diff --git a/boost.cmake b/boost.cmake
index cb6d1a7f..49304e13 100644
--- a/boost.cmake
+++ b/boost.cmake
@@ -162,148 +162,6 @@ macro(SEARCH_FOR_BOOST_PYTHON)
   list(APPEND LOGGING_WATCHED_VARIABLES Boost_PYTHON_LIBRARY)
 endmacro(SEARCH_FOR_BOOST_PYTHON)
 
-#
-# .rst: .. command:: SEARCH_FOR_BOOST
-#
-# Deprecated. For Boost Python, use :command:`SEARCH_FOR_BOOST_PYTHON`. For
-# other Boost components, use::
-#
-# add_project_dependency(Boost COMPONENTS ...) # or other argument to the
-# find_package command.
-#
-# or, if you don't want it to be exported::
-#
-# find_package(Boost COMPONENTS ...) # or other argument to the find_package
-# command.
-#
-# This macro deals with Visual Studio Fortran incompatibilities and add detected
-# flags to the pkg-config file automatically.
-#
-# The components to be detected is controlled by :variable:`BOOST_COMPONENTS`.
-#
-# A special treatment must be done for the boost-python component. For boost >=
-# 1.67.0, FindPython macro should be called first in order to automatically
-# detect the right boost-python component version according to the Python
-# version (2.7 or 3.x).
-#
-
-macro(SEARCH_FOR_BOOST)
-  message(
-    AUTHOR_WARNING
-    "SEARCH_FOR_BOOST is deprecated. Please use find_package() / SEARCH_FOR_BOOST_PYTHON()"
-  )
-  set(Boost_USE_STATIC_LIBS OFF)
-  set(Boost_USE_MULTITHREADED ON)
-
-  # First try to find Boost to get the version
-  find_package(Boost ${BOOST_REQUIRED})
-  string(REPLACE "_" "." Boost_SHORT_VERSION ${Boost_LIB_VERSION})
-  if(
-    "${Boost_SHORT_VERSION}" VERSION_GREATER "1.70"
-    OR "${Boost_SHORT_VERSION}" VERSION_EQUAL "1.70"
-  )
-    set(BUILD_SHARED_LIBS ON)
-    set(Boost_NO_BOOST_CMAKE ON)
-  endif(
-    "${Boost_SHORT_VERSION}" VERSION_GREATER "1.70"
-    OR "${Boost_SHORT_VERSION}" VERSION_EQUAL "1.70"
-  )
-
-  if(NOT DEFINED BOOST_COMPONENTS)
-    set(
-      BOOST_COMPONENTS
-      filesystem
-      system
-      thread
-      program_options
-      unit_test_framework
-    )
-  endif(NOT DEFINED BOOST_COMPONENTS)
-
-  # Check if python is in the list and adjust the version according to the
-  # current Python version. This is made mandatory if for Boost version greater
-  # than 1.67.0
-  list(FIND BOOST_COMPONENTS python PYTHON_IN_BOOST_COMPONENTS)
-  if(${PYTHON_IN_BOOST_COMPONENTS} GREATER -1)
-    list(REMOVE_AT BOOST_COMPONENTS ${PYTHON_IN_BOOST_COMPONENTS})
-    SEARCH_FOR_BOOST_PYTHON(${BOOST_REQUIRED})
-  endif(${PYTHON_IN_BOOST_COMPONENTS} GREATER -1)
-
-  # Make Boost component exportable
-  list(
-    INSERT
-    _PACKAGE_CONFIG_DEPENDENCIES_FIND_PACKAGE
-    0
-    "SET(Boost_USE_STATIC_LIBS OFF);SET(Boost_USE_MULTITHREADED ON)"
-  )
-  list(
-    INSERT
-    _PACKAGE_CONFIG_DEPENDENCIES_FIND_DEPENDENCY
-    0
-    "SET(Boost_USE_STATIC_LIBS OFF);SET(Boost_USE_MULTITHREADED ON)"
-  )
-  ADD_PROJECT_DEPENDENCY(
-    Boost
-    ${BOOST_REQUIRED}
-    COMPONENTS
-    ${BOOST_COMPONENTS}
-    REQUIRED
-  )
-
-  if(NOT Boost_FOUND)
-    message(
-      FATAL_ERROR
-      "Failed to detect Boost with the following components:\n"
-      ${COMPONENTS}
-    )
-  endif(NOT Boost_FOUND)
-
-  PKG_CONFIG_APPEND_CFLAGS("-I${Boost_INCLUDE_DIR}")
-
-  list(
-    APPEND
-    LOGGING_WATCHED_VARIABLES
-    Boost_USE_MULTITHREADED
-    Boost_USE_STATIC_LIBS
-    Boost_ADDITIONAL_VERSIONS
-    Boost_DEBUG
-    Boost_COMPILER
-    BOOST_ROOT
-    BOOSTROOT
-    BOOST_INCLUDEDIR
-    BOOST_LIBRARYDIR
-    Boost_FOUND
-    Boost_INCLUDE_DIRS
-    Boost_INCLUDE_DIR
-    Boost_LIBRARIES
-    Boost_LIBRARY_DIRS
-    Boost_VERSION
-    Boost_LIB_VERSION
-    Boost_MAJOR_VERSION
-    Boost_MINOR_VERSION
-    Boost_SUBMINOR_VERSION
-    Boost_LIB_DIAGNOSTIC_DEFINITIONS
-  )
-  foreach(COMPONENT ${BOOST_COMPONENTS})
-    string(TOUPPER ${COMPONENT} UPPERCOMPONENT)
-    list(
-      APPEND
-      LOGGING_WATCHED_VARIABLES
-      Boost_${UPPERCOMPONENT}_FOUND
-      Boost_${UPPERCOMPONENT}_LIBRARY
-      Boost_${UPPERCOMPONENT}_LIBRARY_DEBUG
-      Boost_${UPPERCOMPONENT}_LIBRARY_RELEASE
-    )
-  endforeach()
-
-  # On darwin systems, we must link againt boost_python with unresolved symbols.
-  # We then remove boost_python from the global Boost_LIBRARIES list to handle
-  # it with specific care.
-  if(Boost_PYTHON_LIBRARY)
-    list(REMOVE_ITEM Boost_LIBRARIES ${Boost_PYTHON_LIBRARY})
-  endif(Boost_PYTHON_LIBRARY)
-endmacro(SEARCH_FOR_BOOST)
-
 # .rst: .. command:: TARGET_LINK_BOOST_PYTHON (TARGET
 # <PRIVATE|PUBLIC|INTERFACE>)
 #
diff --git a/doxygen.cmake b/doxygen.cmake
index 6ba05958..40518753 100644
--- a/doxygen.cmake
+++ b/doxygen.cmake
@@ -635,18 +635,18 @@ macro(_SETUP_PROJECT_DOCUMENTATION)
       if(EXISTS ${PROJECT_BINARY_DIR}/doc/${PROJECT_NAME}.doxytag)
         install(
           FILES ${PROJECT_BINARY_DIR}/doc/${PROJECT_NAME}.doxytag
-          DESTINATION ${CMAKE_INSTALL_DOCDIR}/doxygen-html
+          DESTINATION ${CMAKE_INSTALL_FULL_DOCDIR}/doxygen-html
         )
       endif()
       install(
         DIRECTORY ${PROJECT_BINARY_DIR}/doc/doxygen-html
-        DESTINATION ${CMAKE_INSTALL_DOCDIR}
+        DESTINATION ${CMAKE_INSTALL_FULL_DOCDIR}
       )
 
       if(EXISTS ${PROJECT_SOURCE_DIR}/doc/pictures)
         install(
           DIRECTORY ${PROJECT_SOURCE_DIR}/doc/pictures
-          DESTINATION ${CMAKE_INSTALL_DOCDIR}/doxygen-html
+          DESTINATION ${CMAKE_INSTALL_FULL_DOCDIR}/doxygen-html
         )
       endif(EXISTS ${PROJECT_SOURCE_DIR}/doc/pictures)
     endif(INSTALL_DOCUMENTATION)
@@ -714,6 +714,9 @@ endmacro()
 # Doxyfile.extra and Doxyfile files are generated at the end to allow the
 # replacement of user-defined variables.
 #
+# Additional doxygen tagfiles from dependencies can be added to
+# `DOXYGEN_TAGFILES_FROM_DEPENDENCIES`
+#
 macro(_SETUP_PROJECT_DOCUMENTATION_FINALIZE)
   if(DOXYGEN_FOUND)
     if(NOT "${DOXYGEN_USE_MATHJAX}" STREQUAL "YES")
@@ -746,7 +749,7 @@ macro(_SETUP_PROJECT_DOCUMENTATION_FINALIZE)
     if(INSTALL_DOCUMENTATION)
       # Find doxytag files To ignore this list of tag files, set variable
       # DOXYGEN_TAGFILES
-      set(INSTALL_DOCDIR ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DOCDIR})
+      set(_TAGFILES_FROM_DEPENDENCIES "${DOXYGEN_TAGFILES_FROM_DEPENDENCIES}")
       set(PKG_REQUIRES ${_PKG_CONFIG_REQUIRES})
       list(APPEND PKG_REQUIRES ${_PKG_CONFIG_COMPILE_TIME_REQUIRES})
       foreach(PKG_CONFIG_STRING ${PKG_REQUIRES})
@@ -764,7 +767,7 @@ macro(_SETUP_PROJECT_DOCUMENTATION_FINALIZE)
           file(
             RELATIVE_PATH
             DEP_DOCDIR
-            ${INSTALL_DOCDIR}
+            ${CMAKE_INSTALL_FULL_DOCDIR}
             ${${PREFIX}_DOXYGENDOCDIR}
           )
 
diff --git a/header.cmake b/header.cmake
index b36c37cc..8b40292a 100644
--- a/header.cmake
+++ b/header.cmake
@@ -1,4 +1,4 @@
-# Copyright (C) 2008-2019 LAAS-CNRS, JRL AIST-CNRS, INRIA.
+# Copyright (C) 2008-2024 LAAS-CNRS, JRL AIST-CNRS, INRIA.
 #
 # This program is free software: you can redistribute it and/or modify it under
 # the terms of the GNU General Public License as published by the Free Software
@@ -313,9 +313,20 @@ macro(HEADER_INSTALL)
     string(REGEX REPLACE "${CMAKE_BINARY_DIR}" "" DIR "${DIR}")
     string(REGEX REPLACE "${PROJECT_SOURCE_DIR}" "" DIR "${DIR}")
     string(REGEX REPLACE "include(/|$)" "" DIR "${DIR}")
+    if(CMAKE_VERSION` VERSION_GREATER 3.20)
+      # workaround CMP0177
+      cmake_path(
+        SET
+        INSTALL_PATH
+        NORMALIZE
+        "${CMAKE_INSTALL_INCLUDEDIR}/${DIR}"
+      )
+    else()
+      set(INSTALL_PATH "${CMAKE_INSTALL_INCLUDEDIR}/${DIR}")
+    endif()
     install(
       FILES ${FILE}
-      DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/${DIR}"
+      DESTINATION ${INSTALL_PATH}
       PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
       COMPONENT ${_COMPONENT_NAME}
     )