diff --git a/.github/workflows/bionic_build.yml b/.github/workflows/bionic_build.yml
index f057c05cbbb..4849b4530b1 100644
--- a/.github/workflows/bionic_build.yml
+++ b/.github/workflows/bionic_build.yml
@@ -22,7 +22,7 @@ jobs:
       ROSDEP_SKIP_KEYS: "bullet ros_industrial_cmake_boilerplate iwyu fcl taskflow"
       DOCKER_IMAGE: "rosindustrial/tesseract:melodic"
       CCACHE_DIR: "/home/runner/work/tesseract/tesseract/Bionic-Build/.ccache"
-      PARALLEL_BUILDS: false
+      PARALLEL_BUILDS: 2
       PARALLEL_TESTS: false
       UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
       TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON"
diff --git a/tesseract_collision/CMakeLists.txt b/tesseract_collision/CMakeLists.txt
index 8cb3af12c7b..978e5326f55 100644
--- a/tesseract_collision/CMakeLists.txt
+++ b/tesseract_collision/CMakeLists.txt
@@ -61,7 +61,7 @@ tesseract_variables()
 
 # Create interface for core
 add_library(${PROJECT_NAME}_core INTERFACE)
-target_link_libraries(${PROJECT_NAME}_core INTERFACE tesseract::tesseract_common tesseract::tesseract_geometry ${BULLET_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}_core INTERFACE Eigen3::Eigen tesseract::tesseract_common tesseract::tesseract_geometry ${BULLET_LIBRARIES} ${Boost_LIBRARIES})
 target_compile_options(${PROJECT_NAME}_core INTERFACE ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_core INTERFACE ${TESSERACT_COMPILE_DEFINITIONS} ${BULLET_DEFINITIONS})
 target_clang_tidy(${PROJECT_NAME}_core ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
@@ -72,7 +72,6 @@ target_include_directories(${PROJECT_NAME}_core INTERFACE
     "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME}_core SYSTEM INTERFACE
     "${BULLET_ROOT_DIR}/${BULLET_INCLUDE_DIRS}"
-    ${EIGEN3_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS})
 
 # Create target for Bullet implementation
@@ -88,7 +87,7 @@ add_library(${PROJECT_NAME}_bullet
   src/bullet/tesseract_convex_convex_algorithm.cpp
   src/bullet/tesseract_gjk_pair_detector.cpp
 )
-target_link_libraries(${PROJECT_NAME}_bullet PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_geometry console_bridge::console_bridge octomap octomath)
+target_link_libraries(${PROJECT_NAME}_bullet PUBLIC ${PROJECT_NAME}_core Eigen3::Eigen tesseract::tesseract_geometry console_bridge::console_bridge octomap octomath)
 target_link_libraries(${PROJECT_NAME}_bullet PUBLIC ${BULLET_LIBRARIES})
 target_compile_options(${PROJECT_NAME}_bullet PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_bullet PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
@@ -101,7 +100,6 @@ target_include_directories(${PROJECT_NAME}_bullet PUBLIC
     "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME}_bullet SYSTEM PUBLIC
     "${BULLET_ROOT_DIR}/${BULLET_INCLUDE_DIRS}"
-    ${EIGEN3_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS})
 
 # Create target for FCL implementation
@@ -109,7 +107,7 @@ add_library(${PROJECT_NAME}_fcl
   src/fcl/fcl_discrete_managers.cpp
   src/fcl/fcl_utils.cpp
   src/fcl/fcl_collision_object_wrapper.cpp)
-target_link_libraries(${PROJECT_NAME}_fcl PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_geometry fcl ${BULLET_LIBRARIES} console_bridge::console_bridge octomap octomath)
+target_link_libraries(${PROJECT_NAME}_fcl PUBLIC ${PROJECT_NAME}_core Eigen3::Eigen tesseract::tesseract_geometry fcl ${BULLET_LIBRARIES} console_bridge::console_bridge octomap octomath)
 target_compile_options(${PROJECT_NAME}_fcl PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_fcl PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_fcl PUBLIC ${TESSERACT_COMPILE_DEFINITIONS} ${BULLET_DEFINITIONS})
@@ -121,7 +119,6 @@ target_include_directories(${PROJECT_NAME}_fcl PUBLIC
     "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME}_fcl SYSTEM PUBLIC
     "${BULLET_ROOT_DIR}/${BULLET_INCLUDE_DIRS}"
-    ${EIGEN3_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS})
 
   # Create target that profiles the collision checkers.
@@ -135,7 +132,7 @@ target_code_coverage(${PROJECT_NAME}_profile PRIVATE ALL EXCLUDE ${COVERAGE_EXCL
 
 # Create test suite interface
 add_library(${PROJECT_NAME}_test_suite INTERFACE)
-target_link_libraries(${PROJECT_NAME}_test_suite INTERFACE tesseract::tesseract_support tesseract::tesseract_geometry ${PROJECT_NAME}_core)
+target_link_libraries(${PROJECT_NAME}_test_suite INTERFACE Eigen3::Eigen tesseract::tesseract_support tesseract::tesseract_geometry ${PROJECT_NAME}_core)
 target_compile_options(${PROJECT_NAME}_test_suite INTERFACE ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_test_suite INTERFACE ${TESSERACT_COMPILE_DEFINITIONS})
 target_clang_tidy(${PROJECT_NAME}_test_suite ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
@@ -144,12 +141,10 @@ target_code_coverage(${PROJECT_NAME}_test_suite INTERFACE ALL EXCLUDE ${COVERAGE
 target_include_directories(${PROJECT_NAME}_test_suite INTERFACE
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
-target_include_directories(${PROJECT_NAME}_test_suite SYSTEM INTERFACE
-    ${EIGEN3_INCLUDE_DIRS})
 
 # Create test suite interface
 add_library(${PROJECT_NAME}_test_suite_benchmarks INTERFACE)
-target_link_libraries(${PROJECT_NAME}_test_suite_benchmarks INTERFACE tesseract::tesseract_support tesseract::tesseract_geometry)
+target_link_libraries(${PROJECT_NAME}_test_suite_benchmarks INTERFACE Eigen3::Eigen tesseract::tesseract_support tesseract::tesseract_geometry)
 target_compile_options(${PROJECT_NAME}_test_suite_benchmarks INTERFACE ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_clang_tidy(${PROJECT_NAME}_test_suite_benchmarks ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(${PROJECT_NAME}_test_suite_benchmarks INTERFACE VERSION ${TESSERACT_CXX_VERSION})
@@ -157,15 +152,13 @@ target_code_coverage(${PROJECT_NAME}_test_suite_benchmarks INTERFACE ALL EXCLUDE
 target_include_directories(${PROJECT_NAME}_test_suite_benchmarks INTERFACE
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
-target_include_directories(${PROJECT_NAME}_test_suite_benchmarks SYSTEM INTERFACE
-    ${EIGEN3_INCLUDE_DIRS})
 
 set(PACKAGE_LIBRARIES ${PROJECT_NAME}_core ${PROJECT_NAME}_bullet ${PROJECT_NAME}_fcl ${PROJECT_NAME}_test_suite ${PROJECT_NAME}_test_suite_benchmarks ${PROJECT_NAME}_profile)
 
 if (NOT MSVC)
   # Create target for creating convex hull's from meshes
   add_executable(create_convex_hull src/create_convex_hull.cpp)
-  target_link_libraries(create_convex_hull PUBLIC ${PROJECT_NAME}_core ${BULLET_LIBRARIES} tesseract::tesseract_common tesseract::tesseract_geometry ${Boost_LIBRARIES} console_bridge::console_bridge octomap octomath)
+  target_link_libraries(create_convex_hull PUBLIC ${PROJECT_NAME}_core ${BULLET_LIBRARIES} Eigen3::Eigen tesseract::tesseract_common tesseract::tesseract_geometry ${Boost_LIBRARIES} console_bridge::console_bridge octomap octomath)
   target_compile_options(create_convex_hull PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE} ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
   target_compile_definitions(create_convex_hull PRIVATE ${TESSERACT_COMPILE_DEFINITIONS} ${BULLET_DEFINITIONS})
   target_clang_tidy(create_convex_hull ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
@@ -173,7 +166,6 @@ if (NOT MSVC)
   target_include_directories(create_convex_hull PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>")
   target_include_directories(create_convex_hull SYSTEM PUBLIC
       "${BULLET_ROOT_DIR}/${BULLET_INCLUDE_DIRS}"
-      ${EIGEN3_INCLUDE_DIRS}
       ${Boost_INCLUDE_DIRS})
 
   list(APPEND PACKAGE_LIBRARIES create_convex_hull)
diff --git a/tesseract_common/CMakeLists.txt b/tesseract_common/CMakeLists.txt
index 958d7c5ab86..8748b21e481 100644
--- a/tesseract_common/CMakeLists.txt
+++ b/tesseract_common/CMakeLists.txt
@@ -36,7 +36,7 @@ add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
 tesseract_variables()
 
 add_library(${PROJECT_NAME} src/manipulator_info.cpp)
-target_link_libraries(${PROJECT_NAME} PUBLIC ${TinyXML2_LIBRARIES} ${Boost_LIBRARIES} console_bridge::console_bridge)
+target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen ${TinyXML2_LIBRARIES} ${Boost_LIBRARIES} console_bridge::console_bridge)
 target_compile_options(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
 target_clang_tidy(${PROJECT_NAME} ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
@@ -47,7 +47,6 @@ target_include_directories(${PROJECT_NAME} PUBLIC
     "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
     ${Boost_INCLUDE_DIRS}
-    ${EIGEN3_INCLUDE_DIRS}
     ${TinyXML2_INCLUDE_DIRS})
 
 configure_package(NAMESPACE tesseract TARGETS ${PROJECT_NAME})
diff --git a/tesseract_environment/CMakeLists.txt b/tesseract_environment/CMakeLists.txt
index 151da28b785..15a3de97b0f 100644
--- a/tesseract_environment/CMakeLists.txt
+++ b/tesseract_environment/CMakeLists.txt
@@ -40,6 +40,7 @@ tesseract_variables()
 # Create interface for core
 add_library(${PROJECT_NAME}_core src/core/environment.cpp src/core/manipulator_manager.cpp)
 target_link_libraries(${PROJECT_NAME}_core PUBLIC
+  Eigen3::Eigen
   tesseract::tesseract_common
   tesseract::tesseract_collision_core
   tesseract::tesseract_collision_bullet
@@ -57,11 +58,9 @@ target_code_coverage(${PROJECT_NAME}_core ALL EXCLUDE ${COVERAGE_EXCLUDE} ENABLE
 target_include_directories(${PROJECT_NAME}_core PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
-target_include_directories(${PROJECT_NAME}_core SYSTEM PUBLIC
-    ${EIGEN3_INCLUDE_DIRS})
 
 add_library(${PROJECT_NAME}_kdl src/kdl/kdl_state_solver.cpp)
-target_link_libraries(${PROJECT_NAME}_kdl PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_scene_graph orocos-kdl console_bridge::console_bridge)
+target_link_libraries(${PROJECT_NAME}_kdl PUBLIC ${PROJECT_NAME}_core Eigen3::Eigen tesseract::tesseract_scene_graph orocos-kdl console_bridge::console_bridge)
 target_compile_options(${PROJECT_NAME}_kdl PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_kdl PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_kdl PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
@@ -72,11 +71,10 @@ target_include_directories(${PROJECT_NAME}_kdl PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME}_kdl SYSTEM PUBLIC
-    ${EIGEN3_INCLUDE_DIRS}
     ${orocos_kdl_INCLUDE_DIRS}) # Orocos did not export target correctly
 
 add_library(${PROJECT_NAME}_ofkt src/ofkt/ofkt_state_solver.cpp src/ofkt/ofkt_nodes.cpp)
-target_link_libraries(${PROJECT_NAME}_ofkt PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_scene_graph console_bridge::console_bridge)
+target_link_libraries(${PROJECT_NAME}_ofkt PUBLIC ${PROJECT_NAME}_core Eigen3::Eigen tesseract::tesseract_scene_graph console_bridge::console_bridge)
 target_compile_options(${PROJECT_NAME}_ofkt PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_ofkt PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_ofkt PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
@@ -86,8 +84,6 @@ target_code_coverage(${PROJECT_NAME}_ofkt ALL EXCLUDE ${COVERAGE_EXCLUDE} ENABLE
 target_include_directories(${PROJECT_NAME}_ofkt PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
-target_include_directories(${PROJECT_NAME}_ofkt SYSTEM PUBLIC
-    ${EIGEN3_INCLUDE_DIRS})
 
 configure_package(NAMESPACE tesseract TARGETS ${PROJECT_NAME}_core ${PROJECT_NAME}_kdl ${PROJECT_NAME}_ofkt)
 
diff --git a/tesseract_geometry/CMakeLists.txt b/tesseract_geometry/CMakeLists.txt
index 6c491ecd537..9f3d2d1a840 100644
--- a/tesseract_geometry/CMakeLists.txt
+++ b/tesseract_geometry/CMakeLists.txt
@@ -57,7 +57,7 @@ add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
 tesseract_variables()
 
 add_library(${PROJECT_NAME} INTERFACE)
-target_link_libraries(${PROJECT_NAME} INTERFACE tesseract::tesseract_common console_bridge::console_bridge octomap octomath ${assimp_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} INTERFACE Eigen3::Eigen tesseract::tesseract_common console_bridge::console_bridge octomap octomath ${assimp_LIBRARIES})
 target_compile_options(${PROJECT_NAME} INTERFACE ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME} INTERFACE ${TESSERACT_COMPILE_DEFINITIONS} ${TESSERACT_ASSIMP_USE_PBRMATERIAL})
 target_clang_tidy(${PROJECT_NAME} ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
@@ -67,8 +67,7 @@ target_include_directories(${PROJECT_NAME} INTERFACE
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME} SYSTEM INTERFACE
-    ${assimp_INCLUDE_DIRS}
-    ${EIGEN3_INCLUDE_DIRS})
+  ${assimp_INCLUDE_DIRS})
 
 configure_package(NAMESPACE tesseract TARGETS ${PROJECT_NAME})
 
diff --git a/tesseract_kinematics/CMakeLists.txt b/tesseract_kinematics/CMakeLists.txt
index ac9569f9769..726acbe13f2 100644
--- a/tesseract_kinematics/CMakeLists.txt
+++ b/tesseract_kinematics/CMakeLists.txt
@@ -39,7 +39,7 @@ tesseract_variables()
 add_library(${PROJECT_NAME}_core
   src/core/rop_inverse_kinematics.cpp
   src/core/rep_inverse_kinematics.cpp)
-target_link_libraries(${PROJECT_NAME}_core PUBLIC tesseract::tesseract_scene_graph console_bridge::console_bridge)
+target_link_libraries(${PROJECT_NAME}_core PUBLIC Eigen3::Eigen tesseract::tesseract_scene_graph console_bridge::console_bridge)
 target_compile_options(${PROJECT_NAME}_core PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_core PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_core PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
@@ -49,12 +49,10 @@ target_code_coverage(${PROJECT_NAME}_core ALL EXCLUDE ${COVERAGE_EXCLUDE} ENABLE
 target_include_directories(${PROJECT_NAME}_core PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
-target_include_directories(${PROJECT_NAME}_core SYSTEM PUBLIC
-    ${EIGEN3_INCLUDE_DIRS})
 
 # Create ikfast kinematics interface
 add_library(${PROJECT_NAME}_ikfast INTERFACE)
-target_link_libraries(${PROJECT_NAME}_ikfast INTERFACE ${PROJECT_NAME}_core console_bridge::console_bridge)
+target_link_libraries(${PROJECT_NAME}_ikfast INTERFACE ${PROJECT_NAME}_core Eigen3::Eigen console_bridge::console_bridge)
 target_compile_definitions(${PROJECT_NAME}_ikfast INTERFACE -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -DIKFAST_HAS_LIBRARY)
 target_compile_options(${PROJECT_NAME}_ikfast INTERFACE ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_ikfast INTERFACE ${TESSERACT_COMPILE_DEFINITIONS})
@@ -64,8 +62,6 @@ target_code_coverage(${PROJECT_NAME}_ikfast INTERFACE ALL EXCLUDE ${COVERAGE_EXC
 target_include_directories(${PROJECT_NAME}_ikfast INTERFACE
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
-target_include_directories(${PROJECT_NAME}_ikfast SYSTEM INTERFACE
-    ${EIGEN3_INCLUDE_DIRS})
 
 # Add KDL implementation of tesseract_kinematics
 add_library(${PROJECT_NAME}_kdl
@@ -74,7 +70,7 @@ add_library(${PROJECT_NAME}_kdl
   src/kdl/kdl_inv_kin_chain_lma.cpp
   src/kdl/kdl_inv_kin_chain_nr.cpp
 )
-target_link_libraries(${PROJECT_NAME}_kdl PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_scene_graph orocos-kdl console_bridge::console_bridge)
+target_link_libraries(${PROJECT_NAME}_kdl PUBLIC ${PROJECT_NAME}_core Eigen3::Eigen tesseract::tesseract_scene_graph orocos-kdl console_bridge::console_bridge)
 target_compile_options(${PROJECT_NAME}_kdl PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_kdl PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_kdl PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
@@ -87,13 +83,10 @@ endif()
 target_include_directories(${PROJECT_NAME}_kdl PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
-target_include_directories(${PROJECT_NAME}_kdl SYSTEM PUBLIC
-    ${EIGEN3_INCLUDE_DIRS}
-    ${orocos_kdl_INCLUDE_DIRS}) # Orocos did not export target correctly
 
 # Add OPW implementation of tesseract_kinematics
 add_library(${PROJECT_NAME}_opw src/opw/opw_inv_kin.cpp)
-target_link_libraries(${PROJECT_NAME}_opw PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_scene_graph opw_kinematics::opw_kinematics console_bridge::console_bridge)
+target_link_libraries(${PROJECT_NAME}_opw PUBLIC ${PROJECT_NAME}_core Eigen3::Eigen tesseract::tesseract_scene_graph opw_kinematics::opw_kinematics console_bridge::console_bridge)
 target_compile_options(${PROJECT_NAME}_opw PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_opw PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_opw PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
@@ -103,12 +96,10 @@ target_code_coverage(${PROJECT_NAME}_opw ALL EXCLUDE ${COVERAGE_EXCLUDE} ENABLE
 target_include_directories(${PROJECT_NAME}_opw PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
-target_include_directories(${PROJECT_NAME}_opw SYSTEM PUBLIC
-    ${EIGEN3_INCLUDE_DIRS})
 
 # Add Universal Robot implementation of tesseract_kinematics
 add_library(${PROJECT_NAME}_ur src/ur/ur_inv_kin.cpp)
-target_link_libraries(${PROJECT_NAME}_ur PUBLIC ${PROJECT_NAME}_core tesseract::tesseract_scene_graph console_bridge::console_bridge)
+target_link_libraries(${PROJECT_NAME}_ur PUBLIC ${PROJECT_NAME}_core Eigen3::Eigen tesseract::tesseract_scene_graph console_bridge::console_bridge)
 target_compile_options(${PROJECT_NAME}_ur PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_ur PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_ur PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
@@ -118,8 +109,6 @@ target_code_coverage(${PROJECT_NAME}_ur ALL EXCLUDE ${COVERAGE_EXCLUDE} ENABLE $
 target_include_directories(${PROJECT_NAME}_ur PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
-target_include_directories(${PROJECT_NAME}_opw SYSTEM PUBLIC
-    ${EIGEN3_INCLUDE_DIRS})
 
 configure_package(NAMESPACE tesseract TARGETS ${PROJECT_NAME}_core ${PROJECT_NAME}_kdl ${PROJECT_NAME}_ikfast ${PROJECT_NAME}_opw ${PROJECT_NAME}_ur)
 
diff --git a/tesseract_scene_graph/CMakeLists.txt b/tesseract_scene_graph/CMakeLists.txt
index d1dfd7cbd36..bf9486276d5 100644
--- a/tesseract_scene_graph/CMakeLists.txt
+++ b/tesseract_scene_graph/CMakeLists.txt
@@ -35,7 +35,7 @@ add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
 tesseract_variables()
 
 add_library(${PROJECT_NAME} src/graph.cpp src/resource_locator.cpp src/srdf_model.cpp src/kinematics_information.cpp)
-target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES} tesseract::tesseract_geometry tesseract::tesseract_common orocos-kdl console_bridge::console_bridge)
+target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES} Eigen3::Eigen tesseract::tesseract_geometry tesseract::tesseract_common orocos-kdl console_bridge::console_bridge)
 target_compile_options(${PROJECT_NAME} PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_DEFINITIONS} Boost_USE_STATIC_LIBS=OFF Boost_USE_MULTITHREADED=ON Boost_USE_STATIC_RUNTIME=OFF)
@@ -46,7 +46,6 @@ target_include_directories(${PROJECT_NAME} PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-    ${EIGEN3_INCLUDE_DIRS}
     ${orocos_kdl_INCLUDE_DIRS} # Orocos did not export target correctly
     ${Boost_INCLUDE_DIRS})
 
diff --git a/tesseract_urdf/CMakeLists.txt b/tesseract_urdf/CMakeLists.txt
index 697ebd5f1b2..e12ec38a295 100644
--- a/tesseract_urdf/CMakeLists.txt
+++ b/tesseract_urdf/CMakeLists.txt
@@ -37,7 +37,7 @@ add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
 tesseract_variables()
 
 add_library(${PROJECT_NAME} src/urdf_parser.cpp)
-target_link_libraries(${PROJECT_NAME} PUBLIC tesseract::tesseract_common tesseract::tesseract_geometry tesseract::tesseract_scene_graph tesseract::tesseract_collision_core console_bridge::console_bridge ${Boost_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen tesseract::tesseract_common tesseract::tesseract_geometry tesseract::tesseract_scene_graph tesseract::tesseract_collision_core console_bridge::console_bridge ${Boost_LIBRARIES})
 target_compile_options(${PROJECT_NAME} PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
@@ -74,7 +74,6 @@ target_include_directories(${PROJECT_NAME} PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-    ${EIGEN3_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS})
 
 configure_package(NAMESPACE tesseract TARGETS ${PROJECT_NAME})
diff --git a/tesseract_visualization/CMakeLists.txt b/tesseract_visualization/CMakeLists.txt
index 1c449bd19bf..bc3068a51b3 100644
--- a/tesseract_visualization/CMakeLists.txt
+++ b/tesseract_visualization/CMakeLists.txt
@@ -60,7 +60,7 @@ add_library(${PROJECT_NAME}
     src/trajectory_interpolator.cpp
     src/trajectory_player.cpp
     src/markers/marker.cpp)
-target_link_libraries(${PROJECT_NAME} PUBLIC tesseract::tesseract_environment_core tesseract::tesseract_scene_graph tesseract::tesseract_collision_core tesseract::tesseract_common console_bridge::console_bridge ${class_loader_LIBRARIES})
+  target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen tesseract::tesseract_environment_core tesseract::tesseract_scene_graph tesseract::tesseract_collision_core tesseract::tesseract_common console_bridge::console_bridge ${class_loader_LIBRARIES})
 target_compile_options(${PROJECT_NAME} PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
@@ -79,7 +79,6 @@ target_include_directories(${PROJECT_NAME} PUBLIC
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-    ${EIGEN3_INCLUDE_DIRS}
     ${class_loader_INCLUDE_DIRS})
 
 list(APPEND PACKAGE_LIBRARIES ${PROJECT_NAME})
diff --git a/tesseract_visualization/test/CMakeLists.txt b/tesseract_visualization/test/CMakeLists.txt
index 60172dfe2c9..4b923d58a2e 100644
--- a/tesseract_visualization/test/CMakeLists.txt
+++ b/tesseract_visualization/test/CMakeLists.txt
@@ -31,8 +31,7 @@ endif()
 include(GoogleTest)
 
 add_executable(${PROJECT_NAME}_player_unit trajectory_player_unit.cpp)
-target_link_libraries(${PROJECT_NAME}_player_unit PRIVATE GTest::GTest GTest::Main ${PROJECT_NAME})
-target_include_directories(${PROJECT_NAME}_player_unit PRIVATE ${EIGEN3_INCLUDE_DIRS})
+target_link_libraries(${PROJECT_NAME}_player_unit PRIVATE Eigen3::Eigen GTest::GTest GTest::Main ${PROJECT_NAME})
 target_compile_options(${PROJECT_NAME}_player_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE} ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_player_unit PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
 target_clang_tidy(${PROJECT_NAME}_player_unit ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})