diff --git a/cmake/dart_defs.cmake b/cmake/dart_defs.cmake
index a67672f8fdb8b..bb7935ee09cd1 100644
--- a/cmake/dart_defs.cmake
+++ b/cmake/dart_defs.cmake
@@ -217,6 +217,7 @@ function(dart_generate_export_header)
     ${_ARG_TARGET_NAME}
     EXPORT_MACRO_NAME DETAIL_${base_name}_API
     EXPORT_FILE_NAME ${export_detail_file_path}
+    DEPRECATED_MACRO_NAME _DART_DEPRECATED
   )
 
   # Generate final export header
diff --git a/dart/external/odelcpsolver/CMakeLists.txt b/dart/external/odelcpsolver/CMakeLists.txt
index 1223df84340a1..b471ad7b05ee1 100644
--- a/dart/external/odelcpsolver/CMakeLists.txt
+++ b/dart/external/odelcpsolver/CMakeLists.txt
@@ -6,7 +6,7 @@ file(GLOB srcs "*.cpp")
 set(target_name ${PROJECT_NAME}-external-odelcpsolver)
 set(component_name external-odelcpsolver)
 
-dart_add_library(${target_name} ${hdrs} ${srcs})
+dart_add_library(${target_name} STATIC ${hdrs} ${srcs})
 target_include_directories(${target_name}
   PUBLIC
     $<BUILD_INTERFACE:${DART_SOURCE_DIR}>
diff --git a/dart/optimizer/Function.hpp b/dart/optimizer/Function.hpp
index 90c3788f1a4cd..7eb1c455eb08d 100644
--- a/dart/optimizer/Function.hpp
+++ b/dart/optimizer/Function.hpp
@@ -33,6 +33,8 @@
 #ifndef DART_OPTIMIZER_FUNCTION_HPP_
 #define DART_OPTIMIZER_FUNCTION_HPP_
 
+#include <dart/Export.hpp>
+
 #include <Eigen/Dense>
 
 #include <functional>
@@ -42,7 +44,7 @@
 namespace dart {
 namespace optimizer {
 
-class Function
+class DART_API Function
 {
 public:
   /// Constructor
diff --git a/dart/optimizer/Problem.hpp b/dart/optimizer/Problem.hpp
index fdb95062d8785..8ce5c326561de 100644
--- a/dart/optimizer/Problem.hpp
+++ b/dart/optimizer/Problem.hpp
@@ -35,6 +35,8 @@
 
 #include <dart/optimizer/Function.hpp>
 
+#include <dart/Export.hpp>
+
 #include <Eigen/Dense>
 
 #include <vector>
@@ -45,7 +47,7 @@ namespace dart {
 namespace optimizer {
 
 /// \brief class Problem
-class Problem
+class DART_API Problem
 {
 public:
   /// \brief Constructor
diff --git a/dart/optimizer/Solver.hpp b/dart/optimizer/Solver.hpp
index c1cb526ed173c..85017abae5571 100644
--- a/dart/optimizer/Solver.hpp
+++ b/dart/optimizer/Solver.hpp
@@ -33,6 +33,8 @@
 #ifndef DART_OPTIMIZER_SOLVER_HPP_
 #define DART_OPTIMIZER_SOLVER_HPP_
 
+#include <dart/Export.hpp>
+
 #include <Eigen/Dense>
 
 #include <iostream>
@@ -49,7 +51,7 @@ class Problem;
 /// problem types. This base class allows the different Solver implementations
 /// to be swapped out with each other quickly and easily to help with testing,
 /// benchmarking, and experimentation.
-class Solver
+class DART_API Solver
 {
 public:
   /// The Solver::Properties class contains Solver parameters that are common
diff --git a/pixi.toml b/pixi.toml
index 4be21adb8cd8e..3c8e58720b487 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -46,7 +46,7 @@ install-local = { cmd = "cmake --install build --prefix $CONDA_PREFIX", depends_
 ] }
 
 configure-unix = { cmd = "cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=Release -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON" }
-configure-win = { cmd = "cmake -S . -B build -G 'Visual Studio 17 2022' -DDART_VERBOSE=ON -DDART_MSVC_DEFAULT_OPTIONS=ON -DBUILD_SHARED_LIBS=OFF -DDART_USE_SYSTEM_IMGUI=OFF" }
+configure-win = { cmd = "cmake -S . -B build -G 'Visual Studio 17 2022' -DDART_VERBOSE=ON -DDART_MSVC_DEFAULT_OPTIONS=ON -DBUILD_SHARED_LIBS=ON -DDART_USE_SYSTEM_IMGUI=OFF" }
 
 example-hello-world = { cmd = "cmake --build build --target hello_world --parallel && ./build/bin/hello_world", depends_on = [
     "configure",