diff --git a/gar/include/aligator/gar/dense-riccati.hxx b/gar/include/aligator/gar/dense-riccati.hxx
index 190ec7345..e67fe14bf 100644
--- a/gar/include/aligator/gar/dense-riccati.hxx
+++ b/gar/include/aligator/gar/dense-riccati.hxx
@@ -4,6 +4,7 @@
 
 #include "dense-riccati.hpp"
 #include "lqr-problem.hpp"
+#include "aligator/utils/mpc-util.hpp"
 #include "aligator/tracy.hpp"
 
 namespace aligator::gar {
diff --git a/gar/include/aligator/gar/parallel-solver.hxx b/gar/include/aligator/gar/parallel-solver.hxx
index 0e6c2133f..26dd41189 100644
--- a/gar/include/aligator/gar/parallel-solver.hxx
+++ b/gar/include/aligator/gar/parallel-solver.hxx
@@ -6,6 +6,7 @@
 #include "aligator/gar/block-tridiagonal.hpp"
 #include "aligator/gar/work.hpp"
 #include "aligator/gar/lqr-problem.hpp"
+#include "aligator/utils/mpc-util.hpp"
 #include "aligator/tracy.hpp"
 
 #include "aligator/threads.hpp"
diff --git a/gar/include/aligator/gar/proximal-riccati.hxx b/gar/include/aligator/gar/proximal-riccati.hxx
index 9680895b7..16cdca399 100644
--- a/gar/include/aligator/gar/proximal-riccati.hxx
+++ b/gar/include/aligator/gar/proximal-riccati.hxx
@@ -3,6 +3,7 @@
 #include "./proximal-riccati.hpp"
 #include "./lqr-problem.hpp"
 
+#include "aligator/utils/mpc-util.hpp"
 #include "aligator/tracy.hpp"
 
 namespace aligator::gar {
diff --git a/gar/include/aligator/gar/riccati-base.hpp b/gar/include/aligator/gar/riccati-base.hpp
index 899c2db1b..0a24ec29b 100644
--- a/gar/include/aligator/gar/riccati-base.hpp
+++ b/gar/include/aligator/gar/riccati-base.hpp
@@ -4,7 +4,6 @@
 
 #include "aligator/math.hpp"
 #include "aligator/gar/lqr-problem.hpp"
-#include "aligator/utils/mpc-util.hpp"
 #include <optional>
 
 namespace aligator {