diff --git a/aos/util/bitpacking.h b/aos/util/bitpacking.h
index 844a940..4c9bfc8 100644
--- a/aos/util/bitpacking.h
+++ b/aos/util/bitpacking.h
@@ -1,6 +1,10 @@
 #ifndef AOS_UTIL_BITPACKING_H_
 #define AOS_UTIL_BITPACKING_H_
 
+#include <stddef.h>
+#include <stdint.h>
+
+#include <algorithm>
 #include <cassert>
 #include <type_traits>
 
diff --git a/aos/util/bitpacking_test.cc b/aos/util/bitpacking_test.cc
index 0f534a1..bcf72b4 100644
--- a/aos/util/bitpacking_test.cc
+++ b/aos/util/bitpacking_test.cc
@@ -2,6 +2,7 @@
 
 #include <array>
 #include <cstdint>
+#include <memory>
 
 #include "gtest/gtest.h"
 
diff --git a/aos/util/clock_publisher.cc b/aos/util/clock_publisher.cc
index f8c731f..2b70768 100644
--- a/aos/util/clock_publisher.cc
+++ b/aos/util/clock_publisher.cc
@@ -1,5 +1,17 @@
 #include "aos/util/clock_publisher.h"
 
+#include <algorithm>
+#include <chrono>
+#include <vector>
+
+#include "flatbuffers/buffer.h"
+#include "flatbuffers/flatbuffer_builder.h"
+#include "flatbuffers/string.h"
+#include "flatbuffers/vector.h"
+
+#include "aos/configuration_generated.h"
+#include "aos/events/context.h"
+
 namespace aos {
 ClockPublisher::ClockPublisher(aos::SimulatedEventLoopFactory *factory,
                                aos::EventLoop *event_loop)
diff --git a/aos/util/clock_publisher.h b/aos/util/clock_publisher.h
index a6d3488..44e1c4a 100644
--- a/aos/util/clock_publisher.h
+++ b/aos/util/clock_publisher.h
@@ -1,5 +1,6 @@
 #ifndef AOS_UTIL_CLOCK_PUBLISHER_H_
 #define AOS_UTIL_CLOCK_PUBLISHER_H_
+#include "aos/events/event_loop.h"
 #include "aos/events/simulated_event_loop.h"
 #include "aos/util/clock_timepoints_generated.h"
 
diff --git a/aos/util/config_validator.cc b/aos/util/config_validator.cc
index df21ba0..0ee1018 100644
--- a/aos/util/config_validator.cc
+++ b/aos/util/config_validator.cc
@@ -1,4 +1,12 @@
+#include <memory>
+
+#include "gflags/gflags.h"
+#include "gtest/gtest.h"
+
+#include "aos/configuration.h"
+#include "aos/flatbuffers.h"
 #include "aos/json_to_flatbuffer.h"
+#include "aos/util/config_validator_config_generated.h"
 #include "aos/util/config_validator_lib.h"
 
 DEFINE_string(config, "", "Name of the config file to replay using.");
diff --git a/aos/util/config_validator_lib.cc b/aos/util/config_validator_lib.cc
index ad85027..eb5205a 100644
--- a/aos/util/config_validator_lib.cc
+++ b/aos/util/config_validator_lib.cc
@@ -1,14 +1,39 @@
 #include "aos/util/config_validator_lib.h"
 
+#include <algorithm>
 #include <chrono>
+#include <cstdlib>
+#include <initializer_list>
+#include <map>
+#include <memory>
+#include <ostream>
+#include <set>
+#include <string>
+#include <string_view>
+#include <utility>
+#include <vector>
 
+#include "flatbuffers/buffer.h"
+#include "flatbuffers/detached_buffer.h"
+#include "flatbuffers/string.h"
+#include "flatbuffers/vector.h"
+#include "gflags/gflags_declare.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+#include "aos/events/event_loop.h"
 #include "aos/events/logging/log_reader.h"
-#include "aos/events/logging/log_writer.h"
+#include "aos/events/logging/logfile_sorting.h"
+#include "aos/events/logging/logfile_utils.h"
 #include "aos/events/simulated_event_loop.h"
+#include "aos/flatbuffers/builder.h"
+#include "aos/flatbuffers/static_vector.h"
+#include "aos/json_to_flatbuffer.h"
 #include "aos/network/remote_message_generated.h"
 #include "aos/network/timestamp_channel.h"
 #include "aos/testing/tmpdir.h"
 #include "aos/util/config_validator_config_static.h"
+#include "aos/util/file.h"
 #include "aos/util/simulation_logger.h"
 
 DECLARE_bool(validate_timestamp_logger_nodes);
diff --git a/aos/util/config_validator_lib.h b/aos/util/config_validator_lib.h
index aa855e5..59ef6d5 100644
--- a/aos/util/config_validator_lib.h
+++ b/aos/util/config_validator_lib.h
@@ -1,10 +1,9 @@
 #ifndef AOS_UTIL_CONFIG_VALIDATOR_H_
 #define AOS_UTIL_CONFIG_VALIDATOR_H_
 
-#include "gtest/gtest.h"
-
-#include "aos/configuration.h"
+#include "aos/configuration.h"  // IWYU pragma: keep
 #include "aos/util/config_validator_config_generated.h"
+
 namespace aos::util {
 
 void ConfigIsValid(const aos::Configuration *config,
diff --git a/aos/util/config_validator_lib_test.cc b/aos/util/config_validator_lib_test.cc
index 55b723a..78b9e4c 100644
--- a/aos/util/config_validator_lib_test.cc
+++ b/aos/util/config_validator_lib_test.cc
@@ -1,7 +1,11 @@
 #include "aos/util/config_validator_lib.h"
 
-#include "gtest/gtest-spi.h"
+#include <memory>
 
+#include "gtest/gtest-spi.h"  // IWYU pragma: keep
+#include "gtest/gtest.h"
+
+#include "aos/flatbuffers.h"
 #include "aos/json_to_flatbuffer.h"
 #include "aos/testing/path.h"
 
diff --git a/aos/util/error_counter.h b/aos/util/error_counter.h
index 1e04571..e08c67e 100644
--- a/aos/util/error_counter.h
+++ b/aos/util/error_counter.h
@@ -1,6 +1,12 @@
 #ifndef AOS_UTIL_ERROR_COUNTER_H_
 #define AOS_UTIL_ERROR_COUNTER_H_
-#include "flatbuffers/flatbuffers.h"
+#include <stddef.h>
+
+#include <array>
+
+#include "flatbuffers/buffer.h"
+#include "flatbuffers/flatbuffer_builder.h"
+#include "flatbuffers/vector.h"
 #include "glog/logging.h"
 
 namespace aos::util {
diff --git a/aos/util/error_counter_test.cc b/aos/util/error_counter_test.cc
index 0a786bf..d59142d 100644
--- a/aos/util/error_counter_test.cc
+++ b/aos/util/error_counter_test.cc
@@ -1,5 +1,8 @@
 #include "aos/util/error_counter.h"
 
+#include <algorithm>
+#include <memory>
+
 #include "gtest/gtest.h"
 
 #include "aos/events/event_loop_generated.h"
diff --git a/aos/util/file.cc b/aos/util/file.cc
index ef958c6..b2528a9 100644
--- a/aos/util/file.cc
+++ b/aos/util/file.cc
@@ -1,18 +1,26 @@
 #include "aos/util/file.h"
 
+#include <errno.h>
 #include <fcntl.h>
 #include <fts.h>
+#include <stdio.h>
+#include <string.h>
 #include <sys/mman.h>
 #include <sys/stat.h>
 #include <sys/types.h>
 #include <unistd.h>
 
+#include <algorithm>
+#include <iterator>
 #include <optional>
+#include <ostream>
 #include <string_view>
 #if __has_feature(memory_sanitizer)
 #include <sanitizer/msan_interface.h>
 #endif
 
+#include "flatbuffers/util.h"
+
 #include "aos/scoped/scoped_fd.h"
 
 namespace aos::util {
diff --git a/aos/util/file.h b/aos/util/file.h
index e0d5c6b..2fc4b2b 100644
--- a/aos/util/file.h
+++ b/aos/util/file.h
@@ -1,18 +1,18 @@
 #ifndef AOS_UTIL_FILE_H_
 #define AOS_UTIL_FILE_H_
 
-#include <fcntl.h>
+#include <stdint.h>
 #include <sys/stat.h>
 #include <sys/types.h>
 
+#include <array>
 #include <memory>
 #include <optional>
 #include <string>
 #include <string_view>
+#include <vector>
 
-#include "absl/strings/numbers.h"
 #include "absl/types/span.h"
-#include "flatbuffers/util.h"
 #include "glog/logging.h"
 
 #include "aos/scoped/scoped_fd.h"
diff --git a/aos/util/file_test.cc b/aos/util/file_test.cc
index b3f1e66..bd319b5 100644
--- a/aos/util/file_test.cc
+++ b/aos/util/file_test.cc
@@ -1,10 +1,12 @@
 #include "aos/util/file.h"
 
+#include <unistd.h>
+
 #include <cstdlib>
 #include <optional>
 #include <string>
 
-#include "gmock/gmock-matchers.h"
+#include "gmock/gmock.h"
 #include "gtest/gtest.h"
 
 #include "aos/realtime.h"
diff --git a/aos/util/filesystem_monitor.cc b/aos/util/filesystem_monitor.cc
index 4efb141..df1dd22 100644
--- a/aos/util/filesystem_monitor.cc
+++ b/aos/util/filesystem_monitor.cc
@@ -1,9 +1,26 @@
+#include <stddef.h>
 #include <sys/statvfs.h>
 
-#include "absl/strings/str_split.h"
-#include "gflags/gflags.h"
+#include <algorithm>
+#include <chrono>
+#include <istream>
+#include <optional>
+#include <string>
+#include <string_view>
+#include <vector>
 
+#include "absl/strings/str_split.h"
+#include "flatbuffers/buffer.h"
+#include "flatbuffers/flatbuffer_builder.h"
+#include "flatbuffers/string.h"
+#include "flatbuffers/vector.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+#include "aos/configuration.h"
+#include "aos/events/event_loop.h"
 #include "aos/events/shm_event_loop.h"
+#include "aos/flatbuffers.h"
 #include "aos/init.h"
 #include "aos/util/filesystem_generated.h"
 
diff --git a/aos/util/foxglove_websocket.cc b/aos/util/foxglove_websocket.cc
index 44e24c8..57326de 100644
--- a/aos/util/foxglove_websocket.cc
+++ b/aos/util/foxglove_websocket.cc
@@ -1,6 +1,10 @@
+#include <string>
+
 #include "gflags/gflags.h"
 
+#include "aos/configuration.h"
 #include "aos/events/shm_event_loop.h"
+#include "aos/flatbuffers.h"
 #include "aos/init.h"
 #include "aos/util/foxglove_websocket_lib.h"
 
diff --git a/aos/util/foxglove_websocket_lib.cc b/aos/util/foxglove_websocket_lib.cc
index fd2cfd4..7a825e4 100644
--- a/aos/util/foxglove_websocket_lib.cc
+++ b/aos/util/foxglove_websocket_lib.cc
@@ -1,9 +1,27 @@
 #include "aos/util/foxglove_websocket_lib.h"
 
-#include "absl/strings/escaping.h"
-#include "gflags/gflags.h"
+#include <chrono>
+#include <compare>
+#include <string>
+#include <utility>
 
+#include "absl/container/btree_set.h"
+#include "absl/strings/escaping.h"
+#include "absl/types/span.h"
+#include "flatbuffers/reflection_generated.h"
+#include "flatbuffers/string.h"
+#include "flatbuffers/vector.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "nlohmann/json.hpp"
+#include <foxglove/websocket/server.hpp>
+
+#include "aos/configuration.h"
+#include "aos/events/context.h"
 #include "aos/flatbuffer_merge.h"
+#include "aos/flatbuffers.h"
+#include "aos/json_to_flatbuffer.h"
+#include "aos/time/time.h"
 #include "aos/util/mcap_logger.h"
 
 DEFINE_uint32(sorting_buffer_ms, 100,
diff --git a/aos/util/foxglove_websocket_lib.h b/aos/util/foxglove_websocket_lib.h
index 2590e27..6836786 100644
--- a/aos/util/foxglove_websocket_lib.h
+++ b/aos/util/foxglove_websocket_lib.h
@@ -1,6 +1,9 @@
 #ifndef AOS_UTIL_FOXGLOVE_WEBSOCKET_LIB_H_
 #define AOS_UTIL_FOXGLOVE_WEBSOCKET_LIB_H_
+#include <stdint.h>
+
 #include <map>
+#include <memory>
 #include <set>
 
 #include "foxglove/websocket/server.hpp"
diff --git a/aos/util/generate_test_log.cc b/aos/util/generate_test_log.cc
index dda7912..106e972 100644
--- a/aos/util/generate_test_log.cc
+++ b/aos/util/generate_test_log.cc
@@ -1,11 +1,16 @@
+#include <chrono>
+#include <memory>
+
 #include "gflags/gflags.h"
 
 #include "aos/configuration.h"
+#include "aos/events/event_loop.h"
 #include "aos/events/logging/log_writer.h"
 #include "aos/events/ping_lib.h"
 #include "aos/events/pong_lib.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/flatbuffers.h"
 #include "aos/init.h"
-#include "aos/json_to_flatbuffer.h"
 #include "aos/testing/path.h"
 
 DEFINE_string(output_folder, "",
diff --git a/aos/util/global_factory.h b/aos/util/global_factory.h
index 2a4028e..99dfc2a 100644
--- a/aos/util/global_factory.h
+++ b/aos/util/global_factory.h
@@ -5,6 +5,7 @@
 #include <memory>
 #include <string>
 #include <unordered_map>
+#include <utility>
 
 // // File Usage Description:
 // class ExampleBaseClass { virtual ~ExampleBaseClass(); }
diff --git a/aos/util/log_to_mcap.cc b/aos/util/log_to_mcap.cc
index d0a2415..8661246 100644
--- a/aos/util/log_to_mcap.cc
+++ b/aos/util/log_to_mcap.cc
@@ -1,6 +1,21 @@
+#include <algorithm>
+#include <memory>
+#include <optional>
+#include <ostream>
+#include <set>
+#include <string>
+#include <vector>
+
+#include "flatbuffers/reflection_generated.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
 #include "aos/configuration.h"
-#include "aos/events/event_loop_generated.h"
+#include "aos/events/event_loop.h"
 #include "aos/events/logging/log_reader.h"
+#include "aos/events/logging/logfile_sorting.h"
+#include "aos/events/simulated_event_loop.h"
+#include "aos/flatbuffers.h"
 #include "aos/init.h"
 #include "aos/util/clock_publisher.h"
 #include "aos/util/clock_timepoints_schema.h"
diff --git a/aos/util/math.h b/aos/util/math.h
index 5a3df11..54bd79a 100644
--- a/aos/util/math.h
+++ b/aos/util/math.h
@@ -3,7 +3,7 @@
 
 #include <cmath>
 
-#include "Eigen/Dense"
+#include "Eigen/Core"
 
 namespace aos::math {
 
diff --git a/aos/util/math_test.cc b/aos/util/math_test.cc
index df68f00..7f3f8b2 100644
--- a/aos/util/math_test.cc
+++ b/aos/util/math_test.cc
@@ -1,5 +1,7 @@
 #include "aos/util/math.h"
 
+#include <memory>
+
 #include "gtest/gtest.h"
 
 namespace aos::math::testing {
diff --git a/aos/util/mcap_logger.cc b/aos/util/mcap_logger.cc
index df2b2d4..0dbb88e 100644
--- a/aos/util/mcap_logger.cc
+++ b/aos/util/mcap_logger.cc
@@ -1,12 +1,30 @@
 #include "aos/util/mcap_logger.h"
 
-#include "absl/strings/str_replace.h"
-#include "lz4/lz4.h"
+#include <algorithm>
+#include <chrono>
+#include <numeric>
+#include <ostream>
+#include <set>
+
+#include "absl/strings/str_cat.h"
+#include "absl/types/span.h"
+#include "flatbuffers/buffer.h"
+#include "flatbuffers/detached_buffer.h"
+#include "flatbuffers/flatbuffer_builder.h"
+#include "flatbuffers/reflection.h"
+#include "flatbuffers/reflection_generated.h"
+#include "flatbuffers/string.h"
+#include "flatbuffers/vector.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "glog/vlog_is_on.h"
 #include "lz4/lz4frame.h"
 #include "nlohmann/json.hpp"
 
+#include "aos/configuration.h"
 #include "aos/configuration_schema.h"
 #include "aos/flatbuffer_merge.h"
+#include "aos/json_to_flatbuffer.h"
 
 DEFINE_uint64(mcap_chunk_size, 10'000'000,
               "Size, in bytes, of individual MCAP chunks");
diff --git a/aos/util/mcap_logger.h b/aos/util/mcap_logger.h
index d9d6f36..c67abda 100644
--- a/aos/util/mcap_logger.h
+++ b/aos/util/mcap_logger.h
@@ -1,12 +1,27 @@
 #ifndef AOS_UTIL_MCAP_LOGGER_H_
 #define AOS_UTIL_MCAP_LOGGER_H_
 
-#include "nlohmann/json.hpp"
+#include <stddef.h>
+#include <stdint.h>
+
+#include <iosfwd>
+#include <map>
+#include <memory>
+#include <optional>
+#include <string>
+#include <string_view>
+#include <utility>
+#include <vector>
+
+#include "nlohmann/json_fwd.hpp"
 
 #include "aos/configuration_generated.h"
+#include "aos/events/context.h"
 #include "aos/events/event_loop.h"
 #include "aos/fast_string_builder.h"
 #include "aos/flatbuffer_utils.h"
+#include "aos/flatbuffers.h"
+#include "aos/time/time.h"
 
 namespace aos {
 
diff --git a/aos/util/mcap_logger_test.cc b/aos/util/mcap_logger_test.cc
index 3684e93..351e124 100644
--- a/aos/util/mcap_logger_test.cc
+++ b/aos/util/mcap_logger_test.cc
@@ -1,9 +1,8 @@
 #include "aos/util/mcap_logger.h"
 
-#include <iostream>
-
 #include "flatbuffers/reflection_generated.h"
 #include "gtest/gtest.h"
+#include "nlohmann/json.hpp"
 
 namespace aos::testing {
 // TODO(james): Write a proper test for the McapLogger itself. However, that
diff --git a/aos/util/options.h b/aos/util/options.h
index f393030..55c48a9 100644
--- a/aos/util/options.h
+++ b/aos/util/options.h
@@ -1,13 +1,8 @@
 #ifndef AOS_UTIL_OPTIONS_H_
 #define AOS_UTIL_OPTIONS_H_
 
-#include <sys/types.h>
-
 namespace aos {
 
-template <class Owner>
-class Options;
-
 // An "option" that can be combined with other options and passed as one
 // argument. This class is designed to emulate integral constants (except be
 // type-safe), so its instances can be combined with operator| (creating an
diff --git a/aos/util/options_test.cc b/aos/util/options_test.cc
index f560fe6..536b319 100644
--- a/aos/util/options_test.cc
+++ b/aos/util/options_test.cc
@@ -1,5 +1,7 @@
 #include "aos/util/options.h"
 
+#include <memory>
+
 #include "gtest/gtest.h"
 
 namespace aos::testing {
diff --git a/aos/util/phased_loop.cc b/aos/util/phased_loop.cc
index 476cc3f..5f87bd0 100644
--- a/aos/util/phased_loop.cc
+++ b/aos/util/phased_loop.cc
@@ -1,5 +1,8 @@
 #include "aos/util/phased_loop.h"
 
+#include <compare>
+#include <ratio>
+
 #include "glog/logging.h"
 
 namespace aos::time {
diff --git a/aos/util/phased_loop.h b/aos/util/phased_loop.h
index dc2dc96..f63481e 100644
--- a/aos/util/phased_loop.h
+++ b/aos/util/phased_loop.h
@@ -1,6 +1,7 @@
 #ifndef AOS_UTIL_PHASED_LOOP_H_
 #define AOS_UTIL_PHASED_LOOP_H_
 
+#include <chrono>
 #include <optional>
 
 #include "aos/time/time.h"
diff --git a/aos/util/phased_loop_test.cc b/aos/util/phased_loop_test.cc
index af33567..e74be4c 100644
--- a/aos/util/phased_loop_test.cc
+++ b/aos/util/phased_loop_test.cc
@@ -1,6 +1,8 @@
 #include "aos/util/phased_loop.h"
 
-#include "glog/logging.h"
+#include <memory>
+#include <ratio>
+
 #include "gtest/gtest.h"
 
 #include "aos/time/time.h"
diff --git a/aos/util/scoped_pipe.cc b/aos/util/scoped_pipe.cc
index d64fad1..a4e5b46 100644
--- a/aos/util/scoped_pipe.cc
+++ b/aos/util/scoped_pipe.cc
@@ -1,6 +1,10 @@
 #include "aos/util/scoped_pipe.h"
 
+#include <errno.h>
 #include <fcntl.h>
+#include <unistd.h>
+
+#include <ostream>
 
 #include "glog/logging.h"
 
diff --git a/aos/util/scoped_pipe.h b/aos/util/scoped_pipe.h
index fb91e02..c6ce0cb 100644
--- a/aos/util/scoped_pipe.h
+++ b/aos/util/scoped_pipe.h
@@ -1,10 +1,12 @@
 #ifndef AOS_UTIL_SCOPED_PIPE_H_
 #define AOS_UTIL_SCOPED_PIPE_H_
 
+#include <stddef.h>
 #include <stdint.h>
 
 #include <memory>
 #include <optional>
+#include <string>
 
 #include "absl/types/span.h"
 
@@ -14,6 +16,7 @@
 class ScopedPipe {
  public:
   class ScopedReadPipe;
+
   class ScopedWritePipe;
 
   struct PipePair {
diff --git a/aos/util/scoped_pipe_test.cc b/aos/util/scoped_pipe_test.cc
index 80059f8..55a8f62 100644
--- a/aos/util/scoped_pipe_test.cc
+++ b/aos/util/scoped_pipe_test.cc
@@ -2,6 +2,7 @@
 
 #include <fcntl.h>
 
+#include <algorithm>
 #include <array>
 #include <string>
 
diff --git a/aos/util/simulation_logger.cc b/aos/util/simulation_logger.cc
index 32ff706..fabfd92 100644
--- a/aos/util/simulation_logger.cc
+++ b/aos/util/simulation_logger.cc
@@ -1,6 +1,14 @@
 #include "aos/util/simulation_logger.h"
 
+#include <algorithm>
+#include <chrono>
+#include <utility>
+
+#include "absl/strings/str_cat.h"
+
+#include "aos/configuration.h"
 #include "aos/events/logging/logfile_utils.h"
+#include "aos/time/time.h"
 
 namespace aos::util {
 LoggerState::LoggerState(aos::SimulatedEventLoopFactory *factory,
diff --git a/aos/util/simulation_logger.h b/aos/util/simulation_logger.h
index af43d02..c1499b8 100644
--- a/aos/util/simulation_logger.h
+++ b/aos/util/simulation_logger.h
@@ -1,9 +1,16 @@
 #ifndef AOS_UTIL_SIMULATION_LOGGER_H_
 #define AOS_UTIL_SIMULATION_LOGGER_H_
+#include <memory>
+#include <string>
 #include <string_view>
+#include <vector>
 
+#include "aos/configuration_generated.h"
+#include "aos/events/event_loop.h"
+#include "aos/events/logging/log_namer.h"
 #include "aos/events/logging/log_writer.h"
 #include "aos/events/simulated_event_loop.h"
+
 namespace aos::util {
 
 class LoggerState {
diff --git a/aos/util/threaded_consumer.h b/aos/util/threaded_consumer.h
index 3bf4f36..471f6e1 100644
--- a/aos/util/threaded_consumer.h
+++ b/aos/util/threaded_consumer.h
@@ -5,6 +5,8 @@
 #include <optional>
 #include <thread>
 
+#include "glog/logging.h"
+
 #include "aos/condition.h"
 #include "aos/containers/ring_buffer.h"
 #include "aos/mutex/mutex.h"
diff --git a/aos/util/threaded_consumer_test.cc b/aos/util/threaded_consumer_test.cc
index 36f3121..27dc183 100644
--- a/aos/util/threaded_consumer_test.cc
+++ b/aos/util/threaded_consumer_test.cc
@@ -1,5 +1,11 @@
 #include "aos/util/threaded_consumer.h"
 
+#include <atomic>
+#include <chrono>
+#include <initializer_list>
+#include <memory>
+#include <ostream>
+
 #include "gtest/gtest.h"
 
 namespace aos::util {
diff --git a/aos/util/threaded_queue.h b/aos/util/threaded_queue.h
index 943609e..1bbde48 100644
--- a/aos/util/threaded_queue.h
+++ b/aos/util/threaded_queue.h
@@ -94,5 +94,5 @@
 
 }  // namespace aos::util
 
-#include "aos/util/threaded_queue_tmpl.h"
-#endif  // AOS_UTIL_THREADED_QUEUE_H_
+#include "aos/util/threaded_queue_tmpl.h"  // IWYU pragma: keep
+#endif                                     // AOS_UTIL_THREADED_QUEUE_H_
diff --git a/aos/util/threaded_queue_test.cc b/aos/util/threaded_queue_test.cc
index c97792c..8fd08e8 100644
--- a/aos/util/threaded_queue_test.cc
+++ b/aos/util/threaded_queue_test.cc
@@ -1,5 +1,9 @@
 #include "aos/util/threaded_queue.h"
 
+#include <atomic>
+#include <memory>
+#include <utility>
+
 #include "gtest/gtest.h"
 
 namespace aos::util {
diff --git a/aos/util/top.cc b/aos/util/top.cc
index c22fee4..10ebd4d 100644
--- a/aos/util/top.cc
+++ b/aos/util/top.cc
@@ -1,16 +1,28 @@
 #include "aos/util/top.h"
 
 #include <dirent.h>
-#include <sys/types.h>  // used for DIR
+#include <errno.h>
 #include <unistd.h>
 
+#include <algorithm>
+#include <array>
+#include <atomic>
 #include <cstring>
+#include <istream>
 #include <queue>
+#include <ratio>
 #include <string>
+#include <string_view>
+#include <vector>
 
+#include "absl/numeric/int128.h"
 #include "absl/strings/numbers.h"
+#include "absl/strings/str_cat.h"
 #include "absl/strings/str_format.h"
 #include "absl/strings/str_split.h"
+#include "flatbuffers/string.h"
+#include "flatbuffers/vector.h"
+#include "glog/logging.h"
 
 #define PF_KTHREAD 0x00200000
 
diff --git a/aos/util/top.h b/aos/util/top.h
index c24d56c..1aaaff0 100644
--- a/aos/util/top.h
+++ b/aos/util/top.h
@@ -1,11 +1,23 @@
 #ifndef AOS_UTIL_TOP_H_
 #define AOS_UTIL_TOP_H_
 
+#include <stdint.h>
+#include <sys/types.h>
+
+#include <chrono>
+#include <functional>
 #include <map>
+#include <optional>
+#include <set>
 #include <string>
+#include <utility>
+
+#include "flatbuffers/buffer.h"
+#include "flatbuffers/flatbuffer_builder.h"
 
 #include "aos/containers/ring_buffer.h"
 #include "aos/events/event_loop.h"
+#include "aos/time/time.h"
 #include "aos/util/process_info_generated.h"
 
 namespace aos::util {
diff --git a/aos/util/top_test.cc b/aos/util/top_test.cc
index ce9986f..7d9d2bb 100644
--- a/aos/util/top_test.cc
+++ b/aos/util/top_test.cc
@@ -1,18 +1,33 @@
 #include "aos/util/top.h"
 
+#include <pthread.h>
+#include <signal.h>
 #include <unistd.h>
 
-#include <array>
+#include <algorithm>
+#include <atomic>
+#include <limits>
+#include <ostream>
 #include <string>
+#include <string_view>
 #include <thread>
+#include <vector>
 
+#include "flatbuffers/string.h"
+#include "flatbuffers/vector.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
 #include "gtest/gtest.h"
 #include <gmock/gmock.h>
 
+#include "aos/configuration.h"
 #include "aos/events/shm_event_loop.h"
+#include "aos/flatbuffers.h"
+#include "aos/ipc_lib/shm_base.h"
 #include "aos/json_to_flatbuffer.h"
 #include "aos/testing/path.h"
 #include "aos/testing/tmpdir.h"
+#include "aos/util/file.h"
 
 namespace aos::util::testing {
 
diff --git a/aos/util/trapezoid_profile.cc b/aos/util/trapezoid_profile.cc
index 05e79ca..be61889 100644
--- a/aos/util/trapezoid_profile.cc
+++ b/aos/util/trapezoid_profile.cc
@@ -1,7 +1,15 @@
 #include "aos/util/trapezoid_profile.h"
 
+#include <math.h>
+
+#include <algorithm>
+#include <cstdlib>
+#include <ostream>
+
 #include "glog/logging.h"
 
+#include "aos/time/time.h"
+
 namespace aos::util {
 
 AsymmetricTrapezoidProfile::AsymmetricTrapezoidProfile(
diff --git a/aos/util/trapezoid_profile.h b/aos/util/trapezoid_profile.h
index 621ff30..32b2996 100644
--- a/aos/util/trapezoid_profile.h
+++ b/aos/util/trapezoid_profile.h
@@ -1,10 +1,11 @@
 #ifndef AOS_UTIL_TRAPEZOID_PROFILE_H_
 #define AOS_UTIL_TRAPEZOID_PROFILE_H_
 
-#include "Eigen/Dense"
+#include <chrono>
+
+#include "Eigen/Core"
 
 #include "aos/macros.h"
-#include "aos/time/time.h"
 
 namespace aos::util {
 
diff --git a/aos/util/trapezoid_profile_test.cc b/aos/util/trapezoid_profile_test.cc
index 54ffeb5..32461d3 100644
--- a/aos/util/trapezoid_profile_test.cc
+++ b/aos/util/trapezoid_profile_test.cc
@@ -1,7 +1,11 @@
 #include "aos/util/trapezoid_profile.h"
 
-#include "Eigen/Dense"
-#include "glog/logging.h"
+#include <compare>
+#include <cstdlib>
+#include <memory>
+#include <ratio>
+
+#include "Eigen/Dense"  // IWYU pragma: keep
 #include "gtest/gtest.h"
 
 namespace aos::util::testing {
diff --git a/aos/util/wrapping_counter_test.cc b/aos/util/wrapping_counter_test.cc
index 17605a0..7d452d7 100644
--- a/aos/util/wrapping_counter_test.cc
+++ b/aos/util/wrapping_counter_test.cc
@@ -1,6 +1,6 @@
 #include "aos/util/wrapping_counter.h"
 
-#include <climits>
+#include <memory>
 
 #include "gtest/gtest.h"