diff --git a/CMakeLists.txt b/CMakeLists.txt
index 186dabaf4..a299f9f19 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -142,22 +142,43 @@ if(NOT Boost_SERIALIZATION_LIBRARY OR NOT Boost_SYSTEM_LIBRARY OR NOT Boost_FILE
   message(FATAL_ERROR "Missing required Boost components >= v1.43, please install/upgrade Boost or configure your search paths.")
 endif()
 
-option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
 # Allow for not using the timer libraries on boost < 1.48 (GTSAM timing code falls back to old timer library)
+option(GTSAM_DISABLE_NEW_TIMERS "Disables using Boost.chrono for timing" OFF)
+
+# JLBC: This was once updated to target-based names (Boost::xxx), but it caused
+# problems with Boost versions newer than FindBoost.cmake was prepared to handle,
+# so we downgraded this to classic filenames-based variables, and manually adding
+# the target_include_directories(xxx ${Boost_INCLUDE_DIR})
 set(GTSAM_BOOST_LIBRARIES
-  Boost::serialization
-  Boost::system
-  Boost::filesystem
-  Boost::thread
-  Boost::date_time
-  Boost::regex
+  optimized
+    ${Boost_SERIALIZATION_LIBRARY_RELEASE}
+    ${Boost_SYSTEM_LIBRARY_RELEASE}
+    ${Boost_FILESYSTEM_LIBRARY_RELEASE}
+    ${Boost_THREAD_LIBRARY_RELEASE}
+    ${Boost_DATE_TIME_LIBRARY_RELEASE}
+    ${Boost_REGEX_LIBRARY_RELEASE}
+  debug
+    ${Boost_SERIALIZATION_LIBRARY_DEBUG}
+    ${Boost_SYSTEM_LIBRARY_DEBUG}
+    ${Boost_FILESYSTEM_LIBRARY_DEBUG}
+    ${Boost_THREAD_LIBRARY_DEBUG}
+    ${Boost_DATE_TIME_LIBRARY_DEBUG}
+    ${Boost_REGEX_LIBRARY_DEBUG}
 )
+message(STATUS "GTSAM_BOOST_LIBRARIES: ${GTSAM_BOOST_LIBRARIES}")
 if (GTSAM_DISABLE_NEW_TIMERS)
     message("WARNING:  GTSAM timing instrumentation manually disabled")
     list(APPEND GTSAM_COMPILE_DEFINITIONS_PUBLIC DGTSAM_DISABLE_NEW_TIMERS)
 else()
     if(Boost_TIMER_LIBRARY)
-      list(APPEND GTSAM_BOOST_LIBRARIES Boost::timer Boost::chrono)
+      list(APPEND GTSAM_BOOST_LIBRARIES
+        optimized
+          ${Boost_TIMER_LIBRARY_RELEASE}
+          ${Boost_CHRONO_LIBRARY_RELEASE}
+        debug
+          ${Boost_TIMER_LIBRARY_DEBUG}
+          ${Boost_CHRONO_LIBRARY_DEBUG}
+        )
     else()
       list(APPEND GTSAM_BOOST_LIBRARIES rt) # When using the header-only boost timer library, need -lrt
       message("WARNING:  GTSAM timing instrumentation will use the older, less accurate, Boost timer library because boost older than 1.48 was found.")
diff --git a/CppUnitLite/CMakeLists.txt b/CppUnitLite/CMakeLists.txt
index f52841274..72651aca9 100644
--- a/CppUnitLite/CMakeLists.txt
+++ b/CppUnitLite/CMakeLists.txt
@@ -6,7 +6,7 @@ file(GLOB cppunitlite_src "*.cpp")
 add_library(CppUnitLite STATIC ${cppunitlite_src} ${cppunitlite_headers})
 list(APPEND GTSAM_EXPORTED_TARGETS CppUnitLite)
 set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
-target_link_libraries(CppUnitLite PUBLIC Boost::boost) # boost/lexical_cast.h
+target_include_directories(CppUnitLite PUBLIC ${Boost_INCLUDE_DIR}) # boost/lexical_cast.h
 
 gtsam_assign_source_folders("${cppunitlite_headers};${cppunitlite_src}") # MSVC project structure
 
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index b4adc9978..60915eead 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -101,7 +101,10 @@ message(STATUS "Building GTSAM - shared: ${BUILD_SHARED_LIBS}")
 
 # BUILD_SHARED_LIBS automatically defines static/shared libs:
 add_library(gtsam ${gtsam_srcs})
+# Boost:
 target_link_libraries(gtsam PUBLIC ${GTSAM_BOOST_LIBRARIES})
+target_include_directories(gtsam PUBLIC ${Boost_INCLUDE_DIR})
+# Other deps:
 target_link_libraries(gtsam PUBLIC ${GTSAM_ADDITIONAL_LIBRARIES})
 target_compile_definitions(gtsam PRIVATE ${GTSAM_COMPILE_DEFINITIONS_PRIVATE})
 target_compile_definitions(gtsam PUBLIC ${GTSAM_COMPILE_DEFINITIONS_PUBLIC})
diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt
index df8dc209f..3027db19c 100644
--- a/wrap/CMakeLists.txt
+++ b/wrap/CMakeLists.txt
@@ -1,9 +1,14 @@
 # Build/install Wrap
 
 set(WRAP_BOOST_LIBRARIES
-  Boost::system
-  Boost::filesystem
-  Boost::thread
+  optimized
+    ${Boost_FILESYSTEM_LIBRARY_RELEASE}
+    ${Boost_SYSTEM_LIBRARY_RELEASE}
+    ${Boost_THREAD_LIBRARY_RELEASE}
+  optimized
+    ${Boost_FILESYSTEM_LIBRARY_DEBUG}
+    ${Boost_SYSTEM_LIBRARY_DEBUG}
+    ${Boost_THREAD_LIBRARY_DEBUG}
 )
 
 # Allow for disabling serialization to handle errors related to Clang's linker
@@ -22,6 +27,8 @@ if (NOT GTSAM_WRAP_SERIALIZATION)
 endif()
 
 target_link_libraries(wrap_lib ${WRAP_BOOST_LIBRARIES})
+target_include_directories(wrap_lib PUBLIC ${Boost_INCLUDE_DIR})
+
 gtsam_assign_source_folders(${wrap_srcs} ${wrap_headers})
 add_executable(wrap wrap.cpp)
 target_link_libraries(wrap PRIVATE wrap_lib)