diff --git a/.github/workflows/trajoptlib-cpp.yml b/.github/workflows/trajoptlib-cpp.yml
index e12e46012..6181a232e 100644
--- a/.github/workflows/trajoptlib-cpp.yml
+++ b/.github/workflows/trajoptlib-cpp.yml
@@ -67,6 +67,11 @@ jobs:
         working-directory: trajoptlib
       - run: cmake --install build --config RelWithDebInfo --prefix pkg
         working-directory: trajoptlib
+      - run: ./build/Swerve
+        working-directory: trajoptlib
+      # FIXME: fails with locally infeasible
+      # - run: ./build/Differential
+      #   working-directory: trajoptlib
 
       - uses: actions/upload-artifact@v4
         with:
diff --git a/trajoptlib/examples/Differential/src/Main.cpp b/trajoptlib/examples/Differential/src/Main.cpp
index 1828345c0..4243d9cef 100644
--- a/trajoptlib/examples/Differential/src/Main.cpp
+++ b/trajoptlib/examples/Differential/src/Main.cpp
@@ -2,8 +2,11 @@
 
 #include <numbers>
 
+#include <sleipnir/optimization/SolverExitCondition.hpp>
 #include <trajopt/DifferentialTrajectoryGenerator.hpp>
 
+#include "fmt/base.h"
+
 // DifferentialPathBuilder is used to build paths that are optimized into full
 // trajectories.
 //
@@ -36,8 +39,14 @@ int main() {
     path.ControlIntervalCounts({40});
 
     trajopt::DifferentialTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 1: {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 
   // Example 2: Differential, basic curve
@@ -51,8 +60,14 @@ int main() {
     path.ControlIntervalCounts({40});
 
     trajopt::DifferentialTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 2: {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 
   // Example 3: Differential, three waypoints
@@ -67,8 +82,14 @@ int main() {
     path.ControlIntervalCounts({50, 50});
 
     trajopt::DifferentialTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 3: {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 
   // Example 4: Differential, ending velocity
@@ -81,8 +102,14 @@ int main() {
     path.ControlIntervalCounts({40});
 
     trajopt::DifferentialTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 4: {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 
   // Example 5: Differential, circle obstacle
@@ -100,8 +127,14 @@ int main() {
     path.ControlIntervalCounts({40});
 
     trajopt::DifferentialTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 5: {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 
   // Example 6: Approach a pick up station at a certain direction
@@ -136,8 +169,14 @@ int main() {
     path.ControlIntervalCounts({40, 30, 30, 40});
 
     trajopt::DifferentialTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 6: {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 
   // Example 7: Circular path with a point-point constraint
@@ -167,7 +206,13 @@ int main() {
     path.ControlIntervalCounts({50});
 
     trajopt::DifferentialTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 7: {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 }
diff --git a/trajoptlib/examples/Swerve/src/Main.cpp b/trajoptlib/examples/Swerve/src/Main.cpp
index c43f95978..e8e972ceb 100644
--- a/trajoptlib/examples/Swerve/src/Main.cpp
+++ b/trajoptlib/examples/Swerve/src/Main.cpp
@@ -36,8 +36,14 @@ int main() {
     path.ControlIntervalCounts({40});
 
     trajopt::SwerveTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 1: {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 
   // Example 2: Swerve, basic curve
@@ -51,8 +57,14 @@ int main() {
     path.ControlIntervalCounts({40});
 
     trajopt::SwerveTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 2 {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 
   // Example 3: Swerve, three waypoints
@@ -67,8 +79,14 @@ int main() {
     path.ControlIntervalCounts({40, 40});
 
     trajopt::SwerveTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 3 {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 
   // Example 4: Swerve, ending velocity
@@ -81,8 +99,14 @@ int main() {
     path.ControlIntervalCounts({40});
 
     trajopt::SwerveTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 4: {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 
   // Example 5: Swerve, circle obstacle
@@ -100,8 +124,14 @@ int main() {
     path.ControlIntervalCounts({40});
 
     trajopt::SwerveTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 5: {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 
   // Example 6: Approach a pick up station at a certain direction
@@ -136,8 +166,14 @@ int main() {
     path.ControlIntervalCounts({40, 30, 30, 40});
 
     trajopt::SwerveTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 6: {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 
   // Example 7: Circular path with a point-point constraint
@@ -167,7 +203,13 @@ int main() {
     path.ControlIntervalCounts({30});
 
     trajopt::SwerveTrajectoryGenerator generator{path};
-    [[maybe_unused]]
     auto solution = generator.Generate(true);
+    if (!(solution.error() == sleipnir::SolverExitCondition::kSuccess ||
+          solution.error() ==
+              sleipnir::SolverExitCondition::kSolvedToAcceptableTolerance)) {
+      fmt::println("Error in example 7: {}",
+                   sleipnir::ToMessage(solution.error()));
+      return static_cast<int>(solution.error());
+    }
   }
 }