remain challenging because of strong nonlinearities and residual qubit-qubit interactions. Here, we propose a high-fidelity controlled-Z (CZ) gate for a hybrid circuit comprising a fluxonium qubit, a fixed-frequency transmon qubit, and a flux-tunable transmon coupler. By modulating only the external magnetic flux applied to the coupler, the qubit-qubit interaction is dynamically engineered for conditional-phase accumulation while the residual interaction is suppressed at idle, mitigating spectator-induced errors. We employ a low-dimensional Fourier-cosine pulse parameterization and a physically motivated cost function to independently suppress conditional-phase errors and leakage from the computational subspace. Numerical simulations demonstrate that a microwave-free CZ gate can be realized within 25ns, with an average gate fidelity exceeding 99.99% and leakage below 10−5. Using experimentally relevant superconducting-qubit parameters and accounting for decoherence, the proposed scheme maintains a CZ-gate fidelity of approximately 99.9%. We further extend the analysis to larger coupled architectures and find that the CZ-gate infidelity remains below 10−4 in the presence of spectator qubits. These results establish single-parameter flux control as a simple and robust approach for realizing high-fidelity entangling gates in heterogeneous superconducting quantum architectures.