diff --git a/SofaKernel/SofaBase/SofaBaseConfig.cmake.in b/SofaKernel/SofaBase/SofaBaseConfig.cmake.in
index 923b3246ef98..99b310146194 100644
--- a/SofaKernel/SofaBase/SofaBaseConfig.cmake.in
+++ b/SofaKernel/SofaBase/SofaBaseConfig.cmake.in
@@ -7,7 +7,7 @@ set(SOFABASE_TARGETS @SOFABASE_TARGETS@)
 find_package(SofaSimulation REQUIRED)
 
 # Eigen3 is required by SofaBaseTopology
-find_package(Eigen3 REQUIRED)
+find_package(Eigen3 QUIET REQUIRED)
 
 foreach(target ${SOFABASE_TARGETS})
     if(NOT TARGET ${target})
diff --git a/SofaKernel/SofaCommon/SofaCommonConfig.cmake.in b/SofaKernel/SofaCommon/SofaCommonConfig.cmake.in
index 0a7571eed669..6edc0c039ae8 100644
--- a/SofaKernel/SofaCommon/SofaCommonConfig.cmake.in
+++ b/SofaKernel/SofaCommon/SofaCommonConfig.cmake.in
@@ -3,16 +3,16 @@
 @PACKAGE_INIT@
 
 set(SOFACOMMON_TARGETS @SOFACOMMON_TARGETS@)
-set(SOFAEIGEN2SOLVER_WITH_OPENMP @SOFAEIGEN2SOLVER_WITH_OPENMP@)
+set(SOFAEIGEN2SOLVER_HAVE_OPENMP @SOFAEIGEN2SOLVER_HAVE_OPENMP@)
 
 find_package(SofaBase REQUIRED SofaComponentBase)
 
 # Eigen3 is required by SofaEigen2Solver and SofaRigid
-find_package(Eigen3 REQUIRED)
+find_package(Eigen3 QUIET REQUIRED)
 
 # OpenMP might be required by SofaEigen2Solver
-if (SOFAEIGEN2SOLVER_WITH_OPENMP AND NOT TARGET OpenMP::OpenMP_CXX)
-    find_package(OpenMP REQUIRED)
+if (SOFAEIGEN2SOLVER_HAVE_OPENMP AND NOT TARGET OpenMP::OpenMP_CXX)
+    find_package(OpenMP QUIET REQUIRED)
 endif()
 
 
diff --git a/SofaKernel/SofaCommon/config.h.in b/SofaKernel/SofaCommon/config.h.in
index d34bc5856040..4bc9fadad03d 100644
--- a/SofaKernel/SofaCommon/config.h.in
+++ b/SofaKernel/SofaCommon/config.h.in
@@ -94,7 +94,7 @@
 #  define SOFA_EIGEN2_SOLVER_API SOFA_IMPORT_DYNAMIC_LIBRARY
 #endif
 
-#cmakedefine SOFAEIGEN2SOLVER_WITH_OPENMP
+#cmakedefine01 SOFAEIGEN2SOLVER_HAVE_OPENMP
 
 
 #endif
diff --git a/SofaKernel/SofaFramework/SofaFrameworkConfig.cmake.in b/SofaKernel/SofaFramework/SofaFrameworkConfig.cmake.in
index ee532859d462..dbd13d8a5af9 100644
--- a/SofaKernel/SofaFramework/SofaFrameworkConfig.cmake.in
+++ b/SofaKernel/SofaFramework/SofaFrameworkConfig.cmake.in
@@ -58,7 +58,7 @@ if(SOFAHELPER_HAVE_GTEST)
 endif()
 
 # Eigen3 is required by SofaDefaultType and SofaHelper
-find_package(Eigen3 REQUIRED)
+find_package(Eigen3 QUIET REQUIRED)
 
 foreach(target SofaHelper SofaDefaultType SofaCore)
     if(NOT TARGET ${target})
diff --git a/SofaKernel/modules/SofaEigen2Solver/CMakeLists.txt b/SofaKernel/modules/SofaEigen2Solver/CMakeLists.txt
index 036778ea75bd..814e1f6e703c 100644
--- a/SofaKernel/modules/SofaEigen2Solver/CMakeLists.txt
+++ b/SofaKernel/modules/SofaEigen2Solver/CMakeLists.txt
@@ -22,11 +22,12 @@ set(SOURCE_FILES
 find_package(Eigen3 REQUIRED)
 
 if (SOFA_OPENMP AND "${Eigen3_VERSION}" VERSION_LESS 3.2.9)
-    set(SOFAEIGEN2SOLVER_WITH_OPENMP 1 PARENT_SCOPE)
+    sofa_find_package(OpenMP BOTH_SCOPES) # will set/update SOFAEIGEN2SOLVER_HAVE_OPENMP
+else()
+    sofa_set_01(SOFAEIGEN2SOLVER_HAVE_OPENMP VALUE FALSE BOTH_SCOPES)
 endif()
 
-if (SOFAEIGEN2SOLVER_WITH_OPENMP)
-    find_package(OpenMP REQUIRED)
+if (SOFAEIGEN2SOLVER_HAVE_OPENMP)
     list(APPEND HEADER_FILES EigenBaseSparseMatrix_MT.h)
 endif()
 
@@ -36,7 +37,7 @@ target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen)
 set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-DSOFA_BUILD_EIGEN2_SOLVER")
 set_target_properties(${PROJECT_NAME} PROPERTIES PUBLIC_HEADER "${HEADER_FILES}")
 
-if (SOFAEIGEN2SOLVER_WITH_OPENMP)
+if (SOFAEIGEN2SOLVER_HAVE_OPENMP)
     target_link_libraries(${PROJECT_NAME} PUBLIC OpenMP::OpenMP_CXX)
 endif()
 
diff --git a/applications/plugins/Compliant/CompliantConfig.cmake.in b/applications/plugins/Compliant/CompliantConfig.cmake.in
index f0c99d340ce8..2c10ce521cf6 100644
--- a/applications/plugins/Compliant/CompliantConfig.cmake.in
+++ b/applications/plugins/Compliant/CompliantConfig.cmake.in
@@ -6,7 +6,7 @@ set(COMPLIANT_HAVE_SOFAPYTHON @COMPLIANT_HAVE_SOFAPYTHON@)
 
 find_package(SofaSimulation REQUIRED)
 find_package(SofaMisc REQUIRED)
-find_package(Eigen3 REQUIRED)
+find_package(Eigen3 QUIET REQUIRED)
 
 if(COMPLIANT_HAVE_SOFAPYTHON)
     find_package(SofaPython QUIET REQUIRED)
diff --git a/applications/plugins/Flexible/FlexibleConfig.cmake.in b/applications/plugins/Flexible/FlexibleConfig.cmake.in
index 24d41dced29c..5fb4bfe0c4b0 100644
--- a/applications/plugins/Flexible/FlexibleConfig.cmake.in
+++ b/applications/plugins/Flexible/FlexibleConfig.cmake.in
@@ -7,7 +7,7 @@ set(FLEXIBLE_HAVE_IMAGE @FLEXIBLE_HAVE_IMAGE@)
 set(FLEXIBLE_HAVE_SOFAHIGHORDERTOPOLOGY @FLEXIBLE_HAVE_SOFAHIGHORDERTOPOLOGY@)
 
 find_package(SofaMisc REQUIRED)
-find_package(Eigen3 REQUIRED)
+find_package(Eigen3 QUIET REQUIRED)
 
 if(FLEXIBLE_HAVE_SOFAPYTHON)
     find_package(SofaPython QUIET REQUIRED)
diff --git a/applications/plugins/SceneCreator/SceneCreatorConfig.cmake.in b/applications/plugins/SceneCreator/SceneCreatorConfig.cmake.in
index c38fd45fdd1a..c7799b35dca7 100644
--- a/applications/plugins/SceneCreator/SceneCreatorConfig.cmake.in
+++ b/applications/plugins/SceneCreator/SceneCreatorConfig.cmake.in
@@ -4,7 +4,7 @@
 
 find_package(SofaSimulation REQUIRED)
 find_package(SofaMisc REQUIRED)
-find_package(Eigen3 REQUIRED)
+find_package(Eigen3 QUIET REQUIRED)
 
 if(NOT TARGET SceneCreator)
 	include("${CMAKE_CURRENT_LIST_DIR}/SceneCreatorTargets.cmake")
diff --git a/applications/plugins/SofaPython/SofaPythonConfig.cmake.in b/applications/plugins/SofaPython/SofaPythonConfig.cmake.in
index 68b967ff9ce3..bada68a91ac7 100644
--- a/applications/plugins/SofaPython/SofaPythonConfig.cmake.in
+++ b/applications/plugins/SofaPython/SofaPythonConfig.cmake.in
@@ -8,7 +8,7 @@ find_package(PythonLibs 2.7 REQUIRED)
 find_package(SofaGui REQUIRED)
 find_package(SofaGeneral REQUIRED)
 find_package(SofaMisc REQUIRED)
-find_package(Eigen3 REQUIRED)
+find_package(Eigen3 QUIET REQUIRED)
 
 if(NOT TARGET SofaPython)
     include("${CMAKE_CURRENT_LIST_DIR}/SofaPythonTargets.cmake")
diff --git a/applications/plugins/SofaSimpleGUI/SofaSimpleGUIConfig.cmake.in b/applications/plugins/SofaSimpleGUI/SofaSimpleGUIConfig.cmake.in
index d486d09c8366..bdac6731e7f3 100644
--- a/applications/plugins/SofaSimpleGUI/SofaSimpleGUIConfig.cmake.in
+++ b/applications/plugins/SofaSimpleGUI/SofaSimpleGUIConfig.cmake.in
@@ -3,7 +3,7 @@
 @PACKAGE_INIT@
 
 find_package(SofaGeneral REQUIRED)
-find_package(Eigen3 REQUIRED)
+find_package(Eigen3 QUIET REQUIRED)
 
 if(NOT TARGET SofaSimpleGUI)
 	include("${CMAKE_CURRENT_LIST_DIR}/SofaSimpleGUITargets.cmake")
diff --git a/cmake/Modules/FindEigen3.cmake b/cmake/Modules/FindEigen3.cmake
index 53abdd8fdbad..ad387a0abea5 100644
--- a/cmake/Modules/FindEigen3.cmake
+++ b/cmake/Modules/FindEigen3.cmake
@@ -80,7 +80,6 @@ endif(NOT EIGEN3_INCLUDE_DIR)
 if(NOT EIGEN3_INCLUDE_DIR)
   find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
       HINTS
-      ENV EIGEN3_ROOT
       ENV EIGEN3_ROOT_DIR
       PATHS
       ${CMAKE_INSTALL_PREFIX}/include