diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9ee122abad..1ea3febac2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,6 +30,28 @@ else()
   set(not_crosscompiling ON)
 endif()
 
+# By default we do shared libraries (we really prefer shared libraries because of the
+# plugins for IDLC, security, PSMX, ...)
+#
+# For static builds, we recommend doing a regular shared library build first, then
+# building the static Cyclone library with CMAKE_CROSSCOMPILING set.  This avoids the
+# dynamic linking in IDLC of something involving the static library, and that in turn
+# avoids a position-dependent/position-independent mess.
+#
+# Note that on Linux that mess can be partially resolved by defining
+#
+#  CMAKE_POSITION_INDEPENDENT_CODE=1
+#
+# resulting in a PIC static library, but that is in turn incompatible with the
+# system-provided static libraries for OpenSSL.  So much easier to avoid it for the rare
+# case where it is needed.
+#
+# It appears that on macOS, all code is position independent and it'll work regardless.
+option(BUILD_SHARED_LIBS "Build using shared libraries" ON)
+if(NOT BUILD_SHARED_LIBS AND NOT CMAKE_CROSSCOMPILING)
+  message(WARNING "It is probably best to build a static library as-if cross compiling (e.g., use -DCMAKE_CROSSCOMPILING=1 -DCMAKE_SYSTEM_NAME=${CMAKE_SYSTEM_NAME})")
+endif()
+
 # By default don't treat warnings as errors, else anyone building it with a different compiler that
 # just happens to generate a warning, as well as anyone adding or modifying something and making a
 # small mistake would run into errors.  CI builds can be configured differently.
@@ -327,11 +349,6 @@ set(generated_options_md     "${CMAKE_CURRENT_SOURCE_DIR}/docs/manual/options.md
 set(generated_options_rst    "${CMAKE_CURRENT_SOURCE_DIR}/docs/manual/config/config_file_reference.rst")
 set(generated_defconfig_src  "${CMAKE_CURRENT_SOURCE_DIR}/src/core/ddsi/defconfig.c")
 
-if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
-else()
-  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-endif()
-
 add_subdirectory(compat)
 add_subdirectory(src)
 if(BUILD_EXAMPLES)
diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt
index 242381a4ab..0db30e1fe8 100644
--- a/src/core/CMakeLists.txt
+++ b/src/core/CMakeLists.txt
@@ -11,11 +11,7 @@
 #
 include (GenerateExportHeader)
 
-if (BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
-  add_library(ddsc SHARED "")
-else()
-  add_library(ddsc)
-endif()
+add_library(ddsc)
 
 if(BUILD_TESTING)
   set_property(TARGET ddsc PROPERTY WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
@@ -66,27 +62,25 @@ include(cdr/CMakeLists.txt)
 include(ddsi/CMakeLists.txt)
 include(ddsc/CMakeLists.txt)
 
-## HACK
-get_property(plugin_list GLOBAL PROPERTY cdds_plugin_list)
-if(plugin_list)
-  list(JOIN plugin_list "," plugin_commasep)
-  target_compile_options(ddsc PRIVATE "-DPLUGINS=${plugin_commasep}")
-  target_link_libraries(ddsc PRIVATE ${plugin_list})
-  foreach(plugin ${plugin_list})
-    set(propname ${plugin}_symbols)
-    get_property(plugin_symbols GLOBAL PROPERTY ${propname})
-    list(JOIN plugin_symbols "," plugin_symbols_commasep)
-    target_compile_options(ddsc PRIVATE "-DPLUGIN_SYMBOLS_${plugin}=${plugin_symbols_commasep}")
-  endforeach()
-endif()
-
-if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
-else()
+# The not-so-elegant inclusion of all configured plug-ins for static builds.  At least it
+# keeps most of the dirty things in one place.
+if(NOT BUILD_SHARED_LIBS)
+  get_property(plugin_list GLOBAL PROPERTY cdds_plugin_list)
+  if(plugin_list)
+    list(JOIN plugin_list "," plugin_commasep)
+    target_compile_options(ddsc PRIVATE "-DPLUGINS=${plugin_commasep}")
+    target_link_libraries(ddsc PRIVATE ${plugin_list})
+    foreach(plugin ${plugin_list})
+      set(propname ${plugin}_symbols)
+      get_property(plugin_symbols GLOBAL PROPERTY ${propname})
+      list(JOIN plugin_symbols "," plugin_symbols_commasep)
+      target_compile_options(ddsc PRIVATE "-DPLUGIN_SYMBOLS_${plugin}=${plugin_symbols_commasep}")
+    endforeach()
+  endif()
   if(ENABLE_SSL)
     target_link_libraries(ddsc PUBLIC security_openssl)
   endif()
 endif()
-## HACK
 
 add_coverage(ddsc)
 target_link_libraries(ddsc PRIVATE "$<BUILD_INTERFACE:ddsrt>")
diff --git a/src/core/cdr/CMakeLists.txt b/src/core/cdr/CMakeLists.txt
index 31193cafb5..284a01b4c6 100644
--- a/src/core/cdr/CMakeLists.txt
+++ b/src/core/cdr/CMakeLists.txt
@@ -34,12 +34,7 @@ else()
   include(Generate)
   include(GenerateExportHeader)
 
-  if (BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
-    add_library(cdr SHARED "")
-  else()
-    add_library(cdr)
-  endif()
-
+  add_library(cdr)
   add_library(${PROJECT_NAME}::cdr ALIAS cdr)
 
   target_sources(cdr PRIVATE ${srcs_cdr} ${hdrs_private_cdr} ${CMAKE_CURRENT_LIST_DIR}/../../ddsrt/src/bswap.c)
diff --git a/src/core/ddsc/tests/CMakeLists.txt b/src/core/ddsc/tests/CMakeLists.txt
index 91cd9aea7c..25db408272 100644
--- a/src/core/ddsc/tests/CMakeLists.txt
+++ b/src/core/ddsc/tests/CMakeLists.txt
@@ -236,7 +236,7 @@ target_link_libraries(oneliner PRIVATE RoundTrip Space ddsc)
 #
 # Fortunately, The Iceoryx doesn't suffer from this, so all it needs is some trickery to
 # still get the Iceoryx tests to run.
-if (BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
+if (BUILD_SHARED_LIBS)
   idlc_generate(TARGET psmx_cdds_data FILES psmx_cdds_data.idl)
   set(psmx_cdds_sources
     "psmx_cdds_impl.c"
@@ -308,7 +308,7 @@ kill -0 `cat ctest_fixture_iox_roudi.pid`")
     add_test(NAME ${fullname}_iox COMMAND cunit_ddsc -s ddsc_psmx -t ${shortname})
     set_tests_properties(${fullname}_iox PROPERTIES FIXTURES_REQUIRED iox)
     set_tests_properties(${fullname}_iox PROPERTIES RESOURCE_LOCK iox_lock)
-    if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
+    if(BUILD_SHARED_LIBS)
       set_tests_properties(${fullname}_iox PROPERTIES ENVIRONMENT "CDDS_PSMX_NAME=iox;LD_LIBRARY_PATH=$<TARGET_FILE_DIR:psmx_iox>:$ENV{LD_LIBRARY_PATH}")
     else()
       set_tests_properties(${fullname}_iox PROPERTIES ENVIRONMENT "CDDS_PSMX_NAME=iox")
diff --git a/src/ddsrt/CMakeLists.txt b/src/ddsrt/CMakeLists.txt
index d4153b9bb4..b3d38e67e0 100644
--- a/src/ddsrt/CMakeLists.txt
+++ b/src/ddsrt/CMakeLists.txt
@@ -319,8 +319,7 @@ if(BUILD_TESTING)
   set(DDS_ALLOW_NESTED_DOMAIN 1)
 endif()
 
-if (BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
-else()
+if (NOT BUILD_SHARED_LIBS)
   set(DDS_IS_STATIC_LIBRARY 1)
 endif()
 
diff --git a/src/psmx_iox/CMakeLists.txt b/src/psmx_iox/CMakeLists.txt
index d2c7ecd953..7c79d1c9ef 100644
--- a/src/psmx_iox/CMakeLists.txt
+++ b/src/psmx_iox/CMakeLists.txt
@@ -14,7 +14,7 @@ include(GenerateExportHeader)
 
 message(STATUS "Building Iceoryx PSMX plugin")
 
-if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
+if(BUILD_SHARED_LIBS)
   add_library(psmx_iox SHARED "src/psmx_iox_impl.cpp" "include/psmx_iox_impl.hpp")
 else()
   add_library(psmx_iox OBJECT "src/psmx_iox_impl.cpp" "include/psmx_iox_impl.hpp")
@@ -35,7 +35,7 @@ target_include_directories(psmx_iox PRIVATE
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>")
 
 target_link_libraries(psmx_iox PRIVATE iceoryx_hoofs::iceoryx_hoofs iceoryx_posh::iceoryx_posh)
-if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
+if(BUILD_SHARED_LIBS)
   target_link_libraries(psmx_iox PRIVATE ddsc)
 endif()
 
diff --git a/src/security/builtin_plugins/access_control/CMakeLists.txt b/src/security/builtin_plugins/access_control/CMakeLists.txt
index 5da31dfe7d..cb56447e51 100644
--- a/src/security/builtin_plugins/access_control/CMakeLists.txt
+++ b/src/security/builtin_plugins/access_control/CMakeLists.txt
@@ -23,7 +23,7 @@ set(private_headers
   src/access_control.h
   ../include/ac_tokens.h)
 
-if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
+if(BUILD_SHARED_LIBS)
   add_library(dds_security_ac SHARED ${sources} ${private_headers})
 else()
   add_library(dds_security_ac OBJECT ${sources} ${private_headers})
@@ -38,7 +38,7 @@ generate_export_header(
 )
 
 target_link_libraries(dds_security_ac PRIVATE security_openssl)
-if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
+if(BUILD_SHARED_LIBS)
   target_link_libraries(dds_security_ac PUBLIC ddsc)
 endif()
 target_link_libraries(dds_security_ac PUBLIC OpenSSL::SSL)
diff --git a/src/security/builtin_plugins/authentication/CMakeLists.txt b/src/security/builtin_plugins/authentication/CMakeLists.txt
index 2349af850b..a652c1ace6 100644
--- a/src/security/builtin_plugins/authentication/CMakeLists.txt
+++ b/src/security/builtin_plugins/authentication/CMakeLists.txt
@@ -21,7 +21,7 @@ set(private_headers
   src/authentication.h
   src/auth_utils.h)
 
-if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
+if(BUILD_SHARED_LIBS)
   add_library(dds_security_auth SHARED ${sources} ${private_headers})
 else()
   add_library(dds_security_auth OBJECT ${sources} ${private_headers})
@@ -36,7 +36,7 @@ generate_export_header(
 )
 
 target_link_libraries(dds_security_auth PRIVATE security_openssl)
-if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
+if(BUILD_SHARED_LIBS)
   target_link_libraries(dds_security_auth PUBLIC ddsc)
 endif()
 target_link_libraries(dds_security_auth PUBLIC OpenSSL::SSL)
diff --git a/src/security/builtin_plugins/cryptographic/CMakeLists.txt b/src/security/builtin_plugins/cryptographic/CMakeLists.txt
index e0b187d6c4..ab2067d743 100644
--- a/src/security/builtin_plugins/cryptographic/CMakeLists.txt
+++ b/src/security/builtin_plugins/cryptographic/CMakeLists.txt
@@ -29,7 +29,7 @@ set(private_headers
   src/cryptography.h
   ../include/crypto_tokens.h)
 
-if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
+if(BUILD_SHARED_LIBS)
   add_library(dds_security_crypto SHARED ${sources} ${private_headers})
 else()
   add_library(dds_security_crypto OBJECT ${sources} ${private_headers})
@@ -44,7 +44,7 @@ generate_export_header(
 )
 
 target_link_libraries(dds_security_crypto PRIVATE security_openssl)
-if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
+if(BUILD_SHARED_LIBS)
   target_link_libraries(dds_security_crypto PUBLIC ddsc)
 endif()
 target_link_libraries(dds_security_crypto PUBLIC OpenSSL::SSL)
diff --git a/src/security/core/tests/CMakeLists.txt b/src/security/core/tests/CMakeLists.txt
index c587ce49f6..957772e391 100644
--- a/src/security/core/tests/CMakeLists.txt
+++ b/src/security/core/tests/CMakeLists.txt
@@ -18,10 +18,8 @@ function(add_wrapper libname linklibs)
   set(srcs_wrapper
     "${CMAKE_CURRENT_LIST_DIR}/common/${libname}_wrapper.c"
     "${CMAKE_CURRENT_LIST_DIR}/common/plugin_wrapper_msg_q.c")
-  if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
-    add_library("dds_security_${libname}_wrapper" SHARED "")
-  else()
-    add_library("dds_security_${libname}_wrapper" STATIC "")
+  add_library("dds_security_${libname}_wrapper")
+  if(NOT BUILD_SHARED_LIBS)
     set_property(GLOBAL APPEND PROPERTY cdds_plugin_list dds_security_${libname}_wrapper)
     set_property(GLOBAL PROPERTY dds_security_${libname}_wrapper_symbols
       init_test_${libname}_wrapped finalize_test_${libname}_wrapped
@@ -79,8 +77,7 @@ function(add_wrapper libname linklibs)
 
   target_link_libraries("dds_security_${libname}_wrapper" PRIVATE CycloneDDS::ucunit)
   target_include_directories("dds_security_${libname}_wrapper" PRIVATE "${CUNIT_DIR}/include")
-
-  if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
+  if(BUILD_SHARED_LIBS)
     target_link_libraries("dds_security_${libname}_wrapper" PUBLIC ddsc ${linklibs})
   endif()
 
@@ -164,8 +161,7 @@ if(ENABLE_SSL AND OPENSSL_FOUND)
 endif()
 target_include_directories(cunit_security_core PRIVATE "${CMAKE_CURRENT_BINARY_DIR}")
 
-if(BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
-else()
+if(NOT BUILD_SHARED_LIBS)
   install(TARGETS dds_security_authentication_wrapper EXPORT "${PROJECT_NAME}")
   install(TARGETS dds_security_cryptography_wrapper EXPORT "${PROJECT_NAME}")
   install(TARGETS dds_security_access_control_wrapper EXPORT "${PROJECT_NAME}")
diff --git a/src/ucunit/CMakeLists.txt b/src/ucunit/CMakeLists.txt
index 4403001d29..49566101ac 100644
--- a/src/ucunit/CMakeLists.txt
+++ b/src/ucunit/CMakeLists.txt
@@ -11,11 +11,7 @@
 #
 include (GenerateExportHeader)
 
-if (BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
-  add_library(ucunit SHARED "")
-else()
-  add_library(ucunit)
-endif()
+add_library(ucunit)
 add_library(${PROJECT_NAME}::ucunit ALIAS ucunit)
 
 set(srcs_ucunit
@@ -44,8 +40,7 @@ target_link_libraries(test_ucunit CycloneDDS::ucunit)
 
 add_test(NAME ucunit COMMAND $<TARGET_FILE_DIR:test_ucunit>/test_ucunit)
 
-if (BUILD_SHARED_LIBS OR NOT DEFINED BUILD_SHARED_LIBS)
-else()
+if (NOT BUILD_SHARED_LIBS)
   install(
     TARGETS ucunit
     EXPORT "${PROJECT_NAME}"