diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 5dd0e8b400..a049e8083a 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -43,7 +43,7 @@ jobs:
         id: ci
         uses: gazebo-tooling/action-gz-ci@noble
         with:
-          # per bug https://github.com/gazebosim/gz-sim/issues/1409
-          cmake-args: '-DCMAKE_INSTALL_PREFIX=/usr -DBUILD_DOCS=OFF -DCMAKE_BUILD_TYPE=RelWithDebInfo -DENABLE_GUI=OFF'
+          cmake-args: '-DCMAKE_INSTALL_PREFIX=/usr -DCMAKE_BUILD_TYPE=RelWithDebInfo -DENABLE_GUI=OFF'
           cppcheck-enabled: true
           cpplint-enabled: true
+          doxygen-enabled: true
diff --git a/include/gz/sim/System.hh b/include/gz/sim/System.hh
index 5991fb7e04..45805cbee8 100644
--- a/include/gz/sim/System.hh
+++ b/include/gz/sim/System.hh
@@ -128,7 +128,7 @@ namespace gz
       constexpr System::PriorityType kPostPhysicsSensorPriority = -32;
     }
 
-    /// \class ISystemConfigure ISystem.hh gz/sim/System.hh
+    /// \class ISystemConfigure System.hh gz/sim/System.hh
     /// \brief Interface for a system that implements optional configuration
     ///
     /// Configure is called after the system is instantiated and all entities
@@ -149,7 +149,7 @@ namespace gz
                   EventManager &_eventMgr) = 0;
     };
 
-    /// \class ISystemConfigure ISystem.hh gz/sim/System.hh
+    /// \class ISystemConfigure System.hh gz/sim/System.hh
     /// \brief Interface for a system that implements optional configuration
     /// of the default priority value.
     ///
@@ -163,7 +163,7 @@ namespace gz
       public: virtual System::PriorityType ConfigurePriority() = 0;
     };
 
-    /// \class ISystemConfigureParameters ISystem.hh gz/sim/System.hh
+    /// \class ISystemConfigureParameters System.hh gz/sim/System.hh
     /// \brief Interface for a system that declares parameters.
     ///
     /// ISystemConfigureParameters::ConfigureParameters is called after
@@ -182,21 +182,21 @@ namespace gz
                                  EntityComponentManager &_ecm) = 0;
     };
 
-    /// \class ISystemPreUpdate ISystem.hh gz/sim/System.hh
+    /// \class ISystemPreUpdate System.hh gz/sim/System.hh
     /// \brief Interface for a system that uses the PreUpdate phase
     class ISystemPreUpdate {
       public: virtual void PreUpdate(const UpdateInfo &_info,
                                      EntityComponentManager &_ecm) = 0;
     };
 
-    /// \class ISystemUpdate ISystem.hh gz/sim/System.hh
+    /// \class ISystemUpdate System.hh gz/sim/System.hh
     /// \brief Interface for a system that uses the Update phase
     class ISystemUpdate {
       public: virtual void Update(const UpdateInfo &_info,
                                   EntityComponentManager &_ecm) = 0;
     };
 
-    /// \class ISystemPostUpdate ISystem.hh gz/sim/System.hh
+    /// \class ISystemPostUpdate System.hh gz/sim/System.hh
     /// \brief Interface for a system that uses the PostUpdate phase
     class ISystemPostUpdate{
       public: virtual void PostUpdate(const UpdateInfo &_info,