diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index 15ed8f7764..2cae2595ac 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -41,10 +41,6 @@ target_link_libraries(px4
 	PRIVATE
 		${module_libraries}
 		m
-
-		# horrible circular dependencies that need to be teased apart
-		px4_layer px4_platform
-		work_queue
 		parameters
 )
 
diff --git a/platforms/posix/cmake/px4_impl_os.cmake b/platforms/posix/cmake/px4_impl_os.cmake
index 3d9bada3c1..8137c75d19 100644
--- a/platforms/posix/cmake/px4_impl_os.cmake
+++ b/platforms/posix/cmake/px4_impl_os.cmake
@@ -301,6 +301,7 @@ function(px4_os_prebuild_targets)
 			ARGN ${ARGN})
 
 	add_library(prebuild_targets INTERFACE)
+	target_link_libraries(prebuild_targets INTERFACE px4_layer drivers_board)
 	add_dependencies(prebuild_targets DEPENDS uorb_headers)
 
 endfunction()