diff --git a/CMakeLists.txt b/CMakeLists.txt
index ace8da81907..4010ef9eb27 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,6 +12,7 @@ endif()
 if("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
     set(CMAKE_SYSTEM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
     set(CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
+    message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
 endif()
 
 cmake_minimum_required(VERSION 3.11)
@@ -23,11 +24,10 @@ if(POLICY CMP0135)
     cmake_policy(SET CMP0135 NEW)
 endif()
 
-message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
-
 set(WPILIB_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
 
 include(CPack)
+include(OptionValidation)
 
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
 set_property(GLOBAL PROPERTY USE_FOLDERS ON)
@@ -35,7 +35,6 @@ set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/lib)
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${WPILIB_BINARY_DIR}/bin)
-set(CMAKE_JAVA_TARGET_OUTPUT_DIR ${WPILIB_BINARY_DIR}/jar)
 
 # use, i.e. don't skip the full RPATH for the build tree
 set(CMAKE_SKIP_BUILD_RPATH FALSE)
@@ -87,28 +86,6 @@ if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "" FORCE)
 endif()
 
-if(WITH_JAVA AND NOT BUILD_SHARED_LIBS)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build static libs with Java enabled.
-       Static libs requires both BUILD_SHARED_LIBS=OFF and
-       WITH_JAVA=OFF
-"
-    )
-endif()
-
-if(WITH_SIMULATION_MODULES AND NOT BUILD_SHARED_LIBS)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build static libs with simulation modules enabled.
-       Static libs requires both BUILD_SHARED_LIBS=OFF and
-       WITH_SIMULATION_MODULES=OFF
-"
-    )
-endif()
-
 if(NOT WITH_JAVA OR NOT WITH_CSCORE)
     if(NOT "${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
         message(
@@ -121,81 +98,24 @@ It will be ignored.
     endif()
 endif()
 
-if(NOT WITH_WPILIB AND WITH_SIMULATION_MODULES)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build simulation modules with wpilib disabled.
-       Enable wpilib by setting WITH_WPILIB=ON
-"
-    )
-endif()
-
-if(NOT WITH_NTCORE AND WITH_CSCORE)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build cameraserver without ntcore.
-       Enable ntcore by setting WITH_NTCORE=ON
-"
-    )
-endif()
+wpilib_config(OPTIONS WITH_JAVA REQUIRES BUILD_SHARED_LIBS)
 
-if(NOT WITH_NTCORE AND WITH_GUI)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build GUI modules without ntcore.
-       Enable ntcore by setting WITH_NTCORE=ON
-"
-    )
-endif()
+wpilib_config(OPTIONS WITH_SIMULATION_MODULES REQUIRES BUILD_SHARED_LIBS WITH_WPILIB WITH_NTCORE)
 
-if(NOT WITH_NTCORE AND WITH_SIMULATION_MODULES)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build simulation modules without ntcore.
-       Enable ntcore by setting WITH_NTCORE=ON
-"
-    )
-endif()
+wpilib_config(OPTIONS WITH_CSCORE REQUIRES WITH_NTCORE)
 
-if(NOT WITH_NTCORE AND WITH_WPILIB)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build wpilib without ntcore.
-       Enable ntcore by setting WITH_NTCORE=ON
-"
-    )
-endif()
+wpilib_config(OPTIONS WITH_GUI REQUIRES WITH_NTCORE WITH_WPIMATH)
 
-if(NOT WITH_WPIMATH AND WITH_WPILIB)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build wpilib without wpimath.
-       Enable wpimath by setting WITH_WPIMATH=ON
-"
-    )
-endif()
+wpilib_config(OPTIONS WITH_WPILIB REQUIRES WITH_NTCORE WITH_WPIMATH)
 
-if(NOT WITH_WPIUNITS AND WITH_WPIMATH AND WITH_JAVA)
-    message(
-        FATAL_ERROR
-        "
-FATAL: Cannot build Java wpimath without wpiunits.
-       Enable wpiunits by setting WITH_WPIUNITS=ON or disable the Java build by setting WITH_JAVA=OFF
-"
-    )
-endif()
+wpilib_config(OPTIONS WITH_WPIMATH WITH_JAVA REQUIRES WITH_WPIUNITS)
 
 set(include_dest include)
 set(java_lib_dest java)
-set(jni_lib_dest jni)
-if(WITH_JAVA)
+if(WITH_JAVA OR WITH_JAVA_SOURCE)
     set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
+    find_package(Java REQUIRED COMPONENTS Development)
+    find_package(JNI REQUIRED COMPONENTS JVM)
 endif()
 
 find_package(LIBSSH 0.7.1)
@@ -382,6 +302,7 @@ endif()
 if(WITH_CSCORE)
     set(CAMERASERVER_DEP_REPLACE "find_dependency(cameraserver)")
     set(CSCORE_DEP_REPLACE "find_dependency(cscore)")
+    find_package(OpenCV REQUIRED)
     add_subdirectory(cscore)
     add_subdirectory(cameraserver)
 endif()
diff --git a/README-CMAKE.md b/README-CMAKE.md
index 7742900f9e6..e52d77ec2ef 100644
--- a/README-CMAKE.md
+++ b/README-CMAKE.md
@@ -108,6 +108,12 @@ After build, the easiest way to use the libraries is to install them. Run the fo
 sudo cmake --build . --target install
 ```
 
+## Preparing to use the installed libraries
+
+On Windows, make sure the directories for the libraries you built are on PATH. For wpilib, the default install location is `C:\Program Files (x86)\allwpilib`. If you built other libraries like OpenCV and protobuf from source, install them, and add the install directories to PATH. This ensures CMake can locate the libraries.
+
+You will also want to add the directories where the DLLs are located (usually the `bin` subdirectory of the install directory) to PATH so they can be loaded by your program. If you are using OpenCV and Java, the `opencv_java` DLL is located in either the `lib` subdirectory if you built but didn't install OpenCV, or the `java` subdirectory if you did install OpenCV.
+
 ## Using the installed libraries for C++.
 
 Using the libraries from C++ is the easiest way to use the built libraries.
@@ -134,12 +140,11 @@ cmake /path/to/folder/containing/CMakeLists
 
 After that, run `cmake --build .`. That will create your executable. Then you should be able to run `./my_vision_app` to run your application.
 
-
 ## Using the installed libraries for Java
 
-Using the built JARs is move involved than using the C++ libraries, but mostly consists of adding the correct directories to PATH.
+Using the built JARs is more involved than using the C++ libraries, but the additional work involves providing the paths to various libraries and JARs when needed.
 
-Add the directory where the JARs are located (e.g, `/usr/local/java`) to PATH. If you are on Windows, you also need to add the `lib`, `bin`, and `share` directories to PATH. Then, create a new folder to contain your project. Add the following code below to a `CMakeLists.txt` file in that directory.
+Create a new folder to contain your project. Add the following code below to a `CMakeLists.txt` file in that directory.
 
 ```cmake
 cmake_minimum_required(VERSION 3.11)
diff --git a/apriltag/CMakeLists.txt b/apriltag/CMakeLists.txt
index e6b9aa6f97f..28a2751d577 100644
--- a/apriltag/CMakeLists.txt
+++ b/apriltag/CMakeLists.txt
@@ -27,8 +27,6 @@ set(APRILTAGLIB_SRCS
 file(GLOB apriltag_jni_src src/main/native/cpp/jni/AprilTagJNI.cpp)
 
 if(WITH_JAVA)
-    find_package(Java REQUIRED)
-    find_package(JNI REQUIRED)
     include(UseJava)
 
     set(CMAKE_JNI_TARGET true)
@@ -47,8 +45,6 @@ if(WITH_JAVA)
         NO_DEFAULT_PATH
     )
 
-    set(CMAKE_JAVA_INCLUDE_PATH apriltag.jar ${EJML_JARS} ${JACKSON_JARS})
-
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
     file(
         GLOB_RECURSE JAVA_RESOURCES
@@ -60,8 +56,15 @@ if(WITH_JAVA)
         SOURCES ${JAVA_SOURCES}
         RESOURCES
         NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES}
-        INCLUDE_JARS wpimath_jar wpiunits_jar ${EJML_JARS} wpiutil_jar ${OPENCV_JAR_FILE}
+        INCLUDE_JARS
+            wpimath_jar
+            wpiunits_jar
+            wpiutil_jar
+            ${EJML_JARS}
+            ${OPENCV_JAR_FILE}
+            ${JACKSON_JARS}
         OUTPUT_NAME apriltag
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         GENERATE_NATIVE_HEADERS apriltag_jni_headers
     )
     set_property(TARGET apriltag_jar PROPERTY FOLDER "java")
@@ -83,7 +86,6 @@ if(WITH_JAVA)
 endif()
 
 if(WITH_JAVA_SOURCE)
-    find_package(Java REQUIRED)
     include(UseJava)
     file(GLOB APRILTAG_SOURCES src/main/java/edu/wpi/first/apriltag/*.java)
     add_jar(
@@ -94,6 +96,7 @@ if(WITH_JAVA_SOURCE)
             "edu/wpi/first/apriltag/jni"
             src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java
         OUTPUT_NAME apriltag-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
 
     get_property(APRILTAG_SRC_JAR_FILE TARGET apriltag_src_jar PROPERTY JAR_FILE)
diff --git a/cameraserver/CMakeLists.txt b/cameraserver/CMakeLists.txt
index 1270c383db5..2ea645470e2 100644
--- a/cameraserver/CMakeLists.txt
+++ b/cameraserver/CMakeLists.txt
@@ -3,15 +3,11 @@ project(cameraserver)
 include(CompileWarnings)
 include(AddTest)
 
-find_package(OpenCV REQUIRED)
-
 # Java bindings
 if(WITH_JAVA)
-    find_package(Java REQUIRED)
     include(UseJava)
 
-    #find java files, copy them locally
-
+    #find JAR file, copy it locally
     set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/java/opencv4)
 
     find_file(
@@ -32,6 +28,7 @@ if(WITH_JAVA)
         ${JAVA_SOURCES}
         INCLUDE_JARS wpiutil_jar cscore_jar ntcore_jar ${OPENCV_JAR_FILE}
         OUTPUT_NAME cameraserver
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
     set_property(TARGET cameraserver_jar PROPERTY FOLDER "java")
 
@@ -44,7 +41,6 @@ if(WITH_JAVA)
 endif()
 
 if(WITH_JAVA_SOURCE)
-    find_package(Java REQUIRED)
     include(UseJava)
     file(GLOB CAMERASERVER_SOURCES src/main/java/edu/wpi/first/cameraserver/*.java)
     file(GLOB VISION_SOURCES src/main/java/edu/wpi/first/vision/*.java)
@@ -54,6 +50,7 @@ if(WITH_JAVA_SOURCE)
         NAMESPACE "edu/wpi/first/cameraserver" ${CAMERASERVER_SOURCES}
         NAMESPACE "edu/wpi/first/vision" ${VISION_SOURCES}
         OUTPUT_NAME cameraserver-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
 
     get_property(CAMERASERVER_SRC_JAR_FILE TARGET cameraserver_src_jar PROPERTY JAR_FILE)
diff --git a/cmake/modules/OptionValidation.cmake b/cmake/modules/OptionValidation.cmake
new file mode 100644
index 00000000000..4460ac44159
--- /dev/null
+++ b/cmake/modules/OptionValidation.cmake
@@ -0,0 +1,29 @@
+function(wpilib_config)
+    cmake_parse_arguments(config "" "" "OPTIONS;REQUIRES" ${ARGN})
+    foreach(opt ${config_OPTIONS})
+        if(NOT ${opt})
+            return()
+        endif()
+    endforeach()
+    foreach(required_opt ${config_REQUIRES})
+        if(NOT ${required_opt})
+            list(JOIN config_OPTIONS " and " options_list)
+            list(LENGTH config_OPTIONS option_len)
+            if(option_len GREATER 1)
+                set(requires require)
+                set(option_msg "one of the listed options")
+            else()
+                set(requires requires)
+                set(option_msg ${options_list})
+            endif()
+
+            message(
+                FATAL_ERROR
+                "
+FATAL: ${options_list} ${requires} ${required_opt}.
+       Either enable ${required_opt} or disable ${option_msg}.
+"
+            )
+        endif()
+    endforeach()
+endfunction()
diff --git a/cscore/CMakeLists.txt b/cscore/CMakeLists.txt
index e4f4315acc5..24b605e9026 100644
--- a/cscore/CMakeLists.txt
+++ b/cscore/CMakeLists.txt
@@ -5,8 +5,6 @@ include(CompileWarnings)
 include(AddTest)
 include(LinkMacOSGUI)
 
-find_package(OpenCV REQUIRED)
-
 file(GLOB cscore_native_src src/main/native/cpp/*.cpp)
 file(GLOB cscore_linux_src src/main/native/linux/*.cpp)
 file(GLOB cscore_osx_src src/main/native/osx/*.cpp)
@@ -16,23 +14,21 @@ file(GLOB cscore_windows_src src/main/native/windows/*.cpp)
 add_library(cscore ${cscore_native_src})
 set_target_properties(cscore PROPERTIES DEBUG_POSTFIX "d")
 
-if(NOT MSVC)
-    if(APPLE)
-        target_sources(cscore PRIVATE ${cscore_osx_src} ${cscore_osx_objc_src})
-        target_compile_options(cscore PRIVATE "-fobjc-arc")
-        set_target_properties(
-            cscore
-            PROPERTIES
-                LINK_FLAGS
-                    "-framework CoreFoundation -framework AVFoundation -framework Foundation -framework CoreMedia -framework CoreVideo"
-        )
-    else()
-        target_sources(cscore PRIVATE ${cscore_linux_src})
-    endif()
-else()
+if(APPLE)
+    target_sources(cscore PRIVATE ${cscore_osx_src} ${cscore_osx_objc_src})
+    target_compile_options(cscore PRIVATE "-fobjc-arc")
+    set_target_properties(
+        cscore
+        PROPERTIES
+            LINK_FLAGS
+                "-framework CoreFoundation -framework AVFoundation -framework Foundation -framework CoreMedia -framework CoreVideo"
+    )
+elseif(MSVC)
     target_sources(cscore PRIVATE ${cscore_windows_src})
     target_compile_definitions(cscore PUBLIC -DNOMINMAX)
     target_compile_definitions(cscore PRIVATE -D_CRT_SECURE_NO_WARNINGS)
+else()
+    target_sources(cscore PRIVATE ${cscore_linux_src})
 endif()
 
 target_include_directories(
@@ -81,12 +77,9 @@ endforeach()
 
 # Java bindings
 if(WITH_JAVA)
-    find_package(Java REQUIRED)
-    find_package(JNI REQUIRED)
     include(UseJava)
 
-    #find java files, copy them locally
-
+    #find JAR file, copy it locally
     if("${OPENCV_JAVA_INSTALL_DIR}" STREQUAL "")
         set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/java/opencv4)
     endif()
@@ -101,24 +94,6 @@ if(WITH_JAVA)
             ${OpenCV_INSTALL_PATH}/share/OpenCV/java
         NO_DEFAULT_PATH
     )
-    find_file(
-        OPENCV_JNI_FILE
-        NAMES
-            libopencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.so
-            libopencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.dylib
-            opencv_java${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.dll
-        PATHS
-            ${OPENCV_JAVA_INSTALL_DIR}
-            ${OpenCV_INSTALL_PATH}/bin
-            ${OpenCV_INSTALL_PATH}/bin/Release
-            ${OpenCV_INSTALL_PATH}/bin/Debug
-            ${OpenCV_INSTALL_PATH}/lib
-            ${OpenCV_INSTALL_PATH}/lib/Release
-            ${OpenCV_INSTALL_PATH}/lib/Debug
-            ${OpenCV_INSTALL_PATH}/lib/jni
-            ${OpenCV_INSTALL_PATH}/share/java/opencv4
-        NO_DEFAULT_PATH
-    )
 
     file(GLOB cscore_jni_src src/main/native/cpp/jni/CameraServerJNI.cpp)
 
@@ -130,6 +105,7 @@ if(WITH_JAVA)
         ${JAVA_SOURCES}
         INCLUDE_JARS wpiutil_jar ${OPENCV_JAR_FILE}
         OUTPUT_NAME cscore
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         GENERATE_NATIVE_HEADERS cscore_jni_headers
     )
     set_property(TARGET cscore_jar PROPERTY FOLDER "java")
@@ -138,27 +114,6 @@ if(WITH_JAVA)
     install_jar_exports(TARGETS cscore_jar FILE cscore_jar.cmake DESTINATION share/cscore)
     install(FILES ${OPENCV_JAR_FILE} DESTINATION "${java_lib_dest}")
 
-    if(MSVC)
-        install(FILES ${OPENCV_JNI_FILE} DESTINATION "${jni_lib_dest}")
-
-        foreach(cvFile ${OpenCV_LIBS})
-            find_file(
-                ${cvFile}Loc
-                NAMES
-                    ${cvFile}${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}.dll
-                    ${cvFile}${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}d.dll
-                PATHS
-                    ${OPENCV_JAVA_INSTALL_DIR}
-                    ${OpenCV_INSTALL_PATH}/bin
-                    ${OpenCV_INSTALL_PATH}/bin/Release
-                    ${OpenCV_INSTALL_PATH}/bin/Debug
-                    ${OpenCV_INSTALL_PATH}/lib
-                NO_DEFAULT_PATH
-            )
-            install(FILES ${${cvFile}Loc} DESTINATION "${jni_lib_dest}")
-        endforeach()
-    endif()
-
     add_library(cscorejni ${cscore_jni_src})
     wpilib_target_warnings(cscorejni)
     target_link_libraries(cscorejni PUBLIC cscore wpiutil ${OpenCV_LIBS})
@@ -173,7 +128,6 @@ if(WITH_JAVA)
 endif()
 
 if(WITH_JAVA_SOURCE)
-    find_package(Java REQUIRED)
     include(UseJava)
     file(GLOB CSCORE_SOURCES src/main/java/edu/wpi/first/cscore/*.java)
     file(GLOB CSCORE_RAW_SOURCES src/main/java/edu/wpi/first/cscore/raw/*.java)
@@ -183,6 +137,7 @@ if(WITH_JAVA_SOURCE)
         NAMESPACE "edu/wpi/first/cscore" ${CSCORE_SOURCES}
         NAMESPACE "edu/wpi/first/cscore/raw" ${CSCORE_RAW_SOURCES}
         OUTPUT_NAME cscore-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
 
     get_property(CSCORE_SRC_JAR_FILE TARGET cscore_src_jar PROPERTY JAR_FILE)
diff --git a/fieldImages/CMakeLists.txt b/fieldImages/CMakeLists.txt
index d5607c99e18..315615b106a 100644
--- a/fieldImages/CMakeLists.txt
+++ b/fieldImages/CMakeLists.txt
@@ -4,11 +4,9 @@ include(CompileWarnings)
 include(GenResources)
 
 if(WITH_JAVA)
-    find_package(Java REQUIRED)
     include(UseJava)
 
     file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
-    set(CMAKE_JAVA_INCLUDE_PATH fieldImages.jar ${JACKSON_JARS})
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
     file(
@@ -23,13 +21,12 @@ if(WITH_JAVA)
         SOURCES ${JAVA_SOURCES}
         RESOURCES
         NAMESPACE "edu/wpi/first/fields" ${JAVA_RESOURCES}
+        INCLUDE_JARS ${JACKSON_JARS}
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         OUTPUT_NAME fieldImages
     )
-
-    get_property(FIELD_IMAGES_JAR_FILE TARGET field_images_jar PROPERTY JAR_FILE)
-    install(FILES ${FIELD_IMAGES_JAR_FILE} DESTINATION "${java_lib_dest}")
-
     set_property(TARGET field_images_jar PROPERTY FOLDER "java")
+    install_jar(field_images_jar DESTINATION ${java_lib_dest})
 endif()
 
 generate_resources(
diff --git a/hal/CMakeLists.txt b/hal/CMakeLists.txt
index 7070859ce15..31f640cec8a 100644
--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@@ -43,8 +43,6 @@ install(EXPORT hal DESTINATION share/hal)
 
 # Java bindings
 if(WITH_JAVA)
-    find_package(Java REQUIRED)
-    find_package(JNI REQUIRED)
     include(UseJava)
 
     file(GLOB_RECURSE hal_shared_jni_src src/main/native/cpp/jni/*.cpp)
@@ -57,6 +55,7 @@ if(WITH_JAVA)
         ${JAVA_SOURCES}
         INCLUDE_JARS wpiutil_jar
         OUTPUT_NAME wpiHal
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         GENERATE_NATIVE_HEADERS hal_jni_headers
     )
     set_property(TARGET hal_jar PROPERTY FOLDER "java")
@@ -80,7 +79,6 @@ if(WITH_JAVA)
 endif()
 
 if(WITH_JAVA_SOURCE)
-    find_package(Java REQUIRED)
     include(UseJava)
     file(GLOB HAL_SOURCES src/main/java/edu/wpi/first/hal/*.java src/generated/main/java/*.java)
     file(GLOB HAL_CAN_SOURCES src/main/java/edu/wpi/first/hal/can/*.java)
@@ -97,6 +95,7 @@ if(WITH_JAVA_SOURCE)
         NAMESPACE "edu/wpi/first/hal/simulation" ${HAL_SIMULATION_SOURCES}
         NAMESPACE "edu/wpi/first/hal/util" ${HAL_UTIL_SOURCES}
         OUTPUT_NAME wpiHal-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
 
     get_property(HAL_SRC_JAR_FILE TARGET hal_src_jar PROPERTY JAR_FILE)
diff --git a/imgui/CMakeLists.txt b/imgui/CMakeLists.txt
index b4810e9ce01..04a6a3aeb92 100644
--- a/imgui/CMakeLists.txt
+++ b/imgui/CMakeLists.txt
@@ -1,4 +1,5 @@
 include(FetchContent)
+include(LinkMacOSGUI)
 
 fetchcontent_declare(
     glfw3
@@ -82,14 +83,12 @@ endif()
 target_compile_definitions(imgui PUBLIC IMGUI_IMPL_OPENGL_LOADER_GL3W)
 if(MSVC)
     target_sources(imgui PRIVATE ${imgui_SOURCE_DIR}/backends/imgui_impl_dx11.cpp)
+elseif(APPLE)
+    target_compile_options(imgui PRIVATE -fobjc-arc)
+    wpilib_link_macos_gui(imgui)
+    target_sources(imgui PRIVATE ${imgui_SOURCE_DIR}/backends/imgui_impl_metal.mm)
 else()
-    if(APPLE)
-        target_compile_options(imgui PRIVATE -fobjc-arc)
-        set_target_properties(imgui PROPERTIES LINK_FLAGS "-framework Metal -framework QuartzCore")
-        target_sources(imgui PRIVATE ${imgui_SOURCE_DIR}/backends/imgui_impl_metal.mm)
-    else()
-        #target_sources(imgui PRIVATE ${imgui_SOURCE_DIR}/backends/imgui_impl_opengl3.cpp)
-    endif()
+    #target_sources(imgui PRIVATE ${imgui_SOURCE_DIR}/backends/imgui_impl_opengl3.cpp)
 endif()
 target_link_libraries(imgui PUBLIC glfw)
 target_include_directories(
diff --git a/ntcore/CMakeLists.txt b/ntcore/CMakeLists.txt
index bbf3790a7b4..101307886df 100644
--- a/ntcore/CMakeLists.txt
+++ b/ntcore/CMakeLists.txt
@@ -39,14 +39,10 @@ install(EXPORT ntcore DESTINATION share/ntcore)
 
 # Java bindings
 if(WITH_JAVA)
-    find_package(Java REQUIRED)
-    find_package(JNI REQUIRED)
     include(UseJava)
 
     file(GLOB QUICKBUF_JAR ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/*.jar)
 
-    set(CMAKE_JAVA_INCLUDE_PATH wpimath.jar ${QUICKBUF_JAR})
-
     file(GLOB ntcore_jni_src src/main/native/cpp/jni/*.cpp src/generated/main/native/cpp/jni/*.cpp)
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
@@ -55,8 +51,9 @@ if(WITH_JAVA)
     add_jar(
         ntcore_jar
         ${JAVA_SOURCES}
-        INCLUDE_JARS wpiutil_jar
+        INCLUDE_JARS wpiutil_jar ${QUICKBUF_JAR}
         OUTPUT_NAME ntcore
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         GENERATE_NATIVE_HEADERS ntcore_jni_headers
     )
     set_property(TARGET ntcore_jar PROPERTY FOLDER "java")
@@ -70,10 +67,6 @@ if(WITH_JAVA)
 
     set_property(TARGET ntcorejni PROPERTY FOLDER "libraries")
 
-    if(MSVC)
-        install(TARGETS ntcorejni RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
-    endif()
-
     target_link_libraries(ntcorejni PRIVATE ntcore_jni_headers)
     add_dependencies(ntcorejni ntcore_jar)
 
@@ -82,7 +75,6 @@ if(WITH_JAVA)
 endif()
 
 if(WITH_JAVA_SOURCE)
-    find_package(Java REQUIRED)
     include(UseJava)
     file(
         GLOB NTCORE_SOURCES
@@ -94,6 +86,7 @@ if(WITH_JAVA_SOURCE)
         RESOURCES
         NAMESPACE "edu/wpi/first/networktables" ${NTCORE_SOURCES}
         OUTPUT_NAME ntcore-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
 
     get_property(NTCORE_SRC_JAR_FILE TARGET ntcore_src_jar PROPERTY JAR_FILE)
diff --git a/romiVendordep/CMakeLists.txt b/romiVendordep/CMakeLists.txt
index 960e7d112e8..cae07076089 100644
--- a/romiVendordep/CMakeLists.txt
+++ b/romiVendordep/CMakeLists.txt
@@ -5,7 +5,6 @@ include(CompileWarnings)
 include(AddTest)
 
 if(WITH_JAVA)
-    find_package(Java REQUIRED)
     include(UseJava)
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
@@ -22,6 +21,7 @@ if(WITH_JAVA)
             wpiutil_jar
             wpilibj_jar
         OUTPUT_NAME romiVendordep
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
     set_property(TARGET romiVendordep_jar PROPERTY FOLDER "java")
 
@@ -34,7 +34,6 @@ if(WITH_JAVA)
 endif()
 
 if(WITH_JAVA_SOURCE)
-    find_package(Java REQUIRED)
     include(UseJava)
     file(GLOB_RECURSE ROMIVENDORDEP_SOURCES src/main/java/*.java)
     add_jar(
@@ -42,6 +41,7 @@ if(WITH_JAVA_SOURCE)
         RESOURCES
         NAMESPACE "edu/wpi/first/wpilibj/romi" ${ROMIVENDORDEP_SOURCES}
         OUTPUT_NAME romiVendordep-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
 
     get_property(ROMIVENDORDEP_SRC_JAR_FILE TARGET romiVendordep_src_jar PROPERTY JAR_FILE)
@@ -66,7 +66,7 @@ target_include_directories(
         $<INSTALL_INTERFACE:${include_dest}/romiVendordep>
 )
 
-install(TARGETS romiVendordep EXPORT romivendordep DESTINATION "${main_lib_dest}")
+install(TARGETS romiVendordep EXPORT romivendordep)
 export(TARGETS romiVendordep FILE romivendordep.cmake NAMESPACE romivendordep::)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/romiVendordep")
 
diff --git a/simulation/halsim_xrp/CMakeLists.txt b/simulation/halsim_xrp/CMakeLists.txt
index f961f3b94d2..71f8c53ecfe 100644
--- a/simulation/halsim_xrp/CMakeLists.txt
+++ b/simulation/halsim_xrp/CMakeLists.txt
@@ -13,5 +13,5 @@ target_include_directories(halsim_xrp PRIVATE src/main/native/include)
 
 set_property(TARGET halsim_xrp PROPERTY FOLDER "libraries")
 
-install(TARGETS halsim_xrp EXPORT halsim_xrp DESTINATION "${main_lib_dest}")
+install(TARGETS halsim_xrp EXPORT halsim_xrp)
 export(TARGETS halsim_xrp FILE halsim_xrp.cmake NAMESPACE halsim_xrp::)
diff --git a/wpigui/CMakeLists.txt b/wpigui/CMakeLists.txt
index 221977728f4..04ffe3b2dcc 100644
--- a/wpigui/CMakeLists.txt
+++ b/wpigui/CMakeLists.txt
@@ -30,14 +30,12 @@ target_include_directories(
 
 if(MSVC)
     target_sources(wpigui PRIVATE ${wpigui_windows_src})
+elseif(APPLE)
+    target_compile_options(wpigui PRIVATE -fobjc-arc)
+    wpilib_link_macos_gui(wpigui)
+    target_sources(wpigui PRIVATE ${wpigui_mac_src})
 else()
-    if(APPLE)
-        target_compile_options(wpigui PRIVATE -fobjc-arc)
-        set_target_properties(wpigui PROPERTIES LINK_FLAGS "-framework Metal -framework QuartzCore")
-        target_sources(wpigui PRIVATE ${wpigui_mac_src})
-    else()
-        target_sources(wpigui PRIVATE ${wpigui_unix_src})
-    endif()
+    target_sources(wpigui PRIVATE ${wpigui_unix_src})
 endif()
 
 add_executable(wpiguidev src/dev/native/cpp/main.cpp)
diff --git a/wpilibNewCommands/CMakeLists.txt b/wpilibNewCommands/CMakeLists.txt
index 18495fbd99c..43292dfbe47 100644
--- a/wpilibNewCommands/CMakeLists.txt
+++ b/wpilibNewCommands/CMakeLists.txt
@@ -5,7 +5,6 @@ include(CompileWarnings)
 include(AddTest)
 
 if(WITH_JAVA)
-    find_package(Java REQUIRED)
     include(UseJava)
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
@@ -24,6 +23,7 @@ if(WITH_JAVA)
             wpiutil_jar
             wpilibj_jar
         OUTPUT_NAME wpilibNewCommands
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
     set_property(TARGET wpilibNewCommands_jar PROPERTY FOLDER "java")
 
@@ -36,7 +36,6 @@ if(WITH_JAVA)
 endif()
 
 if(WITH_JAVA_SOURCE)
-    find_package(Java REQUIRED)
     include(UseJava)
     file(GLOB WPILIBNEWCOMMANDS_SOURCES src/main/java/edu/wpi/first/wpilibj2/command/*.java)
     file(
@@ -50,6 +49,7 @@ if(WITH_JAVA_SOURCE)
         NAMESPACE "edu/wpi/first/wpilibj2/command" ${WPILIBNEWCOMMANDS_SOURCES}
         NAMESPACE "edu/wpi/first/wpilibj2/command/button" ${WPILIBNEWCOMMANDS_BUTTON_SOURCES}
         OUTPUT_NAME wpilibNewCommands-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
 
     get_property(WPILIBNEWCOMMANDS_SRC_JAR_FILE TARGET wpilibNewCommands_src_jar PROPERTY JAR_FILE)
@@ -82,6 +82,10 @@ target_include_directories(
 install(TARGETS wpilibNewCommands EXPORT wpilibnewcommands)
 export(TARGETS wpilibNewCommands FILE wpilibnewcommands.cmake NAMESPACE wpilibnewcommands::)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpilibNewCommands")
+install(
+    DIRECTORY src/generated/main/native/include/
+    DESTINATION "${include_dest}/wpilibNewCommands"
+)
 
 configure_file(
     wpilibnewcommands-config.cmake.in
diff --git a/wpilibc/CMakeLists.txt b/wpilibc/CMakeLists.txt
index 186c9794b14..7046509e7ae 100644
--- a/wpilibc/CMakeLists.txt
+++ b/wpilibc/CMakeLists.txt
@@ -25,7 +25,6 @@ target_include_directories(
 wpilib_target_warnings(wpilibc)
 
 if(WITH_CSCORE)
-    find_package(OpenCV)
     target_link_libraries(wpilibc PUBLIC cameraserver cscore ${OpenCV_LIBS})
 else()
     target_compile_definitions(wpilibc PRIVATE DYNAMIC_CAMERA_SERVER)
@@ -43,6 +42,7 @@ set_property(TARGET wpilibc PROPERTY FOLDER "libraries")
 install(TARGETS wpilibc EXPORT wpilibc)
 export(TARGETS wpilibc FILE wpilibc.cmake NAMESPACE wpilibc::)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpilibc")
+install(DIRECTORY src/generated/main/native/include/ DESTINATION "${include_dest}/wpilibc")
 
 configure_file(wpilibc-config.cmake.in ${WPILIB_BINARY_DIR}/wpilibc-config.cmake)
 install(FILES ${WPILIB_BINARY_DIR}/wpilibc-config.cmake DESTINATION share/wpilibc)
diff --git a/wpilibj/CMakeLists.txt b/wpilibj/CMakeLists.txt
index e2a8fb331a7..6124368075f 100644
--- a/wpilibj/CMakeLists.txt
+++ b/wpilibj/CMakeLists.txt
@@ -2,8 +2,6 @@ project(wpilibj)
 
 # Java bindings
 if(WITH_JAVA)
-    find_package(OpenCV REQUIRED)
-    find_package(Java REQUIRED)
     include(UseJava)
 
     set(OPENCV_JAVA_INSTALL_DIR ${OpenCV_INSTALL_PATH}/share/java/opencv4)
@@ -41,6 +39,7 @@ if(WITH_JAVA)
             wpiunits_jar
             wpiutil_jar
         OUTPUT_NAME wpilibj
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
     set_property(TARGET wpilibj_jar PROPERTY FOLDER "java")
 
@@ -51,7 +50,6 @@ if(WITH_JAVA)
 endif()
 
 if(WITH_JAVA_SOURCE)
-    find_package(Java REQUIRED)
     include(UseJava)
     file(
         GLOB WPILIBJ_SOURCES
@@ -95,6 +93,7 @@ if(WITH_JAVA_SOURCE)
         NAMESPACE "edu/wpi/first/wpilibj/smartdashboard" ${WPILIBJ_SMARTDASHBOARD_SOURCES}
         NAMESPACE "edu/wpi/first/wpilibj/util" ${WPILIBJ_UTIL_SOURCES}
         OUTPUT_NAME wpilibj-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
 
     get_property(WPILIBJ_SRC_JAR_FILE TARGET wpilibj_src_jar PROPERTY JAR_FILE)
diff --git a/wpimath/CMakeLists.txt b/wpimath/CMakeLists.txt
index f56558410af..80ed18d40cd 100644
--- a/wpimath/CMakeLists.txt
+++ b/wpimath/CMakeLists.txt
@@ -31,8 +31,6 @@ file(
 
 # Java bindings
 if(WITH_JAVA)
-    find_package(Java REQUIRED)
-    find_package(JNI REQUIRED)
     include(UseJava)
 
     if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpimath/thirdparty/ejml/ejml-simple-0.43.1.jar")
@@ -77,8 +75,6 @@ if(WITH_JAVA)
     file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
     file(GLOB QUICKBUF_JAR ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/*.jar)
 
-    set(CMAKE_JAVA_INCLUDE_PATH wpimath.jar ${EJML_JARS} ${JACKSON_JARS} ${QUICKBUF_JAR})
-
     set(CMAKE_JNI_TARGET true)
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
@@ -86,8 +82,9 @@ if(WITH_JAVA)
     add_jar(
         wpimath_jar
         ${JAVA_SOURCES}
-        INCLUDE_JARS ${EJML_JARS} wpiutil_jar wpiunits_jar
+        INCLUDE_JARS wpiutil_jar wpiunits_jar ${EJML_JARS} ${JACKSON_JARS} ${QUICKBUF_JAR}
         OUTPUT_NAME wpimath
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         GENERATE_NATIVE_HEADERS wpimath_jni_headers
     )
     set_property(TARGET wpimath_jar PROPERTY FOLDER "java")
@@ -109,7 +106,6 @@ if(WITH_JAVA)
 endif()
 
 if(WITH_JAVA_SOURCE)
-    find_package(Java REQUIRED)
     include(UseJava)
     file(
         GLOB WPIMATH_SOURCES
@@ -150,6 +146,7 @@ if(WITH_JAVA_SOURCE)
             ${WPIMATH_TRAJECTORY_CONSTRAINT_SOURCES}
         NAMESPACE "edu/wpi/first/math/util" src/main/java/edu/wpi/first/math/util/Units.java
         OUTPUT_NAME wpimath-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
 
     get_property(WPIMATH_SRC_JAR_FILE TARGET wpimath_src_jar PROPERTY JAR_FILE)
diff --git a/wpinet/CMakeLists.txt b/wpinet/CMakeLists.txt
index 7e189a87ab9..bddb4db83a9 100644
--- a/wpinet/CMakeLists.txt
+++ b/wpinet/CMakeLists.txt
@@ -9,8 +9,6 @@ file(GLOB wpinet_jni_src src/main/native/cpp/jni/WPINetJNI.cpp)
 
 # Java bindings
 if(WITH_JAVA)
-    find_package(Java REQUIRED)
-    find_package(JNI REQUIRED)
     include(UseJava)
 
     set(CMAKE_JNI_TARGET true)
@@ -22,6 +20,7 @@ if(WITH_JAVA)
         ${JAVA_SOURCES}
         INCLUDE_JARS wpiutil_jar
         OUTPUT_NAME wpinet
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         GENERATE_NATIVE_HEADERS wpinet_jni_headers
     )
     set_property(TARGET wpinet_jar PROPERTY FOLDER "java")
@@ -43,7 +42,6 @@ if(WITH_JAVA)
 endif()
 
 if(WITH_JAVA_SOURCE)
-    find_package(Java REQUIRED)
     include(UseJava)
     file(GLOB WPINET_SOURCES src/main/java/edu/wpi/first/net/*.java)
     add_jar(
@@ -51,6 +49,7 @@ if(WITH_JAVA_SOURCE)
         RESOURCES
         NAMESPACE "edu/wpi/first/net" ${WPINET_SOURCES}
         OUTPUT_NAME wpinet-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
 
     get_property(WPINET_SRC_JAR_FILE TARGET wpinet_src_jar PROPERTY JAR_FILE)
@@ -145,7 +144,6 @@ if(NOT USE_SYSTEM_LIBUV)
         wpinet
         PUBLIC
             $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/libuv/include>
-            $<INSTALL_INTERFACE:${include_dest}/wpinet>
     )
     if(NOT MSVC)
         target_sources(wpinet PRIVATE ${uv_unix_src})
@@ -185,7 +183,6 @@ target_include_directories(
     wpinet
     PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/tcpsockets/include>
-        $<INSTALL_INTERFACE:${include_dest}/wpinet>
 )
 
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpinet")
diff --git a/wpiunits/CMakeLists.txt b/wpiunits/CMakeLists.txt
index 4f71da1b15e..3cba94bfd63 100644
--- a/wpiunits/CMakeLists.txt
+++ b/wpiunits/CMakeLists.txt
@@ -2,12 +2,16 @@ project(wpiunits)
 
 # Java bindings
 if(WITH_JAVA)
-    find_package(Java REQUIRED)
     include(UseJava)
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
 
-    add_jar(wpiunits_jar ${JAVA_SOURCES} OUTPUT_NAME wpiunits)
+    add_jar(
+        wpiunits_jar
+        ${JAVA_SOURCES}
+        OUTPUT_NAME wpiunits
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
+    )
     set_property(TARGET wpiunits_jar PROPERTY FOLDER "java")
 
     install_jar(wpiunits_jar DESTINATION ${java_lib_dest})
diff --git a/wpiutil/CMakeLists.txt b/wpiutil/CMakeLists.txt
index eb4a0a8f7c0..e20754db214 100644
--- a/wpiutil/CMakeLists.txt
+++ b/wpiutil/CMakeLists.txt
@@ -14,8 +14,6 @@ file(
 
 # Java bindings
 if(WITH_JAVA)
-    find_package(Java REQUIRED)
-    find_package(JNI REQUIRED)
     include(UseJava)
 
     if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/jackson-core-2.15.2.jar")
@@ -47,10 +45,9 @@ if(WITH_JAVA)
         set(JAR_ROOT "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf")
 
         message(STATUS "Downloading Quickbuf jarfile...")
-        file(
-            DOWNLOAD
-                "${BASE_URL}us/hebi/quickbuf/quickbuf-runtime/1.3.3/quickbuf-runtime-1.3.3.jar"
-                "${JAR_ROOT}/quickbuf-runtime-1.3.3.jar"
+        download_and_check(
+            "${BASE_URL}us/hebi/quickbuf/quickbuf-runtime/1.3.3/quickbuf-runtime-1.3.3.jar"
+            "${JAR_ROOT}/quickbuf-runtime-1.3.3.jar"
         )
 
         message(STATUS "Downloaded.")
@@ -58,8 +55,6 @@ if(WITH_JAVA)
 
     file(GLOB QUICKBUF_JAR ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/*.jar)
 
-    set(CMAKE_JAVA_INCLUDE_PATH wpiutil.jar ${JACKSON_JARS} ${QUICKBUF_JAR})
-
     set(CMAKE_JNI_TARGET true)
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
@@ -69,6 +64,7 @@ if(WITH_JAVA)
         ${JAVA_SOURCES}
         INCLUDE_JARS ${JACKSON_JARS} ${QUICKBUF_JAR}
         OUTPUT_NAME wpiutil
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         GENERATE_NATIVE_HEADERS wpiutil_jni_headers
     )
     set_property(TARGET wpiutil_jar PROPERTY FOLDER "java")
@@ -90,7 +86,6 @@ if(WITH_JAVA)
 endif()
 
 if(WITH_JAVA_SOURCE)
-    find_package(Java REQUIRED)
     include(UseJava)
     file(GLOB WPIUTIL_SOURCES src/main/java/edu/wpi/first/util/*.java)
     file(GLOB WPIUTIL_CLEANUP_SOURCES src/main/java/edu/wpi/first/util/cleanup/*.java)
@@ -108,6 +103,7 @@ if(WITH_JAVA_SOURCE)
         NAMESPACE "edu/wpi/first/util/function" ${WPIUTIL_FUNCTION_SOURCES}
         NAMESPACE "edu/wpi/first/util/sendable" ${WPIUTIL_SENDABLE_SOURCES}
         OUTPUT_NAME wpiutil-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
 
     get_property(WPIUTIL_SRC_JAR_FILE TARGET wpiutil_src_jar PROPERTY JAR_FILE)
@@ -176,7 +172,6 @@ if(NOT USE_SYSTEM_FMTLIB)
         wpiutil
         PUBLIC
             $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/fmtlib/include>
-            $<INSTALL_INTERFACE:${include_dest}/wpiutil>
     )
 else()
     find_package(fmt CONFIG REQUIRED)
@@ -208,49 +203,36 @@ install(
 target_include_directories(
     wpiutil
     PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/expected/include>
-        $<INSTALL_INTERFACE:${include_dest}/wpiutil>
 )
 install(DIRECTORY src/main/native/thirdparty/memory/include/ DESTINATION "${include_dest}/wpiutil")
 target_include_directories(
     wpiutil
-    PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/memory/include>
-        $<INSTALL_INTERFACE:${include_dest}/wpiutil>
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/memory/include>
 )
 
 install(DIRECTORY src/main/native/thirdparty/json/include/ DESTINATION "${include_dest}/wpiutil")
 target_include_directories(
     wpiutil
-    PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/json/include>
-        $<INSTALL_INTERFACE:${include_dest}/wpiutil>
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/json/include>
 )
 
 install(DIRECTORY src/main/native/thirdparty/llvm/include/ DESTINATION "${include_dest}/wpiutil")
 target_include_directories(
     wpiutil
-    PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/llvm/include>
-        $<INSTALL_INTERFACE:${include_dest}/wpiutil>
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/llvm/include>
 )
 
 install(DIRECTORY src/main/native/thirdparty/mpack/include/ DESTINATION "${include_dest}/wpiutil")
 target_include_directories(
     wpiutil
-    PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/mpack/include>
-        $<INSTALL_INTERFACE:${include_dest}/wpiutil>
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/mpack/include>
 )
 
 install(DIRECTORY src/main/native/thirdparty/sigslot/include/ DESTINATION "${include_dest}/wpiutil")
 target_include_directories(
     wpiutil
-    PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/sigslot/include>
-        $<INSTALL_INTERFACE:${include_dest}/wpiutil>
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/sigslot/include>
 )
 
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpiutil")
diff --git a/xrpVendordep/CMakeLists.txt b/xrpVendordep/CMakeLists.txt
index 5099beb7603..e57c703417a 100644
--- a/xrpVendordep/CMakeLists.txt
+++ b/xrpVendordep/CMakeLists.txt
@@ -5,7 +5,6 @@ include(CompileWarnings)
 include(AddTest)
 
 if(WITH_JAVA)
-    find_package(Java REQUIRED)
     include(UseJava)
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
@@ -22,6 +21,7 @@ if(WITH_JAVA)
             wpiutil_jar
             wpilibj_jar
         OUTPUT_NAME xrpVendordep
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
     set_property(TARGET xrpVendordep_jar PROPERTY FOLDER "java")
 
@@ -34,7 +34,6 @@ if(WITH_JAVA)
 endif()
 
 if(WITH_JAVA_SOURCE)
-    find_package(Java REQUIRED)
     include(UseJava)
     file(GLOB XRPVENDORDEP_SOURCES src/main/java/edu/wpi/first/wpilibj/xrp/*.java)
     add_jar(
@@ -42,6 +41,7 @@ if(WITH_JAVA_SOURCE)
         RESOURCES
         NAMESPACE "edu/wpi/first/wpilibj/xrp" ${XRPVENDORDEP_SOURCES}
         OUTPUT_NAME xrpVendordep-sources
+        OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
     )
 
     get_property(xrpVendordep_src_JAR_FILE TARGET xrpVendordep_src_jar PROPERTY JAR_FILE)
@@ -66,7 +66,7 @@ target_include_directories(
         $<INSTALL_INTERFACE:${include_dest}/xrpVendordep>
 )
 
-install(TARGETS xrpVendordep EXPORT xrpvendordep DESTINATION "${main_lib_dest}")
+install(TARGETS xrpVendordep EXPORT xrpvendordep)
 export(TARGETS xrpVendordep FILE xrpvendordep.cmake NAMESPACE xrpvendordep::)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/xrpVendordep")