diff --git a/WORKSPACE b/WORKSPACE.bazel
similarity index 96%
rename from WORKSPACE
rename to WORKSPACE.bazel
index b0eae5d3..fc7b727d 100644
--- a/WORKSPACE
+++ b/WORKSPACE.bazel
@@ -45,8 +45,7 @@ http_archive(
 load("@bazel_gazelle//:deps.bzl", "gazelle_dependencies")
 
 # If you use WORKSPACE.bazel, use the following line instead of the bare gazelle_dependencies():
-# gazelle_dependencies(go_repository_default_config = "@//:WORKSPACE.bazel")
-gazelle_dependencies()
+gazelle_dependencies(go_repository_default_config = "@//:WORKSPACE.bazel")
 
 http_archive(
     name = "com_google_protobuf",
diff --git a/cc/BUILD.bazel b/cc/BUILD.bazel
index 8d23f414..2a91fa83 100644
--- a/cc/BUILD.bazel
+++ b/cc/BUILD.bazel
@@ -54,6 +54,19 @@ config_setting(
     visibility = ["//visibility:public"],
 )
 
+# Disable warnings as errors with --@rules_swiftnav//cc:warnings_as_errors=false
+bool_flag(
+    name = "warnings_as_errors",
+    build_setting_default = True,
+    visibility = ["//visibility:public"],
+)
+
+config_setting(
+    name = "_disable_warnings_as_errors",
+    flag_values = {":warnings_as_errors": "false"},
+    visibility = ["//visibility:public"],
+)
+
 # Allows us to experiment with building the codebase with different standards.
 string_flag(
     name = "cxx_standard",
diff --git a/cc/defs.bzl b/cc/defs.bzl
index 325de3f4..6870ae47 100644
--- a/cc/defs.bzl
+++ b/cc/defs.bzl
@@ -51,6 +51,9 @@ def _common_cc_opts(nocopts, pedantic = False):
         Label("//cc/constraints:gcc-6"): [copt for copt in GCC6_COPTS if copt not in nocopts],
         Label("//cc/constraints:gcc-5"): [copt for copt in GCC5_COPTS if copt not in nocopts],
         "//conditions:default": [copt for copt in DEFAULT_COPTS if copt not in nocopts],
+    }) + select({
+        Label("//cc:_disable_warnings_as_errors"): [],
+        "//conditions:default": ["-Werror"],
     }) + ["-pedantic"] if pedantic else []
 
 # Options specific to c++ code (exceptions, rtti, etc..)
@@ -72,16 +75,6 @@ def _common_cxx_opts(exceptions = False, rtti = False, standard = None):
 def _construct_local_includes(local_includes):
     return [construct_local_include(path) for path in local_includes]
 
-# Some options like -Werror are set using toolchain features
-# See: https://bazel.build/docs/cc-toolchain-config-reference#features
-def _default_features():
-    return select({
-        # treat_warnings_as_errors passes the option -fatal-warnings
-        # to the linker which ld on mac does not understand.
-        "@platforms//os:macos": [],
-        "//conditions:default": ["treat_warnings_as_errors"],
-    })
-
 # Disable building when --//:disable_tests=true or when building on windows
 def _test_compatible_with():
     return select({
@@ -194,8 +187,6 @@ def swift_c_library(**kwargs):
 
     kwargs["copts"] = copts + c_standard + kwargs.get("copts", [])
 
-    kwargs["features"] = _default_features() + kwargs.get("features", [])
-
     kwargs["tags"] = [LIBRARY] + kwargs.get("tags", [])
 
     native.cc_library(**kwargs)
@@ -247,8 +238,6 @@ def swift_cc_library(**kwargs):
 
     kwargs["copts"] = copts + cxxopts + kwargs.get("copts", [])
 
-    kwargs["features"] = _default_features() + kwargs.get("features", [])
-
     kwargs["tags"] = [LIBRARY] + kwargs.get("tags", [])
 
     native.cc_library(**kwargs)
@@ -293,8 +282,6 @@ def swift_c_tool_library(**kwargs):
 
     kwargs["copts"] = copts + c_standard + kwargs.get("copts", [])
 
-    kwargs["features"] = _default_features() + kwargs.get("features", [])
-
     native.cc_library(**kwargs)
 
 def swift_cc_tool_library(**kwargs):
@@ -340,8 +327,6 @@ def swift_cc_tool_library(**kwargs):
 
     kwargs["copts"] = copts + cxxopts + kwargs.get("copts", [])
 
-    kwargs["features"] = _default_features() + kwargs.get("features", [])
-
     native.cc_library(**kwargs)
 
 def swift_c_binary(**kwargs):
@@ -382,8 +367,6 @@ def swift_c_binary(**kwargs):
 
     kwargs["copts"] = copts + c_standard + kwargs.get("copts", [])
 
-    kwargs["features"] = _default_features() + kwargs.get("features", [])
-
     kwargs["tags"] = [BINARY] + kwargs.get("tags", [])
 
     native.cc_binary(**kwargs)
@@ -430,8 +413,6 @@ def swift_cc_binary(**kwargs):
 
     kwargs["copts"] = copts + cxxopts + kwargs.get("copts", [])
 
-    kwargs["features"] = _default_features() + kwargs.get("features", [])
-
     kwargs["tags"] = [BINARY] + kwargs.get("tags", [])
 
     native.cc_binary(**kwargs)
@@ -473,8 +454,6 @@ def swift_c_tool(**kwargs):
 
     kwargs["copts"] = copts + c_standard + kwargs.get("copts", [])
 
-    kwargs["features"] = _default_features() + kwargs.get("features", [])
-
     native.cc_binary(**kwargs)
 
 def swift_cc_tool(**kwargs):
@@ -517,8 +496,6 @@ def swift_cc_tool(**kwargs):
 
     kwargs["copts"] = copts + cxxopts + kwargs.get("copts", [])
 
-    kwargs["features"] = _default_features() + kwargs.get("features", [])
-
     native.cc_binary(**kwargs)
 
 def swift_cc_test_library(**kwargs):
diff --git a/cc/repositories.bzl b/cc/repositories.bzl
index a8c1d1c4..193b1312 100644
--- a/cc/repositories.bzl
+++ b/cc/repositories.bzl
@@ -11,18 +11,20 @@
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
 
-X86_64_LINUX_LLVM = "https://github.com/llvm/llvm-project/releases/download/llvmorg-14.0.0/clang%2Bllvm-14.0.0-x86_64-linux-gnu-ubuntu-18.04.tar.xz"
+AARCH64_DARWIN_LLVM = "https://github.com/swift-nav/swift-toolchains/releases/download/llvm-14.0.0/clang%2Bllvm-14.0.0-arm64-apple-darwin.tar.gz"
 
 X86_64_DARWIN_LLVM = "https://github.com/llvm/llvm-project/releases/download/llvmorg-14.0.0/clang%2Bllvm-14.0.0-x86_64-apple-darwin.tar.xz"
 
+X86_64_LINUX_LLVM = "https://github.com/llvm/llvm-project/releases/download/llvmorg-14.0.0/clang%2Bllvm-14.0.0-x86_64-linux-gnu-ubuntu-18.04.tar.xz"
+
 def swift_cc_toolchain():
     maybe(
         http_archive,
-        name = "x86_64-linux-llvm",
+        name = "aarch64-darwin-llvm",
         build_file = Label("//cc/toolchains/llvm:llvm.BUILD.bzl"),
-        url = X86_64_LINUX_LLVM,
-        strip_prefix = "clang+llvm-14.0.0-x86_64-linux-gnu-ubuntu-18.04",
-        sha256 = "61582215dafafb7b576ea30cc136be92c877ba1f1c31ddbbd372d6d65622fef5",
+        url = AARCH64_DARWIN_LLVM,
+        strip_prefix = "clang+llvm-14.0.0-arm64-apple-darwin",
+        sha256 = "f826ee92c3fedb92bad2f9f834d96f6b9db3192871bfe434124bca848ba9a2a3",
     )
 
     maybe(
@@ -34,6 +36,16 @@ def swift_cc_toolchain():
         sha256 = "cf5af0f32d78dcf4413ef6966abbfd5b1445fe80bba57f2ff8a08f77e672b9b3",
     )
 
+    maybe(
+        http_archive,
+        name = "x86_64-linux-llvm",
+        build_file = Label("//cc/toolchains/llvm:llvm.BUILD.bzl"),
+        url = X86_64_LINUX_LLVM,
+        strip_prefix = "clang+llvm-14.0.0-x86_64-linux-gnu-ubuntu-18.04",
+        sha256 = "61582215dafafb7b576ea30cc136be92c877ba1f1c31ddbbd372d6d65622fef5",
+    )
+
 def register_swift_cc_toolchains():
-    native.register_toolchains("@rules_swiftnav//cc/toolchains/llvm/x86_64-linux:cc-toolchain-x86_64-linux")
+    native.register_toolchains("@rules_swiftnav//cc/toolchains/llvm/aarch64-darwin:cc-toolchain-aarch64-darwin")
     native.register_toolchains("@rules_swiftnav//cc/toolchains/llvm/x86_64-darwin:cc-toolchain-x86_64-darwin")
+    native.register_toolchains("@rules_swiftnav//cc/toolchains/llvm/x86_64-linux:cc-toolchain-x86_64-linux")
diff --git a/cc/toolchains/llvm/aarch64-darwin/BUILD.bazel b/cc/toolchains/llvm/aarch64-darwin/BUILD.bazel
new file mode 100644
index 00000000..df83853a
--- /dev/null
+++ b/cc/toolchains/llvm/aarch64-darwin/BUILD.bazel
@@ -0,0 +1,149 @@
+# Copyright (C) 2022 Swift Navigation Inc.
+# Contact: Swift Navigation <dev@swift-nav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+package(default_visibility = ["//visibility:public"])
+
+load("//cc/toolchains/llvm:cc_toolchain_config.bzl", "cc_toolchain_config")
+
+filegroup(
+    name = "wrappers",
+    srcs = glob([
+        "wrappers/**",
+    ]),
+    visibility = ["//visibility:public"],
+)
+
+filegroup(
+    name = "ar_files",
+    srcs = [
+        ":wrappers",
+        "@aarch64-darwin-llvm//:ar",
+    ],
+)
+
+filegroup(
+    name = "as_files",
+    srcs = [
+        ":wrappers",
+        "@aarch64-darwin-llvm//:as",
+    ],
+)
+
+filegroup(
+    name = "compiler_files",
+    srcs = [
+        ":wrappers",
+        "@aarch64-darwin-llvm//:clang",
+        "@aarch64-darwin-llvm//:include",
+    ],
+)
+
+filegroup(
+    name = "dwp_files",
+    srcs = [
+        ":wrappers",
+        "@aarch64-darwin-llvm//:dwp",
+    ],
+)
+
+filegroup(
+    name = "linker_files",
+    srcs = [
+        ":wrappers",
+        "@aarch64-darwin-llvm//:ar",
+        "@aarch64-darwin-llvm//:clang",
+        "@aarch64-darwin-llvm//:lib",
+    ],
+)
+
+filegroup(
+    name = "objcopy_files",
+    srcs = [
+        ":wrappers",
+        "@aarch64-darwin-llvm//:objcopy",
+    ],
+)
+
+filegroup(
+    name = "strip_files",
+    srcs = [
+        ":wrappers",
+        "@aarch64-darwin-llvm//:strip",
+    ],
+)
+
+filegroup(
+    name = "all_files",
+    srcs = [
+        "linker_files",
+        ":compiler_files",
+        "@aarch64-darwin-llvm//:bin",
+    ],
+)
+
+cc_toolchain_config(
+    name = "local-aarch64-darwin",
+    abi_libc_version = "darwin_aarch64",
+    abi_version = "darwin_aarch64",
+    builtin_sysroot = "/Library/Developer/CommandLineTools/SDKs/MacOSX.sdk",
+    compiler = "clang",
+    cxx_builtin_include_directories = [
+        "%sysroot%/usr/include",
+        "%sysroot%/System/Library/Frameworks",
+    ],
+    host_system_name = "darwin-aarch64",
+    is_darwin = True,
+    target_cpu = "darwin",
+    target_libc = "macosx",
+    target_system_name = "aarch64-apple-macosx",
+    tool_paths = {
+        "ar": "/usr/bin/libtool",
+        "cpp": "wrappers/clang-cpp",
+        "gcc": "wrappers/clang",
+        "gcov": "wrappers/llvm-profdata",
+        "llvm-cov": "wrappers/llvm-cov",
+        "llvm-profdata": "wrappers/llvm-profdata",
+        "ld": "/usr/bin/ld",
+        "nm": "wrappers/llvm-nm",
+        "objcopy": "wrappers/llvm-objcopy",
+        "objdump": "wrappers/llvm-objdump",
+        "strip": "wrappers/llvm-strip",
+    },
+    toolchain_identifier = "clang-aarch64-darwin",
+    toolchain_path_prefix = "external/aarch64-darwin-llvm",
+)
+
+cc_toolchain(
+    name = "cc-clang-aarch64-darwin",
+    all_files = ":all_files",
+    ar_files = ":ar_files",
+    as_files = ":as_files",
+    compiler_files = ":compiler_files",
+    dwp_files = ":dwp_files",
+    linker_files = ":linker_files",
+    objcopy_files = ":objcopy_files",
+    strip_files = ":strip_files",
+    toolchain_config = ":local-aarch64-darwin",
+)
+
+toolchain(
+    name = "cc-toolchain-aarch64-darwin",
+    exec_compatible_with = [
+        "@platforms//cpu:aarch64",
+        "@platforms//os:macos",
+    ],
+    target_compatible_with = [
+        "@platforms//cpu:aarch64",
+        "@platforms//os:macos",
+    ],
+    target_settings = None,
+    toolchain = ":cc-clang-aarch64-darwin",
+    toolchain_type = "@bazel_tools//tools/cpp:toolchain_type",
+)
diff --git a/cc/toolchains/llvm/aarch64-darwin/wrappers/clang b/cc/toolchains/llvm/aarch64-darwin/wrappers/clang
new file mode 120000
index 00000000..22cb46f8
--- /dev/null
+++ b/cc/toolchains/llvm/aarch64-darwin/wrappers/clang
@@ -0,0 +1 @@
+wrapper
\ No newline at end of file
diff --git a/cc/toolchains/llvm/aarch64-darwin/wrappers/clang-cpp b/cc/toolchains/llvm/aarch64-darwin/wrappers/clang-cpp
new file mode 120000
index 00000000..22cb46f8
--- /dev/null
+++ b/cc/toolchains/llvm/aarch64-darwin/wrappers/clang-cpp
@@ -0,0 +1 @@
+wrapper
\ No newline at end of file
diff --git a/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-cov b/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-cov
new file mode 120000
index 00000000..22cb46f8
--- /dev/null
+++ b/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-cov
@@ -0,0 +1 @@
+wrapper
\ No newline at end of file
diff --git a/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-nm b/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-nm
new file mode 120000
index 00000000..22cb46f8
--- /dev/null
+++ b/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-nm
@@ -0,0 +1 @@
+wrapper
\ No newline at end of file
diff --git a/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-objcopy b/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-objcopy
new file mode 120000
index 00000000..22cb46f8
--- /dev/null
+++ b/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-objcopy
@@ -0,0 +1 @@
+wrapper
\ No newline at end of file
diff --git a/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-objdump b/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-objdump
new file mode 120000
index 00000000..22cb46f8
--- /dev/null
+++ b/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-objdump
@@ -0,0 +1 @@
+wrapper
\ No newline at end of file
diff --git a/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-profdata b/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-profdata
new file mode 120000
index 00000000..22cb46f8
--- /dev/null
+++ b/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-profdata
@@ -0,0 +1 @@
+wrapper
\ No newline at end of file
diff --git a/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-strip b/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-strip
new file mode 120000
index 00000000..22cb46f8
--- /dev/null
+++ b/cc/toolchains/llvm/aarch64-darwin/wrappers/llvm-strip
@@ -0,0 +1 @@
+wrapper
\ No newline at end of file
diff --git a/cc/toolchains/llvm/aarch64-darwin/wrappers/wrapper b/cc/toolchains/llvm/aarch64-darwin/wrappers/wrapper
new file mode 100755
index 00000000..f7ad6956
--- /dev/null
+++ b/cc/toolchains/llvm/aarch64-darwin/wrappers/wrapper
@@ -0,0 +1,58 @@
+#!/usr/bin/env bash
+
+# Copyright (C) 2022 Swift Navigation Inc.
+# Contact: Swift Navigation <dev@swift-nav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+# Locates the actual tool paths relative to the location this script is 
+# executed from.
+#
+# This is necessary because we download the toolchain using
+# http_archive, which bazel places in _execroot_/external/_repo_name_.
+#
+# Unfortunately we cannot provide this location as the argument of tool_path
+# when configuring the toolchain, because tool_path only takes a relative path.
+#
+# This is the fairly common workaround to handle this.
+#
+# TODO: [BUILD-549] - Remove need for wrapper files
+#
+# Recent versions of Bazel may have introduced a mechanism that removes
+# the need for this workaround: https://github.com/bazelbuild/bazel/issues/7746
+
+set -e
+
+# Use --actionv_env=SWIFTNAV_VERBOSE_TOOLCHAIN to enable
+if [[ -n "$SWIFTNAV_VERBOSE_TOOLCHAIN" ]]; then
+  set -x
+fi
+
+tool_name=$(basename "${BASH_SOURCE[0]}")
+toolchain_bindir=external/aarch64-darwin-llvm/bin
+
+if [[ -f "${toolchain_bindir}"/"${tool_name}" ]]; then
+  # We're running under _execroot_, call the real tool.
+  exec "${toolchain_bindir}"/"${tool_name}" "$@"
+elif [[ "${BASH_SOURCE[0]}" == "/"* ]]; then
+  # This branch exists because some users of the toolchain,
+  # namely rules_foreign_cc, will change CWD and call $CC (this script)
+  # with its absolute path.
+  #
+  # To deal with this we find the tool relative to this script, which is at
+  # _execroot_/external/rules_swiftnav/cc/toolchain/llvm/x86_64-linux/wrappers/wrapper.
+  #
+  # If the wrapper is relocated then this line needs to be adjusted.
+  execroot_path="${BASH_SOURCE[0]%/*/*/*/*/*/*/*/*}"
+  tool="${execroot_path}/${toolchain_bindir}/${tool_name}"
+  exec "${tool}" "${@}"
+else
+  >&2 echo "ERROR: could not find ${tool_name}; PWD=\"$(pwd)\"; PATH=\"${PATH}\"."
+  exit 5
+fi
+
diff --git a/cc/toolchains/llvm/cc_toolchain_config.bzl b/cc/toolchains/llvm/cc_toolchain_config.bzl
index e13145a3..392a6c88 100644
--- a/cc/toolchains/llvm/cc_toolchain_config.bzl
+++ b/cc/toolchains/llvm/cc_toolchain_config.bzl
@@ -35,6 +35,12 @@ def cc_toolchain_config(
         "-U_FORTIFY_SOURCE",  # https://github.com/google/sanitizers/issues/247
         "-fstack-protector",
         "-fno-omit-frame-pointer",
+        # Math
+        # This controls whether the compiler allows contracting floating point operations.
+        # It was flipped from off to on in clang-14.
+        # For now we'd like to preserve the legacy behavior.
+        # See [BUILD-666] for more details.
+        "-ffp-contract=off",
         # Diagnostics
         "-fcolor-diagnostics",
         "-Wall",
@@ -91,6 +97,7 @@ def cc_toolchain_config(
             # https://developer.apple.com/forums/thread/719961
             "-undefined",
             "dynamic_lookup",
+            "-Wl,-no_fixup_chains",
         ])
     else:
         use_lld = True
diff --git a/cc/toolchains/llvm/llvm.BUILD.bzl b/cc/toolchains/llvm/llvm.BUILD.bzl
index 3c175d51..413d4c69 100755
--- a/cc/toolchains/llvm/llvm.BUILD.bzl
+++ b/cc/toolchains/llvm/llvm.BUILD.bzl
@@ -30,9 +30,11 @@ filegroup(
 
 filegroup(
     name = "ld",
-    srcs = [
+    # Hack to workaround us not building lld
+    # for aarch64-darwin.
+    srcs = glob([
         "bin/ld.lld",
-    ],
+    ]),
 )
 
 filegroup(
diff --git a/clang_format/BUILD.bazel b/clang_format/BUILD.bazel
index 466add66..cb1b024c 100644
--- a/clang_format/BUILD.bazel
+++ b/clang_format/BUILD.bazel
@@ -19,6 +19,7 @@ choose_clang_format(
 filegroup(
     name = "_clang_format_bin",
     srcs = select({
+        "//platforms:aarch64-darwin": ["@aarch64-darwin-llvm//:clang-format"],
         "//platforms:x86_64-darwin": ["@x86_64-darwin-llvm//:clang-format"],
         "//platforms:x86_64-linux": ["@x86_64-linux-llvm//:clang-format"],
         "//conditions:default": [":clang_format_bin"],