diff --git a/benchmark/simple_pendulum.jl b/benchmark/simple_pendulum.jl
index 49eb0ed7..4fb57048 100644
--- a/benchmark/simple_pendulum.jl
+++ b/benchmark/simple_pendulum.jl
@@ -30,6 +30,7 @@ function simple_pendulum(u, p, t)
 end
 
 function bc_pendulum(u, p, t)
+    t0, t1 = tspan
     return [u((t0 + t1) / 2)[1] + π / 2, u(t1)[1] - π / 2]
 end
 
@@ -57,19 +58,21 @@ function create_simple_pendulum_benchmark()
 
     if @isdefined(MultipleShooting)
         iip_suite["MultipleShooting(100, Tsit5; grid_coarsening = true)"] = @benchmarkable solve(
-            $SimplePendulumBenchmark.prob_iip, $MultipleShooting(100, Tsit5()))
+            $SimplePendulumBenchmark.prob_iip,
+            $MultipleShooting(100, Tsit5(), NewtonRaphson()))
         iip_suite["MultipleShooting(100, Tsit5; grid_coarsening = false)"] = @benchmarkable solve(
             $SimplePendulumBenchmark.prob_iip,
-            $MultipleShooting(100, Tsit5(); grid_coarsening = false))
+            $MultipleShooting(100, Tsit5(), NewtonRaphson(); grid_coarsening = false))
         iip_suite["MultipleShooting(10, Tsit5; grid_coarsening = true)"] = @benchmarkable solve(
-            $SimplePendulumBenchmark.prob_iip, $MultipleShooting(10, Tsit5()))
+            $SimplePendulumBenchmark.prob_iip,
+            $MultipleShooting(10, Tsit5(), NewtonRaphson()))
         iip_suite["MultipleShooting(10, Tsit5; grid_coarsening = false)"] = @benchmarkable solve(
             $SimplePendulumBenchmark.prob_iip,
-            $MultipleShooting(10, Tsit5(); grid_coarsening = false))
+            $MultipleShooting(10, Tsit5(), NewtonRaphson(); grid_coarsening = false))
     end
     if @isdefined(Shooting)
         iip_suite["Shooting(Tsit5())"] = @benchmarkable solve(
-            $SimplePendulumBenchmark.prob_iip, $Shooting(Tsit5()))
+            $SimplePendulumBenchmark.prob_iip, $Shooting(Tsit5(), NewtonRaphson()))
     end
     for alg in (MIRK2, MIRK3, MIRK4, MIRK5, MIRK6)
         if @isdefined(alg)
@@ -80,19 +83,21 @@ function create_simple_pendulum_benchmark()
 
     if @isdefined(MultipleShooting)
         oop_suite["MultipleShooting(100, Tsit5; grid_coarsening = true)"] = @benchmarkable solve(
-            $SimplePendulumBenchmark.prob_oop, $MultipleShooting(100, Tsit5()))
+            $SimplePendulumBenchmark.prob_oop,
+            $MultipleShooting(100, Tsit5(), NewtonRaphson()))
         oop_suite["MultipleShooting(100, Tsit5; grid_coarsening = false)"] = @benchmarkable solve(
             $SimplePendulumBenchmark.prob_oop,
-            $MultipleShooting(100, Tsit5(); grid_coarsening = false))
+            $MultipleShooting(100, Tsit5(), NewtonRaphson(); grid_coarsening = false))
         oop_suite["MultipleShooting(10, Tsit5; grid_coarsening = true)"] = @benchmarkable solve(
-            $SimplePendulumBenchmark.prob_oop, $MultipleShooting(10, Tsit5()))
+            $SimplePendulumBenchmark.prob_oop,
+            $MultipleShooting(10, Tsit5(), NewtonRaphson()))
         oop_suite["MultipleShooting(10, Tsit5; grid_coarsening = false)"] = @benchmarkable solve(
             $SimplePendulumBenchmark.prob_oop,
-            $MultipleShooting(10, Tsit5(); grid_coarsening = false))
+            $MultipleShooting(10, Tsit5(), NewtonRaphson(); grid_coarsening = false))
     end
     if @isdefined(Shooting)
         oop_suite["Shooting(Tsit5())"] = @benchmarkable solve(
-            $SimplePendulumBenchmark.prob_oop, $Shooting(Tsit5()))
+            $SimplePendulumBenchmark.prob_oop, $Shooting(Tsit5(), NewtonRaphson()))
     end
     for alg in (MIRK2, MIRK3, MIRK4, MIRK5, MIRK6)
         if @isdefined(alg)