diff --git a/.github/workflows/cache_docker.yml b/.github/workflows/cache_docker.yml
index 24b46f4d71b4f..f7158c362a83c 100644
--- a/.github/workflows/cache_docker.yml
+++ b/.github/workflows/cache_docker.yml
@@ -230,3 +230,39 @@ jobs:
           tags: ${{ env.DOCKER_REPO }}:${{ matrix.image }}-${{ matrix.dart_version }}
       - name: Image digest
         run: echo ${{ steps.docker_build.outputs.digest }}
+
+  # Tracy Profiler
+  tracy:
+    name: tracy profiler
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        dart_version: [v6.14]
+        build_min: [ON]
+    env:
+      OS_VERSION: tracy
+      DART_VERSION: ${{ matrix.dart_version }}
+    steps:
+      # https://github.com/marketplace/actions/docker-setup-qemu
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+      # https://github.com/marketplace/actions/docker-setup-buildx
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      # https://github.com/marketplace/actions/docker-login
+      - name: Login to DockerHub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_PASSWORD }}
+      # https://github.com/marketplace/actions/build-and-push-docker-images
+      - name: Build and push
+        id: docker_build
+        uses: docker/build-push-action@v5
+        with:
+          file: ./docker/dev/${{ env.DART_VERSION }}/Dockerfile.${{ env.OS_VERSION }}
+          push: true
+          tags: ${{ env.DOCKER_REPO }}:${{ env.OS_VERSION }}-${{ env.DART_VERSION }}
+      - name: Image digest
+        run: echo ${{ steps.docker_build.outputs.digest }}
diff --git a/.gitignore b/.gitignore
index cbcdbcc402e20..2f8f76de02cc3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -73,3 +73,6 @@ dist/
 
 # ImGui configuration
 imgui.ini
+
+# Temporary directory for dependencies
+.deps
diff --git a/cmake/DARTFindDependencies.cmake b/cmake/DARTFindDependencies.cmake
index 33af2bb1d0aed..51071ce08504c 100644
--- a/cmake/DARTFindDependencies.cmake
+++ b/cmake/DARTFindDependencies.cmake
@@ -114,7 +114,7 @@ if(DART_BUILD_PROFILE)
   include(FetchContent)
   FetchContent_Declare(tracy
     GIT_REPOSITORY https://github.com/wolfpld/tracy.git
-    GIT_TAG v0.10
+    GIT_TAG master  # TODO: Change to a fixed version once > 0.10 is released
     GIT_SHALLOW TRUE
     GIT_PROGRESS TRUE
   )
diff --git a/docker/dev/v6.14/Dockerfile.tracy b/docker/dev/v6.14/Dockerfile.tracy
index 73c1188262734..232102cdc4d97 100644
--- a/docker/dev/v6.14/Dockerfile.tracy
+++ b/docker/dev/v6.14/Dockerfile.tracy
@@ -12,23 +12,21 @@ RUN apt-get update && apt-get install -y \
     libx11-dev \
     libgl1-mesa-dev \
     libgtk-3-dev \
+    libglfw3-dev \
     xorg-dev \
     ca-certificates \
-    wayland-protocols \
     --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 
-# Clone the Tracy Profiler repository
-RUN git clone --depth 1 https://github.com/wolfpld/tracy.git
-
 # Build Tracy Profiler
-WORKDIR /tracy/profiler/build/unix
-RUN cmake ../.. && make
-
-# Use the `entrypoint.sh` to start the profiler
-COPY entrypoint.sh /entrypoint.sh
-RUN chmod +x /entrypoint.sh
-ENTRYPOINT ["/entrypoint.sh"]
+# TODO: Change to a fixed version once > 0.10 is released
+RUN git clone --depth 1 https://github.com/wolfpld/tracy.git -b master \
+    && cmake -S tracy/profiler -B tracy/profiler/build -DCMAKE_BUILD_TYPE=Release -DLEGACY=ON \
+    && cmake --build tracy/profiler/build --target install -j
 
 # Reset the frontend to its default value
-ENV DEBIAN_FRONTEND=
\ No newline at end of file
+ENV DEBIAN_FRONTEND=
+
+USER 1000
+
+ENTRYPOINT ["tracy/profiler/build/tracy-profiler"]
diff --git a/docker/dev/v6.14/Dockerfile.tracy.archlinux b/docker/dev/v6.14/Dockerfile.tracy.archlinux
deleted file mode 100644
index ddfc08491cc8d..0000000000000
--- a/docker/dev/v6.14/Dockerfile.tracy.archlinux
+++ /dev/null
@@ -1,33 +0,0 @@
-# Use an Arch Linux base image
-FROM archlinux:latest
-
-# Initialize the keyring, populate the Arch Linux keyring, and update the system
-RUN pacman-key --init \
-    && pacman-key --populate archlinux \
-    && pacman -Sy archlinux-keyring --noconfirm \
-    && pacman -Su --noconfirm
-
-# Install build dependencies
-RUN pacman -S --noconfirm base-devel \
-    cmake \
-    git \
-    freetype2 \
-    tbb \
-    debuginfod \
-    wayland \
-    dbus \
-    libxkbcommon \
-    libglvnd \
-    meson \
-    wayland-protocols \
-    --needed \
-    && pacman -Scc --noconfirm
-
-# Clone the Tracy Profiler repository
-RUN git clone --depth 1 https://github.com/wolfpld/tracy.git -b master
-
-# Build Tracy Profiler GUI
-WORKDIR /tracy/profiler/build
-RUN cmake -S ../ -B . && cmake --build . --config Release --parallel
-
-ENTRYPOINT [ "/tracy/profiler/build/tracy-profiler" ]
diff --git a/pixi.toml b/pixi.toml
index 68663b9ae38cd..d7a7923a86f19 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -29,6 +29,11 @@ bm-kinematics = { cmd = "cmake --build build --target BM_INTEGRATION_kinematics
     "configure",
 ] }
 
+create-deps-dir = { cmd = "mkdir -p .deps" }
+remove-deps-dir = { cmd = "rm -rf .deps" }
+
+tracy-linux = { cmd = "docker run --rm -d -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:rw jslee02/dart-dev:tracy-v6.14" }
+
 [dependencies]
 assimp = ">=5.3.1,<5.4"
 bullet-cpp = ">=3.25,<4"
@@ -90,6 +95,8 @@ test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [
     "configure",
 ] }
 
+tracy = { depends_on = ["tracy-linux"] }
+
 [target.linux-64.build-dependencies]
 clang-format-14 = ">=14.0.6,<14.1"