diff --git a/.github/workflows/ci_windows.yml b/.github/workflows/ci_windows.yml
index 3bf59e9443d1c..ba229e9725c38 100644
--- a/.github/workflows/ci_windows.yml
+++ b/.github/workflows/ci_windows.yml
@@ -38,7 +38,22 @@ jobs:
       - uses: johnwason/vcpkg-action@v6
         with:
           # TODO: Add ode and coin-or-ipopt
-          pkgs: assimp eigen3 fcl fmt spdlog bullet3 freeglut glfw3 nlopt opengl osg pagmo2 tinyxml2 urdfdom
+          pkgs: >
+            assimp
+            eigen3
+            fcl
+            fmt
+            spdlog
+            bullet3
+            freeglut
+            glfw3
+            nlopt
+            opengl
+            osg
+            pagmo2
+            tinyxml2
+            tracy
+            urdfdom
           triplet: x64-windows
           revision: "2024.02.14"
           github-binarycache: true
diff --git a/.github/workflows/publish_dartpy.yml b/.github/workflows/publish_dartpy.yml
index ccf2b44e58396..2dec358a14891 100644
--- a/.github/workflows/publish_dartpy.yml
+++ b/.github/workflows/publish_dartpy.yml
@@ -99,7 +99,25 @@ jobs:
         if: ${{ matrix.os == 'windows-latest' && (matrix.release_only == false || github.ref == 'refs/heads/main') }}
         uses: johnwason/vcpkg-action@v6
         with:
-          pkgs: assimp ccd eigen3 fcl fmt spdlog bullet3 coin-or-ipopt freeglut glfw3 imgui nlopt ode opengl osg pagmo2 tinyxml2 urdfdom
+          pkgs: >
+            assimp
+            ccd
+            eigen3
+            fcl
+            fmt
+            spdlog
+            bullet3
+            coin-or-ipopt
+            freeglut
+            glfw3
+            imgui
+            nlopt
+            ode
+            opengl
+            osg
+            pagmo2
+            tinyxml2
+            urdfdom
           triplet: x64-windows
           revision: "2024.02.14"
           github-binarycache: true
diff --git a/Brewfile b/Brewfile
index 5591ae2c34e09..83201c5ab8aae 100644
--- a/Brewfile
+++ b/Brewfile
@@ -1,6 +1,7 @@
 # Build dependencies
 brew 'cmake'
 brew 'pkg-config'
+brew 'tracy'
 
 brew 'assimp'
 brew 'bullet'
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 867eaf80863ea..fb6d870f38cd0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -88,6 +88,7 @@ dart_option(DART_ENABLE_SIMD
   "Build DART with all SIMD instructions on the current local machine" OFF)
 dart_option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
 dart_option(DART_BUILD_DARTPY "Build dartpy" ON)
+dart_option(DART_BUILD_PROFILE "Build DART with profiling options" OFF)
 dart_option(DART_CODECOV "Turn on codecov support" OFF)
 dart_option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
 # GCC and Clang add ANSI-formatted colors when they detect the output medium is a