diff --git a/CMakeLists.txt b/CMakeLists.txt
index f3f0dde6..a5c15ef4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,7 +10,8 @@ set(DDS_PROTOCOL_VERSION "2")
 #
 # Check if cmake has the required version
 #
-cmake_minimum_required( VERSION 3.11.0 FATAL_ERROR )
+cmake_minimum_required( VERSION 3.16.0 FATAL_ERROR )
+cmake_policy(VERSION 3.16)
 
 string(TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 
@@ -409,68 +410,31 @@ set( WN_PKG_DIR "${CMAKE_BINARY_DIR}/dds-wrk-bin" )
 set( WN_PKG_NAME_ARCH "${WN_PKG_NAME}.tar.gz" )
 set( WN_PKG_REMOTE_DIR "/u/ddswww/web-docs/releases/add/${DDS_VERSION}" )
 
-set(DDS_BOOST_LIB_DIR ${Boost_LIBRARY_DIR})
-if("${DDS_BOOST_LIB_DIR}" STREQUAL "")
-	set(DDS_BOOST_LIB_DIR ${Boost_LIBRARY_DIR_RELEASE})
-endif()
-
-if(ENV{DDS_LD_LIBRARY_PATH})
-  # because of SIP on macOS we can't use (DY)LD_LIBRARY_PATH.
-  # But we need to search also in custom location for libstdc++ in case if user installs a custom version of gcc/clang.
-  # WORKAROUND: We therefore introduce DDS_LD_LIBRARY_PATH, which user can use to specify custom library path(s)
-  file(TO_CMAKE_PATH "$ENV{DDS_LD_LIBRARY_PATH}" ENV_LD_LIBRARY_PATH)
-else()
-  file(TO_CMAKE_PATH "$ENV{LD_LIBRARY_PATH}" ENV_LD_LIBRARY_PATH)
+# top-level executables to package in wn pkg
+list(APPEND WN_PKG_EXECUTABLES
+  $<TARGET_FILE:dds-agent>
+  $<TARGET_FILE:dds-user-defaults> )
+if(BUILD_TESTS)
+  list(APPEND $<TARGET_FILE:dds_topology_lib-tests>)
 endif()
+separate_arguments(CLI_WN_PKG_EXECUTABLES
+  UNIX_COMMAND "${WN_PKG_EXECUTABLES}" )
 
-set(PREREQ_DIRS "$<TARGET_FILE_DIR:dds-user-defaults>::$<TARGET_FILE_DIR:dds_protocol_lib>::$<TARGET_FILE_DIR:dds_intercom_lib>::$<TARGET_FILE_DIR:dds_topology_lib>::$<TARGET_FILE_DIR:dds_ncf>::${DDS_BOOST_LIB_DIR}")
-foreach(p IN LISTS ENV_LD_LIBRARY_PATH)
-  set(PREREQ_DIRS "${PREREQ_DIRS}::${p}")
-endforeach()
-
-set(DDS_AGENT_BIN_PATH $<TARGET_FILE:dds-agent>)
-set(DDS_PREREQ_SOURCE_BIN_PATH $<TARGET_FILE:dds-commander>)
-
-set(PREREQ_DESTINATION "${CMAKE_INSTALL_FULL_LIBDIR}")
-
-# WORKAROUND: don't generate helper script when building an xcode project
-# The reason: "Evaluation file to be written multiple times for different configurations or languages with different content"
-if (NOT CMAKE_GENERATOR STREQUAL "Xcode")
-	#
-	# WORKAROUND: the issue is configure_file currently does not appear to honor generator expressions,
-	# but it is still needed to configure @...@ expressions.
-	# We therefore use two-step procedure to configure a file.
-	#
-	# 1. Deal with @...@ configurable items:
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/modules/DDS_CollectPrerequisitesGen.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/cmake/modules/DDS_CollectPrerequisitesGen.cmake.configured @ONLY)
-	# 2. Deal with items configured with generator expressions (variables like "$<TARGET_FILE_DIR:" evaluted on this stage):
-	FILE(GENERATE OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/cmake/modules/DDS_CollectPrerequisitesGen.cmake
-			  INPUT ${CMAKE_CURRENT_BINARY_DIR}/cmake/modules/DDS_CollectPrerequisitesGen.cmake.configured CONDITION 1)
-
-	if( BUILD_TESTS )
-		set(DDS_PREREQ_SOURCE_BIN_PATH $<TARGET_FILE:dds_topology_lib-tests>)
-		#
-		# WORKAROUND: the issue is configure_file currently does not appear to honor generator expressions,
-		# but it is still needed to configure @...@ expressions.
-		# We therefore use two-step procedure to configure a file.
-		#
-		# 1. Deal with @...@ configurable items:
-		configure_file(${CMAKE_SOURCE_DIR}/cmake/modules/DDS_CollectPrerequisitesGen.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/cmake/modules/DDS_CollectPrerequisitesGen_Tests.cmake.configured @ONLY)
-		# 2. Deal with items configured with generator expressions (variables like "$<TARGET_FILE_DIR:" evaluted on this stage):
-		FILE(GENERATE OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/cmake/modules/DDS_CollectPrerequisitesGen_Tests.cmake
-			  	INPUT ${CMAKE_CURRENT_BINARY_DIR}/cmake/modules/DDS_CollectPrerequisitesGen_Tests.cmake.configured CONDITION 1)
-	endif( BUILD_TESTS )
-endif()
+# Generate a list of what CMake considers to be system prefixes
+list(APPEND WN_PKG_EXCLUDED_SYSTEM_PREFIXES
+  ${CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES}
+  ${CMAKE_INSTALL_LIBDIR} )
+list(REMOVE_DUPLICATES WN_PKG_EXCLUDED_SYSTEM_PREFIXES)
+separate_arguments(CLI_WN_PKG_EXCLUDED_SYSTEM_PREFIXES
+  UNIX_COMMAND "${WN_PKG_EXCLUDED_SYSTEM_PREFIXES}" )
 
-#
-# TODO: replace DDS_CollectPrerequisites.cmake by DDS_CollectPrerequisitesGen.cmake and make the script more generic
-#
 add_custom_target( wn_bin
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${WN_PKG_DIR}
-	COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:dds-agent> "${WN_PKG_DIR}"
-	COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:dds-user-defaults> "${WN_PKG_DIR}"
-	COMMAND ${CMAKE_COMMAND} -DPREREQ_DESTINATION=${WN_PKG_DIR} -DDDS_AGENT_BIN_PATH=${DDS_AGENT_BIN_PATH}
-		-DPREREQ_DIRS=${PREREQ_DIRS} -DDDS_BOOST_LIB_DIR=${DDS_BOOST_LIB_DIR} -P "${CMAKE_SOURCE_DIR}/cmake/modules/DDS_CollectPrerequisites.cmake"
+  COMMAND ${CMAKE_COMMAND}
+    -DEXECUTABLES=${CLI_WN_PKG_EXECUTABLES}
+    -DDESTINATION=${WN_PKG_DIR}
+    -DEXCLUDED_SYSTEM_PREFIXES=${CLI_WN_PKG_EXCLUDED_SYSTEM_PREFIXES}
+    -P "${CMAKE_SOURCE_DIR}/cmake/DDSCollectWNPkgFiles.cmake"
 	COMMAND ${CMAKE_COMMAND} -E tar czf ${WN_PKG_NAME_ARCH} "${WN_PKG_DIR}"
 	COMMAND chmod go+xr ${WN_PKG_NAME_ARCH}
 	COMMENT "Generate WN binary package"
@@ -493,19 +457,6 @@ add_dependencies( wn_bin_upload
 
 INSTALL(FILES ${CMAKE_BINARY_DIR}/${WN_PKG_NAME_ARCH} DESTINATION "${PROJECT_INSTALL_BINDIR}/wn_bins" OPTIONAL)
 
-
-# WORKAROUND: don't generate helper script when building an xcode project
-# The reason: "Evaluation file to be written multiple times for different configurations or languages with different content"
-if (NOT CMAKE_GENERATOR STREQUAL "Xcode")
-	# WORKAROUND: create destination "lib" directory.
-	# INSTALL SCRIPT is called before any other lib is installed, therefore we need to create a dest. dir.
-	INSTALL(DIRECTORY DESTINATION "${PROJECT_INSTALL_LIBDIR}")
-	INSTALL(SCRIPT ${CMAKE_CURRENT_BINARY_DIR}/cmake/modules/DDS_CollectPrerequisitesGen.cmake)
-	if( BUILD_TESTS )
-		INSTALL(SCRIPT ${CMAKE_CURRENT_BINARY_DIR}/cmake/modules/DDS_CollectPrerequisitesGen_Tests.cmake)
-	endif( BUILD_TESTS )
-endif()
-
 #
 # Package
 #
diff --git a/cmake/DDSCollectWNPkgFiles.cmake b/cmake/DDSCollectWNPkgFiles.cmake
new file mode 100644
index 00000000..b360928c
--- /dev/null
+++ b/cmake/DDSCollectWNPkgFiles.cmake
@@ -0,0 +1,24 @@
+# Copyright 2017-2021 GSI, Inc. All rights reserved.
+#
+#
+
+###################################################
+## Collect WN PKG files
+###################################################
+
+# Collect non-system dependencies
+file(GET_RUNTIME_DEPENDENCIES
+  RESOLVED_DEPENDENCIES_VAR deps
+  EXECUTABLES ${EXECUTABLES} )
+
+# Generate regex that excludes system prefixes
+list(JOIN EXCLUDED_SYSTEM_PREFIXES "|" excluded_system_prefix_regex)
+set(excluded_system_prefix_regex "^(${excluded_system_prefix_regex})/")
+
+# Copy dependencies to wn pkg staging directory
+foreach(file IN LISTS EXECUTABLES deps)
+  if(NOT file MATCHES ${excluded_system_prefix_regex})
+    message("WN PKG prerequisite='${file}'")
+    file(COPY ${file} DESTINATION ${DESTINATION})
+  endif()
+endforeach()
diff --git a/cmake/modules/DDS_CollectPrerequisites.cmake b/cmake/modules/DDS_CollectPrerequisites.cmake
deleted file mode 100644
index 27c7a052..00000000
--- a/cmake/modules/DDS_CollectPrerequisites.cmake
+++ /dev/null
@@ -1,37 +0,0 @@
-# Copyright 2017 GSI, Inc. All rights reserved.
-#
-#
-include(GetPrerequisites)
-
-# WORKAROUND: if "macro" is used it doesn't outoup "message" messages.
-#macro(DDS_CollectPrerequisites)
-	
-	###################################################
-	## Collect prerequisites for WN PKG
-	###################################################
-	message( STATUS "Using BOOST Library dir: " ${DDS_BOOST_LIB_DIR})
-	string(REPLACE "::" ";" PREREQ_DIRS_LIST ${PREREQ_DIRS})
-	message( STATUS "prerequisite dirs: " "${PREREQ_DIRS_LIST}")
-	
-	# WORKAROUND: the list comes broken into the macro, we need to rebuild it
-	# if we don't do that, the  get_prerequisites doesn't use all avaliable directories.
-	# I didn't find anyother way, but rebuilt the list.
-	set(PREREQ_DIRS_LIST_REBUILT "")
-	foreach(dir ${PREREQ_DIRS_LIST})
-	     # message(STATU "DEBUG: " ${dir})
-		 LIST(APPEND PREREQ_DIRS_LIST_REBUILT ${dir})
-	 endforeach()
-
-	get_prerequisites(${DDS_AGENT_BIN_PATH} DEPENDENCIES 1 1 "" "${PREREQ_DIRS_LIST_REBUILT}")
-
-	
-	foreach(DEPENDENCY_FILE ${DEPENDENCIES})
-		# get file name to be able to resolve files with @rpath on macOS
-		get_filename_component(PREREQNAME "${DEPENDENCY_FILE}"  NAME)
-	  	gp_resolve_item(${DDS_AGENT_BIN_PATH} "${PREREQNAME}" "" "${PREREQ_DIRS_LIST_REBUILT}" resolved_file)
-	 	message("WN PKG prerequisite='${resolved_file}'")
-		file(COPY ${resolved_file} DESTINATION ${PREREQ_DESTINATION})
-	endforeach()
-	###################################################
-
-#endmacro(DDS_CollectPrerequisites)
\ No newline at end of file
diff --git a/cmake/modules/DDS_CollectPrerequisitesGen.cmake.in b/cmake/modules/DDS_CollectPrerequisitesGen.cmake.in
deleted file mode 100644
index 67595852..00000000
--- a/cmake/modules/DDS_CollectPrerequisitesGen.cmake.in
+++ /dev/null
@@ -1,51 +0,0 @@
-# Copyright 2017 GSI, Inc. All rights reserved.
-#
-#
-include(GetPrerequisites)
-
-# WORKAROUND: if "macro" is used it doesn't outoup "message" messages.
-#macro(DDS_CollectPrerequisites)
-	
-	###################################################
-	## Collect prerequisites for WN PKG
-	###################################################
-	message( STATUS "Using BOOST Library dir: " @DDS_BOOST_LIB_DIR@)
-	string(REPLACE "::" ";" PREREQ_DIRS_LIST @PREREQ_DIRS@)
-	message( STATUS "prerequisite dirs: " "${PREREQ_DIRS_LIST}")
-	
-	# WORKAROUND: the list comes broken into the macro, we need to rebuild it
-	# if we don't do that, the  get_prerequisites doesn't use all avaliable directories.
-	# I didn't find anyother way, but rebuilt the list.
-	set(PREREQ_DIRS_LIST_REBUILT "")
-	foreach(dir ${PREREQ_DIRS_LIST})
-	     # message(STATU "DEBUG: " ${dir})
-		 LIST(APPEND PREREQ_DIRS_LIST_REBUILT ${dir})
-	 endforeach()
-
-	get_prerequisites(@DDS_PREREQ_SOURCE_BIN_PATH@ DEPENDENCIES 1 1 "" "${PREREQ_DIRS_LIST_REBUILT}")
-
-	
-	foreach(DEPENDENCY_FILE ${DEPENDENCIES})
-		# get file name to be able to resolve files with @rpath on macOS
-		get_filename_component(PREREQNAME "${DEPENDENCY_FILE}"  NAME)
-	  	gp_resolve_item(@DDS_PREREQ_SOURCE_BIN_PATH@ "${PREREQNAME}" "" "${PREREQ_DIRS_LIST_REBUILT}" resolved_file)
-		# link only third-party libs
-		# Skip DDS libs
-		if(NOT ${resolved_file} STREQUAL "@PREREQ_DESTINATION@/${PREREQNAME}")
-			if(${PREREQNAME} MATCHES "^libboost_*")
-				# skip existing files. Fixes GH-323
-				if(EXISTS "@PREREQ_DESTINATION@/${PREREQNAME}")
-					message("DDS Commander prerequisite: creating a symlink: destination exists. SKIPPING: @PREREQ_DESTINATION@/${PREREQNAME}")
-					continue()
-				endif()
-				
-				message("DDS Commander prerequisite: creating a symlink: @PREREQ_DESTINATION@/${PREREQNAME} -> ${resolved_file}")
-				execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink ${resolved_file} "@PREREQ_DESTINATION@/${PREREQNAME}")
-			else()
-				message("DDS Commander prerequisite: skipping: ${PREREQNAME}")
-			endif()
-		endif()
-	endforeach()
-	###################################################
-
-#endmacro(DDS_CollectPrerequisites)