "2"
 OMJulia = "0.3.1"
 OrdinaryDiffEq = "6.84.0"
 Polynomials = "4.0.8"
 PreferenceTools = "0.1.2"
 SciMLBenchmarks = "0.1.3"
-Symbolics = "5.30.4"
+Symbolics = "5.32"
diff --git a/benchmarks/PINNErrorsVsTime/Project.toml b/benchmarks/PINNErrorsVsTime/Project.toml
index c5a3242e0..6a6c5a645 100644
--- a/benchmarks/PINNErrorsVsTime/Project.toml
+++ b/benchmarks/PINNErrorsVsTime/Project.toml
@@ -14,6 +14,7 @@ QuasiMonteCarlo = "8a4e6c94-4038-4cdc-81c3-7e6ffdb2a71b"
 SciMLBenchmarks = "31c91b34-3c75-11e9-0341-95557aab0344"
 
 [compat]
+DelimitedFiles = "1"
 Integrals = "3, 4"
 IntegralsCuba = "0.2, 0.3"
 IntegralsCubature = "0.2"
diff --git a/benchmarks/SimpleHandwrittenPDE/Project.toml b/benchmarks/SimpleHandwrittenPDE/Project.toml
index e731f040a..fb9735020 100644
--- a/benchmarks/SimpleHandwrittenPDE/Project.toml
+++ b/benchmarks/SimpleHandwrittenPDE/Project.toml
@@ -16,7 +16,7 @@ Sundials = "c3572dad-4567-51f8-b174-8c6c989267f4"
 [compat]
 ApproxFun = "0.13"
 DiffEqDevTools = "2.22"
-DomainSets = "0.6"
+DomainSets = "0.6, 0.7"
 LSODA = "0.6, 0.7"
 LinearSolve = "2"
 MethodOfLines = "0.9"
diff --git a/docs/pages.jl b/docs/pages.jl
index 4ac56869c..7d556454b 100644
--- a/docs/pages.jl
+++ b/docs/pages.jl
@@ -40,7 +40,7 @@ end
 # The result is in alphabetical order, change to the wanted order
 
 permute!(pages,
-    [1, 15, 12, 10, 21, 3, 19, 29, 5, 7, 17, 14, 27, 6, 8, 16, 20, 30, 18, 28, 11, 9, 23, 22, 26, 4, 13, 24, 25, 2, 31]
+    [1, 16, 13, 11, 22, 3, 4, 20, 30, 6, 8, 18, 15, 28, 7, 9, 17, 21, 31, 19, 29, 12, 10, 24, 23, 27, 5, 14, 25, 26, 2, 32]
 )
 
 names = [
@@ -50,6 +50,7 @@ names = [
     "Interval Rootfinding",
     "Nonlinear Solvers",
     "Automatic Differentiation",
+    "Sparse Automatic Differentiation",
     "Non-Stiff Ordinary Differential Equations (ODEs)",
     "Stiff Ordinary Differential Equations (ODEs)",
     "Biological Differential Equations",