We optimize $Delta$-full nuclear interactions from chiral effective field theory. The low-energy constants of the contact potentials are constrained by two-body scattering phase shifts, and by properties of bound-state of $A=2$ to $4$ nucleon systems and nuclear matter. The pion-nucleon couplings are taken from a Roy-Steiner analysis. The resulting interactions yield accurate binding energies and radii for a range of nuclei from $A=16$ to $A=132$, and provide accurate equations of state for nuclear matter and realistic symmetry energies. Selected excited states are also in agreement with data.