diff --git a/.clang-format b/.clang-format
index 277834e3b..6b2f88687 100644
--- a/.clang-format
+++ b/.clang-format
@@ -1,12 +1,13 @@
 ---
-# Requires LLVM 15.0
+# Requires LLVM 16.0
 
 # General
 Language: Cpp
 Standard: c++17
 TabWidth: 4
 UseTab: Always
-UseCRLF: false
+LineEnding: LF
+InsertNewlineAtEOF: true
 
 # Braces
 BreakBeforeBraces: Custom
@@ -48,6 +49,7 @@ IndentWrappedFunctionNames: false
 LambdaBodyIndentation: Signature
 NamespaceIndentation: None
 PPIndentWidth: -1
+RequiresExpressionIndentation: OuterScope
 
 # Spaces
 BitFieldColonSpacing: Both
@@ -94,8 +96,10 @@ AlwaysBreakBeforeMultilineStrings: true
 AlwaysBreakTemplateDeclarations: Yes
 BinPackArguments: false
 BinPackParameters: false
+BreakAfterAttributes: Always
 BreakBeforeBinaryOperators: None
 BreakBeforeConceptDeclarations: Always
+BreakBeforeInlineASMColon: OnlyMultiline
 BreakBeforeTernaryOperators: true
 BreakConstructorInitializers: BeforeComma
 BreakInheritanceList: BeforeComma
@@ -153,7 +157,8 @@ AlignConsecutiveDeclarations: None
 AlignConsecutiveMacros: None
 AlignEscapedNewlines: Left
 AlignOperands: DontAlign
-AlignTrailingComments: false
+AlignTrailingComments:
+  Kind: Never
 
 # Macros
 AttributeMacros: []
@@ -168,12 +173,18 @@ WhitespaceSensitiveMacros: []
 # Miscellaneous
 FixNamespaceComments: true
 InsertTrailingCommas: None
+IntegerLiteralSeparator:
+  Binary: 0
+  Decimal: 0
+  Hex: 0
 QualifierAlignment: Left
 RawStringFormats: []
+RemoveSemicolon: false
 SortUsingDeclarations: false
 
 # BasedOnStyle
 # BreakAfterJavaFieldAnnotations
+# BreakArrays
 # DisableFormat
 # IncludeIsMainRegex
 # IncludeIsMainSourceRegex
diff --git a/.clang-tidy b/.clang-tidy
index 2909c4286..9211b8d2f 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -1,5 +1,5 @@
 ---
-# Requires LLVM 15.0
+# Requires LLVM 16.0
 
 # The checks are split it into 4 groups:
 #
@@ -70,6 +70,7 @@ Checks: >
   bugprone-suspicious-memory-comparison,
   bugprone-suspicious-memset-usage,
   bugprone-suspicious-missing-comma,
+  bugprone-suspicious-realloc-usage,
   bugprone-suspicious-semicolon,
   bugprone-suspicious-string-compare,
   bugprone-swapped-arguments,
@@ -85,8 +86,11 @@ Checks: >
   -clang-diagnostic-pragma-once-outside-header,
   concurrency-mt-unsafe,
   -concurrency-thread-canceltype-asynchronous,
+  cppcoreguidelines-avoid-const-or-ref-data-members,
+  -cppcoreguidelines-avoid-do-while,
   cppcoreguidelines-avoid-goto,
   -cppcoreguidelines-avoid-non-const-global-variables,
+  -cppcoreguidelines-avoid-reference-coroutine-parameters
   cppcoreguidelines-init-variables,
   cppcoreguidelines-interfaces-global-init,
   -cppcoreguidelines-macro-usage,
@@ -127,6 +131,7 @@ Checks: >
   misc-unused-alias-decls,
   misc-unused-parameters,
   misc-unused-using-decls,
+  misc-use-anonymous-namespace,
   modernize-concat-nested-namespaces,
   modernize-deprecated-headers,
   modernize-loop-convert,
@@ -196,6 +201,7 @@ Checks: >
   bugprone-inaccurate-erase,
   -bugprone-shared-ptr-array-mismatch,
   bugprone-sizeof-container,
+  -bugprone-standalone-empty,
   bugprone-string-constructor,
   bugprone-string-integer-assignment,
   -bugprone-stringview-nullptr,
diff --git a/.github/actions/setup-linux/action.yml b/.github/actions/setup-linux/action.yml
index 09a2eb1e1..8c8f2ea75 100644
--- a/.github/actions/setup-linux/action.yml
+++ b/.github/actions/setup-linux/action.yml
@@ -4,9 +4,9 @@ inputs:
   toolchain:
     required: true
   version-gcc:
-    default: 11
+    default: 13
   version-llvm:
-    default: 15
+    default: 16
 
 runs:
   using: composite
diff --git a/.github/actions/setup-macos/action.yml b/.github/actions/setup-macos/action.yml
index c661853e6..445c8f24e 100644
--- a/.github/actions/setup-macos/action.yml
+++ b/.github/actions/setup-macos/action.yml
@@ -2,7 +2,7 @@ name: Setup macOS
 
 inputs:
   version:
-    default: 14.3
+    default: 15.2
 
 runs:
   using: composite
diff --git a/docs/building.md b/docs/building.md
index a30af2ef6..270faabee 100644
--- a/docs/building.md
+++ b/docs/building.md
@@ -82,7 +82,7 @@ Prerequisites:
 - CMake 3.22 or newer
 - Python 3.8 or newer
 - GCC 11 or newer
-- (Optional) Clang 15.0.0 or newer
+- (Optional) Clang 16.0.0 or newer
   - If you wish to compile with LLVM/Clang instead of GCC
 
 ⚠️ These commands will build binaries for 64-bit systems. If you instead wish to build binaries for
diff --git a/docs/hacking.md b/docs/hacking.md
index f8e83e1da..203cca050 100644
--- a/docs/hacking.md
+++ b/docs/hacking.md
@@ -199,7 +199,7 @@ Prerequisites:
 you to use clang-format from within the editor of your choosing, such as [the C++ extension][cpp]
 for Visual Studio Code, which can save you from the hassle of running the commands shown below.
 
-⚠️ The clang-format configuration that Godot Jolt uses is written for **LLVM 15.0** and won't work
+⚠️ The clang-format configuration that Godot Jolt uses is written for **LLVM 16.0** and won't work
 with earlier versions, possibly not newer ones either.
 
 There is a PowerShell script, `scripts/run_clang_format.ps1`, that runs clang-format on all source
@@ -227,7 +227,7 @@ Prerequisites:
 to use clang-tidy from within the editor of your choosing, such as [the C++ extension][cpp] for
 Visual Studio Code, which can save you from the hassle of running the commands shown below.
 
-⚠️ The clang-tidy configuration that Godot Jolt uses is written for **LLVM 15.0** and won't work
+⚠️ The clang-tidy configuration that Godot Jolt uses is written for **LLVM 16.0** and won't work
 with earlier versions, possibly not newer ones either.
 
 ⚠️ Because clang-tidy effectively compiles the code in order to analyze it, it's highly recommended
diff --git a/src/joints/jolt_cone_twist_joint_impl_3d.cpp b/src/joints/jolt_cone_twist_joint_impl_3d.cpp
index 447de6411..97e942594 100644
--- a/src/joints/jolt_cone_twist_joint_impl_3d.cpp
+++ b/src/joints/jolt_cone_twist_joint_impl_3d.cpp
@@ -232,7 +232,8 @@ void JoltConeTwistJointImpl3D::rebuild() {
 
 	const JPH::BodyID body_ids[2] = {
 		body_a != nullptr ? body_a->get_jolt_id() : JPH::BodyID(),
-		body_b != nullptr ? body_b->get_jolt_id() : JPH::BodyID()};
+		body_b != nullptr ? body_b->get_jolt_id() : JPH::BodyID()
+	};
 
 	const JoltWritableBodies3D jolt_bodies = space->write_bodies(body_ids, count_of(body_ids));
 
diff --git a/src/joints/jolt_generic_6dof_joint_impl_3d.cpp b/src/joints/jolt_generic_6dof_joint_impl_3d.cpp
index 3bec3c6f1..847b4f565 100644
--- a/src/joints/jolt_generic_6dof_joint_impl_3d.cpp
+++ b/src/joints/jolt_generic_6dof_joint_impl_3d.cpp
@@ -446,7 +446,8 @@ void JoltGeneric6DOFJointImpl3D::rebuild() {
 
 	const JPH::BodyID body_ids[2] = {
 		body_a != nullptr ? body_a->get_jolt_id() : JPH::BodyID(),
-		body_b != nullptr ? body_b->get_jolt_id() : JPH::BodyID()};
+		body_b != nullptr ? body_b->get_jolt_id() : JPH::BodyID()
+	};
 
 	const JoltWritableBodies3D jolt_bodies = space->write_bodies(body_ids, count_of(body_ids));
 
diff --git a/src/joints/jolt_hinge_joint_impl_3d.cpp b/src/joints/jolt_hinge_joint_impl_3d.cpp
index 4b801b6a2..9301024f0 100644
--- a/src/joints/jolt_hinge_joint_impl_3d.cpp
+++ b/src/joints/jolt_hinge_joint_impl_3d.cpp
@@ -262,7 +262,8 @@ void JoltHingeJointImpl3D::rebuild() {
 
 	const JPH::BodyID body_ids[2] = {
 		body_a != nullptr ? body_a->get_jolt_id() : JPH::BodyID(),
-		body_b != nullptr ? body_b->get_jolt_id() : JPH::BodyID()};
+		body_b != nullptr ? body_b->get_jolt_id() : JPH::BodyID()
+	};
 
 	const JoltWritableBodies3D jolt_bodies = space->write_bodies(body_ids, count_of(body_ids));
 
diff --git a/src/joints/jolt_pin_joint_impl_3d.cpp b/src/joints/jolt_pin_joint_impl_3d.cpp
index 25c9945aa..26bf4eec4 100644
--- a/src/joints/jolt_pin_joint_impl_3d.cpp
+++ b/src/joints/jolt_pin_joint_impl_3d.cpp
@@ -117,7 +117,8 @@ void JoltPinJointImpl3D::rebuild() {
 
 	const JPH::BodyID body_ids[2] = {
 		body_a != nullptr ? body_a->get_jolt_id() : JPH::BodyID(),
-		body_b != nullptr ? body_b->get_jolt_id() : JPH::BodyID()};
+		body_b != nullptr ? body_b->get_jolt_id() : JPH::BodyID()
+	};
 
 	const JoltWritableBodies3D jolt_bodies = space->write_bodies(body_ids, count_of(body_ids));
 
diff --git a/src/joints/jolt_slider_joint_impl_3d.cpp b/src/joints/jolt_slider_joint_impl_3d.cpp
index 542946676..b38c2e09b 100644
--- a/src/joints/jolt_slider_joint_impl_3d.cpp
+++ b/src/joints/jolt_slider_joint_impl_3d.cpp
@@ -464,7 +464,8 @@ void JoltSliderJointImpl3D::rebuild() {
 
 	const JPH::BodyID body_ids[2] = {
 		body_a != nullptr ? body_a->get_jolt_id() : JPH::BodyID(),
-		body_b != nullptr ? body_b->get_jolt_id() : JPH::BodyID()};
+		body_b != nullptr ? body_b->get_jolt_id() : JPH::BodyID()
+	};
 
 	const JoltWritableBodies3D jolt_bodies = space->write_bodies(body_ids, count_of(body_ids));
 
diff --git a/src/misc/type_conversions.hpp b/src/misc/type_conversions.hpp
index 74dd3e1d5..b9138bbc8 100644
--- a/src/misc/type_conversions.hpp
+++ b/src/misc/type_conversions.hpp
@@ -17,7 +17,8 @@ _FORCE_INLINE_ Transform3D to_godot(const JPH::Mat44& p_mat) {
 		Vector3(p_mat(0, 0), p_mat(1, 0), p_mat(2, 0)),
 		Vector3(p_mat(0, 1), p_mat(1, 1), p_mat(2, 1)),
 		Vector3(p_mat(0, 2), p_mat(1, 2), p_mat(2, 2)),
-		Vector3(p_mat(0, 3), p_mat(1, 3), p_mat(2, 3))};
+		Vector3(p_mat(0, 3), p_mat(1, 3), p_mat(2, 3))
+	};
 }
 
 _FORCE_INLINE_ Color to_godot(const JPH::Color& p_color) {
@@ -30,7 +31,8 @@ _FORCE_INLINE_ Color to_godot(const JPH::Color& p_color) {
 		r == 0.0f ? 0.0f : 255.0f / r,
 		g == 0.0f ? 0.0f : 255.0f / g,
 		b == 0.0f ? 0.0f : 255.0f / b,
-		a == 0.0f ? 0.0f : 255.0f / a};
+		a == 0.0f ? 0.0f : 255.0f / a
+	};
 }
 
 _FORCE_INLINE_ String to_godot(const JPH::String& p_str) {
@@ -58,7 +60,8 @@ _FORCE_INLINE_ JPH::Mat44 to_jolt(const Transform3D& p_transform) {
 		JPH::Vec4(b[0][0], b[1][0], b[2][0], 0.0f),
 		JPH::Vec4(b[0][1], b[1][1], b[2][1], 0.0f),
 		JPH::Vec4(b[0][2], b[1][2], b[2][2], 0.0f),
-		JPH::Vec3(o.x, o.y, o.z)};
+		JPH::Vec3(o.x, o.y, o.z)
+	};
 }
 
 _FORCE_INLINE_ JPH::Color to_jolt(const Color& p_color) {
@@ -86,5 +89,6 @@ _FORCE_INLINE_ JPH::RMat44 to_jolt_r(const Transform3D& p_transform) {
 		JPH::Vec4(b[0][0], b[1][0], b[2][0], 0.0f),
 		JPH::Vec4(b[0][1], b[1][1], b[2][1], 0.0f),
 		JPH::Vec4(b[0][2], b[1][2], b[2][2], 0.0f),
-		JPH::RVec3(o.x, o.y, o.z)};
+		JPH::RVec3(o.x, o.y, o.z)
+	};
 }
diff --git a/src/shapes/jolt_custom_ray_shape.cpp b/src/shapes/jolt_custom_ray_shape.cpp
index 975d8f21d..578e086ff 100644
--- a/src/shapes/jolt_custom_ray_shape.cpp
+++ b/src/shapes/jolt_custom_ray_shape.cpp
@@ -174,7 +174,8 @@ void JoltCustomRayShape::register_type() {
 		JPH::EShapeSubType::Cylinder,
 		JPH::EShapeSubType::ConvexHull,
 		JPH::EShapeSubType::Mesh,
-		JPH::EShapeSubType::HeightField};
+		JPH::EShapeSubType::HeightField
+	};
 
 	for (const JPH::EShapeSubType concrete_sub_type : concrete_sub_types) {
 		JPH::CollisionDispatch::sRegisterCollideShape(
diff --git a/src/spaces/jolt_body_accessor_3d.cpp b/src/spaces/jolt_body_accessor_3d.cpp
index a22a60818..387516682 100644
--- a/src/spaces/jolt_body_accessor_3d.cpp
+++ b/src/spaces/jolt_body_accessor_3d.cpp
@@ -79,7 +79,8 @@ const JPH::BodyID* JoltBodyAccessor3D::get_ids() const {
 			},
 			[](const BodyIDSpan& p_span) {
 				return p_span.ptr;
-			}},
+			}
+		},
 		ids
 	);
 }
@@ -97,7 +98,8 @@ int32_t JoltBodyAccessor3D::get_count() const {
 			},
 			[](const BodyIDSpan& p_span) {
 				return p_span.count;
-			}},
+			}
+		},
 		ids
 	);
 }