diff --git a/gtsam/geometry/tests/testSO3.cpp b/gtsam/geometry/tests/testSO3.cpp
index 41777ae3a..17b27daea 100644
--- a/gtsam/geometry/tests/testSO3.cpp
+++ b/gtsam/geometry/tests/testSO3.cpp
@@ -333,7 +333,7 @@ TEST(SO3, CrossB) {
   Matrix aH1;
   for (bool nearZero : {true, false}) {
     std::function<Vector3(const Vector3&, const Vector3&)> f =
-        [=](const Vector3& omega, const Vector3& v) {
+        [nearZero](const Vector3& omega, const Vector3& v) {
           return so3::DexpFunctor(omega, nearZero).crossB(v);
         };
     for (const Vector3& omega : test_cases::omegas(nearZero)) {
@@ -351,7 +351,7 @@ TEST(SO3, DoubleCrossC) {
   Matrix aH1;
   for (bool nearZero : {true, false}) {
     std::function<Vector3(const Vector3&, const Vector3&)> f =
-        [=](const Vector3& omega, const Vector3& v) {
+        [nearZero](const Vector3& omega, const Vector3& v) {
           return so3::DexpFunctor(omega, nearZero).doubleCrossC(v);
         };
     for (const Vector3& omega : test_cases::omegas(nearZero)) {
@@ -369,7 +369,7 @@ TEST(SO3, ApplyDexp) {
   Matrix aH1, aH2;
   for (bool nearZero : {true, false}) {
     std::function<Vector3(const Vector3&, const Vector3&)> f =
-        [=](const Vector3& omega, const Vector3& v) {
+        [nearZero](const Vector3& omega, const Vector3& v) {
           return so3::DexpFunctor(omega, nearZero).applyDexp(v);
         };
     for (const Vector3& omega : test_cases::omegas(nearZero)) {
@@ -390,7 +390,7 @@ TEST(SO3, ApplyInvDexp) {
   Matrix aH1, aH2;
   for (bool nearZero : {true, false}) {
     std::function<Vector3(const Vector3&, const Vector3&)> f =
-        [=](const Vector3& omega, const Vector3& v) {
+        [nearZero](const Vector3& omega, const Vector3& v) {
           return so3::DexpFunctor(omega, nearZero).applyInvDexp(v);
         };
     for (const Vector3& omega : test_cases::omegas(nearZero)) {
@@ -412,7 +412,7 @@ TEST(SO3, ApplyLeftJacobian) {
   Matrix aH1, aH2;
   for (bool nearZero : {true, false}) {
     std::function<Vector3(const Vector3&, const Vector3&)> f =
-        [=](const Vector3& omega, const Vector3& v) {
+        [nearZero](const Vector3& omega, const Vector3& v) {
           return so3::DexpFunctor(omega, nearZero).applyLeftJacobian(v);
         };
     for (const Vector3& omega : test_cases::omegas(nearZero)) {
@@ -433,7 +433,7 @@ TEST(SO3, ApplyLeftJacobianInverse) {
   Matrix aH1, aH2;
   for (bool nearZero : {true, false}) {
     std::function<Vector3(const Vector3&, const Vector3&)> f =
-        [=](const Vector3& omega, const Vector3& v) {
+        [nearZero](const Vector3& omega, const Vector3& v) {
           return so3::DexpFunctor(omega, nearZero).applyLeftJacobianInverse(v);
         };
     for (const Vector3& omega : test_cases::omegas(nearZero)) {
diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index c4fefb8ff..80a7b0298 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -144,7 +144,7 @@ TEST(CombinedImuFactor, FirstOrderPreIntegratedMeasurements) {
   auto p = testing::Params();
   testing::SomeMeasurements measurements;
 
-  auto preintegrated = [=](const Vector3& a, const Vector3& w) {
+  auto preintegrated = [&](const Vector3& a, const Vector3& w) {
     PreintegratedImuMeasurements pim(p, Bias(a, w));
     testing::integrateMeasurements(measurements, &pim);
     return pim.preintegrated();
diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp
index d4bc763ee..2e1528ae8 100644
--- a/gtsam/navigation/tests/testImuFactor.cpp
+++ b/gtsam/navigation/tests/testImuFactor.cpp
@@ -399,7 +399,7 @@ TEST(ImuFactor, PartialDerivative_wrt_Bias) {
   Vector3 measuredOmega(0.1, 0, 0);
   double deltaT = 0.5;
 
-  auto evaluateRotation = [=](const Vector3 biasOmega) {
+  auto evaluateRotation = [&measuredOmega, &deltaT](const Vector3 biasOmega) {
     return Rot3::Expmap((measuredOmega - biasOmega) * deltaT);
   };
 
@@ -424,7 +424,7 @@ TEST(ImuFactor, PartialDerivativeLogmap) {
   // Measurements
   Vector3 deltaTheta(0, 0, 0);
 
-  auto evaluateLogRotation = [=](const Vector3 delta) {
+  auto evaluateLogRotation = [&thetaHat](const Vector3 delta) {
     return Rot3::Logmap(
         Rot3::Expmap(thetaHat).compose(Rot3::Expmap(delta)));
   };
diff --git a/gtsam/navigation/tests/testManifoldPreintegration.cpp b/gtsam/navigation/tests/testManifoldPreintegration.cpp
index 82f9876fb..f9c6ebacb 100644
--- a/gtsam/navigation/tests/testManifoldPreintegration.cpp
+++ b/gtsam/navigation/tests/testManifoldPreintegration.cpp
@@ -43,21 +43,21 @@ TEST(ManifoldPreintegration, BiasCorrectionJacobians) {
   testing::SomeMeasurements measurements;
 
   std::function<Rot3(const Vector3&, const Vector3&)> deltaRij =
-      [=](const Vector3& a, const Vector3& w) {
+      [&](const Vector3& a, const Vector3& w) {
         ManifoldPreintegration pim(testing::Params(), Bias(a, w));
         testing::integrateMeasurements(measurements, &pim);
         return pim.deltaRij();
       };
 
   std::function<Point3(const Vector3&, const Vector3&)> deltaPij =
-      [=](const Vector3& a, const Vector3& w) {
+      [&](const Vector3& a, const Vector3& w) {
         ManifoldPreintegration pim(testing::Params(), Bias(a, w));
         testing::integrateMeasurements(measurements, &pim);
         return pim.deltaPij();
       };
 
   std::function<Vector3(const Vector3&, const Vector3&)> deltaVij =
-      [=](const Vector3& a, const Vector3& w) {
+      [&](const Vector3& a, const Vector3& w) {
         ManifoldPreintegration pim(testing::Params(), Bias(a, w));
         testing::integrateMeasurements(measurements, &pim);
         return pim.deltaVij();
diff --git a/gtsam/navigation/tests/testTangentPreintegration.cpp b/gtsam/navigation/tests/testTangentPreintegration.cpp
index af91f4f2c..73cea9f71 100644
--- a/gtsam/navigation/tests/testTangentPreintegration.cpp
+++ b/gtsam/navigation/tests/testTangentPreintegration.cpp
@@ -78,7 +78,7 @@ TEST(ImuFactor, BiasCorrectionJacobians) {
   testing::SomeMeasurements measurements;
 
   std::function<Vector9(const Vector3&, const Vector3&)> preintegrated =
-      [=](const Vector3& a, const Vector3& w) {
+      [&](const Vector3& a, const Vector3& w) {
         TangentPreintegration pim(testing::Params(), Bias(a, w));
         testing::integrateMeasurements(measurements, &pim);
         return pim.preintegrated();
@@ -149,7 +149,7 @@ TEST(TangentPreintegration, Compose) {
 TEST(TangentPreintegration, MergedBiasDerivatives) {
   testing::SomeMeasurements measurements;
 
-  auto f = [=](const Vector3& a, const Vector3& w) {
+  auto f = [&](const Vector3& a, const Vector3& w) {
     TangentPreintegration pim02(testing::Params(), Bias(a, w));
     testing::integrateMeasurements(measurements, &pim02);
     testing::integrateMeasurements(measurements, &pim02);