diff --git a/README.md b/README.md
index 57fd758..cf7f6ed 100644
--- a/README.md
+++ b/README.md
@@ -111,7 +111,21 @@ solve!(prob; max_iter=100)
 - **Modular objectives**: Combine multiple cost terms (regularization, minimum time, etc.)
 - **Constraint support**: Bounds, equality, and general nonlinear constraints  
 - **Automatic differentiation**: Efficient gradients and Hessians
-- **Sparse formulations**: Exploits problem structure for efficiency 
+- **Sparse formulations**: Exploits problem structure for efficiency
+
+## Testing
+
+To run all stable tests:
+```bash
+julia --project=. test/runtests.jl
+```
+
+To include experimental tests (tests marked as potentially flaky):
+```bash
+INCLUDE_EXPERIMENTAL=1 julia --project=. test/runtests.jl
+```
+
+Some tests are tagged as `experimental` because they may be unstable or flaky in certain environments. By default, these tests are excluded from CI runs to maintain build stability. 
 
 
 ### Building Documentation
diff --git a/src/constraints/linear/time_consistency_constraint.jl b/src/constraints/linear/time_consistency_constraint.jl
index f84bdb7..c1089c6 100644
--- a/src/constraints/linear/time_consistency_constraint.jl
+++ b/src/constraints/linear/time_consistency_constraint.jl
@@ -81,7 +81,7 @@ end
     end
 end
 
-@testitem "TimeConsistencyConstraint with free time optimization" begin
+@testitem "TimeConsistencyConstraint with free time optimization" tags=[:experimental] begin
     include("../../../test/test_utils.jl")
     using NamedTrajectories
 
diff --git a/test/runtests.jl b/test/runtests.jl
index 9f95075..2650210 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -3,4 +3,9 @@ using TestItemRunner
 
 
 # Run all testitem tests in package
-@run_package_tests
+# Filter out experimental tests unless INCLUDE_EXPERIMENTAL environment variable is set
+if !haskey(ENV, "INCLUDE_EXPERIMENTAL")
+    @run_package_tests filter=ti -> !(:experimental in get(ti, :tags, []))
+else
+    @run_package_tests
+end