diff --git a/third_party/tinyxml2/CMakeLists.txt b/third_party/tinyxml2/CMakeLists.txt
index 65de00d9d2..9694b5ccab 100644
--- a/third_party/tinyxml2/CMakeLists.txt
+++ b/third_party/tinyxml2/CMakeLists.txt
@@ -29,7 +29,7 @@ endforeach()
 ExternalProject_add(
     tinyxml2
     GIT_REPOSITORY https://github.com/leethomason/tinyxml2
-    GIT_TAG 55716da04f2de307e01d84ed695bed86114f9136
+    GIT_TAG 9.0.0
     PREFIX tinyxml2
     PATCH_COMMAND git checkout . && git apply ${PROJECT_SOURCE_DIR}/cmake-3.10.2.patch
     CMAKE_ARGS "${CMAKE_ARGS}"
diff --git a/third_party/tinyxml2/cmake-3.10.2.patch b/third_party/tinyxml2/cmake-3.10.2.patch
index 9a65b55600..118b8f1ee5 100644
--- a/third_party/tinyxml2/cmake-3.10.2.patch
+++ b/third_party/tinyxml2/cmake-3.10.2.patch
@@ -1,17 +1,17 @@
-commit 2919fb4e5fe988c329e3af5801a9c74f1dcaf9e7
+commit c5ccc044c2f87a2c76925d2bdaf84df763d8366a
 Author: Jonas Vautherin <jonas.vautherin@gmail.com>
-Date:   Wed May 19 01:22:13 2021 +0200
+Date:   Tue Jul 5 20:18:01 2022 +0200
 
-    Update cmake minimum version to 3.10.2 for Ubuntu 18.04
+    Support cmake 3.10.2 for Ubuntu 18.04
 
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 4930f5c..11d6688 100644
+index 8802fb8..e915c91 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -1,4 +1,4 @@
 -cmake_minimum_required(VERSION 3.15)
 +cmake_minimum_required(VERSION 3.10.2)
- project(tinyxml2 VERSION 8.1.0)
+ project(tinyxml2 VERSION 9.0.0)
  
  include(CTest)
 @@ -71,14 +71,26 @@ set(tinyxml2_INSTALL_CMAKEDIR "${CMAKE_INSTALL_LIBDIR}/cmake/tinyxml2"