diff --git a/CMakeLists.txt b/CMakeLists.txt
index a1edf935..51b45f44 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,9 +9,6 @@ project(maliput_malidrive LANGUAGES C CXX VERSION 1.0.0)
 # CMake Support
 ##############################################################################
 
-# Useful string/list macros
-include (${PROJECT_SOURCE_DIR}/cmake/Utils.cmake)
-
 # Set CMAKE_INSTALL_<INCLUDEDIR|BINDIR|LIBDIR>
 include(GNUInstallDirs)
 
@@ -33,7 +30,8 @@ find_package(maliput_drake REQUIRED)
 
 message(STATUS "\n\n========= Project Configuration ========\n")
 
-include(${PROJECT_SOURCE_DIR}/cmake/MaliputMalidriveFlags.cmake)
+include(${PROJECT_SOURCE_DIR}/cmake/DefaultCFlags.cmake)
+include(${PROJECT_SOURCE_DIR}/cmake/SanitizersConfig.cmake)
 
 set(BUILD_SHARED_LIBS true)
 
diff --git a/cmake/DefaultCFlags.cmake b/cmake/DefaultCFlags.cmake
index 92dc500a..afe3e1a2 100644
--- a/cmake/DefaultCFlags.cmake
+++ b/cmake/DefaultCFlags.cmake
@@ -1,42 +1,3 @@
-# Note that we have to put '-rdynamic' into all of the LINK_FLAGS so that
-# we get our symbols placed into the dynamic symbol table.  This is needed so
-# that our loadable agents have access to the internal symbols from our library.
-
-# Build type link flags
-set (CMAKE_LINK_FLAGS_RELEASE " -rdynamic" CACHE INTERNAL "Link flags for release" FORCE)
-set (CMAKE_LINK_FLAGS_RELWITHDEBINFO " -rdynamic" CACHE INTERNAL "Link flags for release with debug support" FORCE)
-set (CMAKE_LINK_FLAGS_DEBUG " -rdynamic" CACHE INTERNAL "Link flags for debug" FORCE)
-set (CMAKE_LINK_FLAGS_PROFILE " -rdynamic -pg" CACHE INTERNAL "Link flags for profile" FORCE)
-
-set (CMAKE_C_FLAGS_RELEASE "")
-set (CMAKE_C_FLAGS_RELEASE "-s")
-
-set (CMAKE_C_FLAGS_RELEASE " ${CMAKE_C_FLAGS_RELEASE} -O3 -DNDEBUG ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for release" FORCE)
-set (CMAKE_CXX_FLAGS_RELEASE ${CMAKE_C_FLAGS_RELEASE})
-
-set (CMAKE_C_FLAGS_RELWITHDEBINFO " -g -O2 ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for release with debug support" FORCE)
-set (CMAKE_CXX_FLAGS_RELWITHDEBINFO ${CMAKE_C_FLAGS_RELWITHDEBINFO})
-
-set (CMAKE_C_FLAGS_DEBUG " -ggdb3 ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for debug" FORCE)
-set (CMAKE_CXX_FLAGS_DEBUG ${CMAKE_C_FLAGS_DEBUG})
-
-set (CMAKE_C_FLAGS_PROFILE " -fno-omit-frame-pointer -g -pg ${CMAKE_C_FLAGS_ALL}" CACHE INTERNAL "C Flags for profile" FORCE)
-set (CMAKE_CXX_FLAGS_PROFILE ${CMAKE_C_FLAGS_PROFILE})
-
-#####################################
-# Set all the global build flags
-set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_MODULE_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-
-set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}} -std=c++17")
-
-set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-set (CMAKE_MODULE_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
-
 # C++ Version
 set (CMAKE_CXX_STANDARD 17)
 set (CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -49,7 +10,7 @@ if ("${CMAKE_CXX_COMPILER_ID} " MATCHES "GNU ")
     if (NOT (GCC_VERSION VERSION_GREATER 6.9))
         message(FATAL_ERROR "${PROJECT_NAME} requires g++ 7.0 or greater.")
     else ()
-      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fdata-sections -fdiagnostics-color=always -ffunction-sections -fopenmp -fPIC   -fstack-protector -fno-omit-frame-pointer -no-canonical-prefixes -O2 -std=c++17 -Wall -Wno-builtin-macro-redefined -Wno-missing-field-initializers -Wregister -Wstrict-overflow -Wno-unused-const-variable")
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fdata-sections -fdiagnostics-color=always -ffunction-sections -fopenmp -fPIC -fstack-protector -fno-omit-frame-pointer -no-canonical-prefixes -O2 -std=c++17 -Wall -Wno-builtin-macro-redefined -Wno-missing-field-initializers -Wregister -Wstrict-overflow -Wno-unused-const-variable")
     endif ()
 elseif ("${CMAKE_CXX_COMPILER_ID} " MATCHES "Clang ")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fdata-sections -fdiagnostics-color=always -ffunction-sections -fPIC -fstack-protector -fno-omit-frame-pointer -no-canonical-prefixes -O2 -std=c++17 -Wall -Wno-builtin-macro-redefined -Wno-deprecated-dynamic-exception-spec -Wno-enum-compare-switch -Wno-gnu-designator -Wno-missing-field-initializers -Wno-register -Wno-strict-overflow -Wno-unknown-warning-option -Wno-unneeded-internal-declaration -Wno-unused-const-variable -Wno-missing-braces")
diff --git a/cmake/MaliputMalidriveFlags.cmake b/cmake/MaliputMalidriveFlags.cmake
deleted file mode 100644
index ad751a08..00000000
--- a/cmake/MaliputMalidriveFlags.cmake
+++ /dev/null
@@ -1,37 +0,0 @@
-#####################################
-# Handle CFlags
-
-unset (CMAKE_C_FLAGS_ALL CACHE)
-unset (CMAKE_CXX_FLAGS CACHE)
-
-include(${PROJECT_SOURCE_DIR}/cmake/DefaultCFlags.cmake)
-include(${PROJECT_SOURCE_DIR}/cmake/SanitizersConfig.cmake)
-
-# Check if warning options are avaliable for the compiler and return WARNING_CXX_FLAGS variable
-list(APPEND WARN_LEVEL -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull)
-list(APPEND WARN_LEVEL -Wparentheses -Wreorder -Wreturn-type)
-list(APPEND WARN_LEVEL -Wsequence-point -Wsign-compare -Wstrict-aliasing)
-list(APPEND WARN_LEVEL -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized)
-list(APPEND WARN_LEVEL -Wunused-function -Wunused-label -Wunused-value)
-list(APPEND WARN_LEVEL -Wunused-variable -Wvolatile-register-var)
-
-# Unable to be filtered flags (failing due to limitations in filter_valid_compiler_warnings)
-set(UNFILTERED_FLAGS "-Wc++17-compat")
-
-filter_valid_compiler_warnings(${WARN_LEVEL} -Wextra -Wno-long-long
-  -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value
-  -Winit-self -Wswitch-default
-  -Wmissing-include-dirs -Wno-pragmas)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}${WARNING_CXX_FLAGS} ${UNFILTERED_FLAGS}")
-
-# Report out
-message(STATUS "Shared Libraries..............${BUILD_SHARED_LIBS}")
-message(STATUS "Build Type....................${CMAKE_BUILD_TYPE}")
-message(STATUS "Install path..................${CMAKE_INSTALL_PREFIX}")
-if (DEFINED CMAKE_CXX_FLAGS)
-  message(STATUS "Custom CFlags.................${CMAKE_CXX_FLAGS}")
-else()
-  message (STATUS "Using default CFlags")
-endif()
-
-message(STATUS "\n----------------------------------------\n")
diff --git a/cmake/Utils.cmake b/cmake/Utils.cmake
deleted file mode 100644
index f8f97544..00000000
--- a/cmake/Utils.cmake
+++ /dev/null
@@ -1,40 +0,0 @@
-################################################################################
-# Appends items to a cached list.
-macro(append_to_cached_string _string _cacheDesc)
-  foreach(newItem ${ARGN})
-    set(${_string} "${${_string}} ${newItem}" CACHE INTERNAL ${_cacheDesc} FORCE)
-  endforeach(newItem ${ARGN})
-endmacro(append_to_cached_string)
-
-################################################################################
-# Appends items to a cached list.
-macro(append_to_cached_list _list _cacheDesc)
-  set(tempList ${${_list}})
-  foreach(newItem ${ARGN})
-    list(APPEND tempList ${newItem})
-  endforeach(newItem ${newItem})
-  set(${_list} ${tempList} CACHE INTERNAL ${_cacheDesc} FORCE)
-endmacro(append_to_cached_list)
-
-#################################################
-# Macro to turn a list into a string (why doesn't CMake have this built-in?)
-macro(list_to_string _string _list)
-    set(${_string})
-    foreach(_item ${_list})
-      set(${_string} "${${_string}} ${_item}")
-    endforeach(_item)
-endmacro(list_to_string)
-
-#################################################
-# Macro to setup supported compiler warnings
-# Based on work of Florent Lamiraux, Thomas Moulard, JRL, CNRS/AIST.
-include(CheckCXXCompilerFlag)
-
-macro(filter_valid_compiler_warnings)
-  foreach(flag ${ARGN})
-    CHECK_CXX_COMPILER_FLAG(${flag} R${flag})
-    if(${R${flag}})
-      set(WARNING_CXX_FLAGS "${WARNING_CXX_FLAGS} ${flag}")
-    endif()
-  endforeach()
-endmacro()
diff --git a/cmake/cmake_uninstall.cmake.in b/cmake/cmake_uninstall.cmake.in
deleted file mode 100644
index 2037e365..00000000
--- a/cmake/cmake_uninstall.cmake.in
+++ /dev/null
@@ -1,21 +0,0 @@
-if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-  message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-
-file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
-string(REGEX REPLACE "\n" ";" files "${files}")
-foreach(file ${files})
-  message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
-  if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
-    exec_program(
-      "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
-      OUTPUT_VARIABLE rm_out
-      RETURN_VALUE rm_retval
-      )
-    if(NOT "${rm_retval}" STREQUAL 0)
-      message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")
-    endif(NOT "${rm_retval}" STREQUAL 0)
-  else(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
-    message(STATUS "File $ENV{DESTDIR}${file} does not exist.")
-  endif(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
-endforeach(file)
diff --git a/cmake/malidrive-malidrive-config.cmake.in b/cmake/malidrive-malidrive-config.cmake.in
deleted file mode 100644
index 72c7ea72..00000000
--- a/cmake/malidrive-malidrive-config.cmake.in
+++ /dev/null
@@ -1,25 +0,0 @@
-##############################################################################
-#
-# For finding and loading @PROJECT_NAME@ from your project, type:
-#
-# find_package(@PROJECT_NAME@)
-#
-# It defines the following variables:
-#
-#  @PROJECT_NAME@_FOUND    - @PROJECT_NAME@ is available
-#  @PROJECT_NAME@_IMPORTS  - list of imported targets
-#
-##############################################################################
-# NB: Refer to https://cmake.org/cmake/help/v3.5/manual/cmake-packages.7.html
-##############################################################################
-
-@PACKAGE_INIT@
-
-include(${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake)
-
-##############################################################################
-# Dependencies
-##############################################################################
-
-include(CMakeFindDependencyMacro)
-find_dependency(drake_vendor)