diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index bd8d2826d2c..2e0869e0516 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -60,6 +60,10 @@ jobs:
     runs-on: ubuntu-18.04
     steps:
     - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+        sudo apt update
+        sudo apt --no-install-recommends install -y ninja-build
     - name: Package
       run: |
         script/test package
diff --git a/CMakeLists.txt b/CMakeLists.txt
index cec6639a05b..16bc07ab731 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -115,7 +115,9 @@ endif()
 list(APPEND OT_PRIVATE_DEFINES ${OT_PLATFORM_DEFINES})
 
 if(OT_PLATFORM STREQUAL "posix")
-    add_subdirectory(src/posix)
+    if(OT_BUILD_EXECUTABLES)
+        add_subdirectory(src/posix)
+    endif()
 elseif(NOT OT_PLATFORM MATCHES "none")
     add_subdirectory(examples)
 endif()
diff --git a/etc/cmake/options.cmake b/etc/cmake/options.cmake
index 30082fafc6b..da1b9e7ea47 100644
--- a/etc/cmake/options.cmake
+++ b/etc/cmake/options.cmake
@@ -159,6 +159,11 @@ if(OT_MTD_NETDIAG)
     list(APPEND OT_PRIVATE_DEFINES "OPENTHREAD_CONFIG_TMF_NETWORK_DIAG_MTD_ENABLE=1")
 endif()
 
+option(OT_PLATFORM_NETIF "enable platform netif support")
+if(OT_PLATFORM_NETIF)
+    list(APPEND OT_PRIVATE_DEFINES "OPENTHREAD_CONFIG_PLATFORM_NETIF_ENABLE=1")
+endif()
+
 option(OT_PLATFORM_UDP "enable platform UDP support")
 if(OT_PLATFORM_UDP)
     list(APPEND OT_PRIVATE_DEFINES "OPENTHREAD_CONFIG_PLATFORM_UDP_ENABLE=1")
@@ -224,3 +229,8 @@ option(OT_OTNS "enable OTNS support")
 if(OT_OTNS)
     list(APPEND OT_PRIVATE_DEFINES "OPENTHREAD_CONFIG_OTNS_ENABLE=1")
 endif()
+
+# Checks
+if(OT_PLATFORM_UDP AND OT_UDP_FORWARD)
+    message(FATAL_ERROR "OT_PLATFORM_UDP and OT_UDP_FORWARD are exclusive")
+endif()
diff --git a/script/test b/script/test
index b1c505d5da5..2c2b2d26eea 100755
--- a/script/test
+++ b/script/test
@@ -32,7 +32,6 @@
 
 set -euo pipefail
 
-readonly OT_BUILD_JOBS=$(getconf _NPROCESSORS_ONLN)
 readonly OT_BUILDDIR="$(pwd)/build"
 readonly OT_SRCDIR="$(pwd)"
 readonly OT_TEST_COMMON_OPTIONS=(
@@ -317,24 +316,39 @@ EXAMPLES:
 
 do_package() {
     local builddir="${OT_BUILDDIR}/cmake/openthread-sim"
+    local options=(
+        "-DOT_BORDER_AGENT=ON"
+        "-DOT_BORDER_ROUTER=ON"
+        "-DOT_CHILD_SUPERVISION=ON"
+        "-DOT_COMMISSIONER=ON"
+        "-DOT_DIAGNOSTIC=ON"
+        "-DOT_IP6_FRAGM=ON"
+        "-DOT_JAM_DETECTION=ON"
+        "-DOT_JOINER=ON"
+        "-DOT_LOG_LEVEL_DYNAMIC=ON"
+        "-DOT_MAC_FILTER=ON"
+        "-DOT_SERVICE=ON"
+        "-DOT_SLAAC=ON"
+    )
     (mkdir -p "${builddir}" \
         && cd "${builddir}" \
-        && cmake "${OT_SRCDIR}" -DOT_PLATFORM="simulation" \
-        && make -j"${OT_BUILD_JOBS}" package \
+        && cmake -GNinja "${OT_SRCDIR}" -DOT_PLATFORM="simulation" "${options[@]}" \
+        && ninja package \
         && ls "${builddir}"/openthread-simulation-*.deb)
 
     builddir="${OT_BUILDDIR}/cmake/openthread-host"
     (mkdir -p "${builddir}" \
         && cd "${builddir}" \
-        && cmake "${OT_SRCDIR}" -DOT_PLATFORM="posix" \
-        && make -j"${OT_BUILD_JOBS}" package \
+        && cmake -GNinja "${OT_SRCDIR}" -DOT_PLATFORM="posix" "${options[@]}" \
+        && ninja package \
         && ls "${builddir}"/openthread-standalone-*.deb)
 
     builddir="${OT_BUILDDIR}/cmake/openthread-daemon"
     (mkdir -p "${builddir}" \
         && cd "${builddir}" \
-        && cmake "${OT_SRCDIR}" -DOT_PLATFORM="posix" -DOT_DAEMON=1 -DOT_PLATFORM_NETIF=1 -DOT_PLATFORM_UDP=1 \
-        && make -j"${OT_BUILD_JOBS}" package \
+        && cmake -GNinja "${OT_SRCDIR}" -DOT_PLATFORM="posix" \
+        -DOT_DAEMON=1 -DOT_PLATFORM_NETIF=1 -DOT_PLATFORM_UDP=1 "${options[@]}" \
+        && ninja package \
         && ls "${builddir}"/openthread-daemon-*.deb)
 }