diff --git a/modules/cudaarithm/CMakeLists.txt b/modules/cudaarithm/CMakeLists.txt
index fa9c9194163..34863ce2b07 100644
--- a/modules/cudaarithm/CMakeLists.txt
+++ b/modules/cudaarithm/CMakeLists.txt
@@ -7,38 +7,41 @@ set(the_description "CUDA-accelerated Operations on Matrices")
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations -Wshadow)
 
 set(extra_dependencies "")
-set(optional_dependencies "")
 if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
 	if(UNIX AND NOT BUILD_SHARED_LIBS AND CUDA_VERSION_STRING VERSION_GREATER_EQUAL 9.2 AND CUDA_VERSION_STRING VERSION_LESS 13.0 AND CMAKE_VERSION VERSION_GREATER_EQUAL 3.23)
     set(CUDA_FFT_LIB_EXT "_static_nocallback")
   endif()
-  list(APPEND extra_dependencies CUDA::cudart_static CUDA::nppial${CUDA_LIB_EXT} CUDA::nppc${CUDA_LIB_EXT} CUDA::nppitc${CUDA_LIB_EXT} CUDA::nppig${CUDA_LIB_EXT} CUDA::nppist${CUDA_LIB_EXT} CUDA::nppidei${CUDA_LIB_EXT})
+  list(APPEND extra_dependencies CUDA::cudart${CUDA_LIB_EXT} CUDA::nppial${CUDA_LIB_EXT} CUDA::nppc${CUDA_LIB_EXT} CUDA::nppitc${CUDA_LIB_EXT} CUDA::nppig${CUDA_LIB_EXT} CUDA::nppist${CUDA_LIB_EXT} CUDA::nppidei${CUDA_LIB_EXT})
   if(HAVE_CUBLAS)
-    list(APPEND optional_dependencies CUDA::cublas${CUDA_LIB_EXT})
+    list(APPEND extra_dependencies CUDA::cublas${CUDA_LIB_EXT})
     if(NOT CUDA_VERSION VERSION_LESS 10.1)
-      list(APPEND optional_dependencies CUDA::cublasLt${CUDA_LIB_EXT})
+      list(APPEND extra_dependencies CUDA::cublasLt${CUDA_LIB_EXT})
     endif()
   endif()
   if(HAVE_CUFFT)
     # static version requires seperable compilation which is incompatible with opencv's current library structure
     # the cufft_static_nocallback variant does not requires seperable compilation. callbacks are currently not used.
-    list(APPEND optional_dependencies CUDA::cufft${CUDA_FFT_LIB_EXT})
+    list(APPEND extra_dependencies CUDA::cufft${CUDA_FFT_LIB_EXT})
   endif()
 else()
   if(HAVE_CUBLAS)
-    list(APPEND optional_dependencies ${CUDA_cublas_LIBRARY})
+    list(APPEND extra_dependencies ${CUDA_cublas_LIBRARY})
   endif()
   if(HAVE_CUFFT)
-    list(APPEND optional_dependencies ${CUDA_cufft_LIBRARY})
+    list(APPEND extra_dependencies ${CUDA_cufft_LIBRARY})
   endif()
 endif()
 
-ocv_add_module(cudaarithm opencv_core ${extra_dependencies} OPTIONAL opencv_cudev ${optional_dependencies} WRAP python)
+ocv_add_module(cudaarithm opencv_core OPTIONAL opencv_cudev WRAP python)
 
 ocv_module_include_directories()
 ocv_glob_module_sources()
 
-ocv_create_module()
+ocv_create_module(${extra_dependencies})
 
-ocv_add_accuracy_tests(DEPENDS_ON opencv_imgproc)
+set(test_libs "")
+if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+  list(APPEND test_libs CUDA::cudart${CUDA_LIB_EXT})
+endif()
+ocv_add_accuracy_tests(${test_libs} DEPENDS_ON opencv_imgproc)
 ocv_add_perf_tests(DEPENDS_ON opencv_imgproc)
diff --git a/modules/cudabgsegm/CMakeLists.txt b/modules/cudabgsegm/CMakeLists.txt
index 1d2ef64d154..d833241d29f 100644
--- a/modules/cudabgsegm/CMakeLists.txt
+++ b/modules/cudabgsegm/CMakeLists.txt
@@ -5,7 +5,9 @@ endif()
 set(the_description "CUDA-accelerated Background Segmentation")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations -Wshadow)
+
+ocv_define_module(cudabgsegm opencv_video WRAP python)
+
 if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
-  ocv_module_include_directories(${CUDAToolkit_INCLUDE_DIRS})
+  ocv_target_link_libraries(${the_module} PRIVATE CUDA::cudart${CUDA_LIB_EXT})
 endif()
-ocv_define_module(cudabgsegm opencv_video WRAP python)
diff --git a/modules/cudacodec/CMakeLists.txt b/modules/cudacodec/CMakeLists.txt
index a2dd450423f..eeda57149f8 100644
--- a/modules/cudacodec/CMakeLists.txt
+++ b/modules/cudacodec/CMakeLists.txt
@@ -32,7 +32,7 @@ endif()
 
 if(HAVE_NVCUVID OR HAVE_NVCUVENC)
   if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
-      list(APPEND extra_libs CUDA::cuda_driver)
+      list(APPEND extra_libs CUDA::cuda_driver CUDA::cudart${CUDA_LIB_EXT})
   else()
     list(APPEND extra_libs ${CUDA_CUDA_LIBRARY})
   endif()
diff --git a/modules/cudafeatures2d/CMakeLists.txt b/modules/cudafeatures2d/CMakeLists.txt
index 2b6023c0b66..68f4e2d61a8 100644
--- a/modules/cudafeatures2d/CMakeLists.txt
+++ b/modules/cudafeatures2d/CMakeLists.txt
@@ -5,7 +5,17 @@ endif()
 set(the_description "CUDA-accelerated Feature Detection and Description")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4100 /wd4324 /wd4512 /wd4515 -Wundef -Wmissing-declarations -Wshadow -Wunused-parameter -Wshadow)
+
+ocv_add_module(cudafeatures2d opencv_features2d opencv_cudafilters opencv_cudawarping WRAP python)
+
+ocv_module_include_directories()
+ocv_glob_module_sources()
+
+set(extra_libs "")
 if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
-  ocv_module_include_directories(${CUDAToolkit_INCLUDE_DIRS})
+  list(APPEND extra_libs CUDA::cudart${CUDA_LIB_EXT})
 endif()
-ocv_define_module(cudafeatures2d opencv_features2d opencv_cudafilters opencv_cudawarping WRAP python)
+ocv_create_module(${extra_libs})
+
+ocv_add_accuracy_tests(${extra_libs})
+ocv_add_perf_tests(${extra_libs})
diff --git a/modules/cudafilters/CMakeLists.txt b/modules/cudafilters/CMakeLists.txt
index 75ff3b26718..c0eeb920e39 100644
--- a/modules/cudafilters/CMakeLists.txt
+++ b/modules/cudafilters/CMakeLists.txt
@@ -5,8 +5,21 @@ endif()
 set(the_description "CUDA-accelerated Image Filtering")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations -Wshadow)
-set(extra_libs "")
+
+ocv_add_module(cudafilters opencv_imgproc opencv_cudaarithm WRAP python)
+
+ocv_module_include_directories()
+ocv_glob_module_sources()
+
+set(build_libs "")
+if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+  list(APPEND build_libs CUDA::cudart${CUDA_LIB_EXT} CUDA::nppif${CUDA_LIB_EXT} CUDA::nppim${CUDA_LIB_EXT})
+endif()
+ocv_create_module(${build_libs})
+
+set(test_libs "")
 if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
-  set(extra_libs CUDA::nppif${CUDA_LIB_EXT} CUDA::nppim${CUDA_LIB_EXT})
+  list(APPEND test_libs CUDA::cudart${CUDA_LIB_EXT})
 endif()
-ocv_define_module(cudafilters opencv_imgproc opencv_cudaarithm ${extra_libs} WRAP python)
+ocv_add_accuracy_tests(${test_libs})
+ocv_add_perf_tests()
diff --git a/modules/cudaimgproc/CMakeLists.txt b/modules/cudaimgproc/CMakeLists.txt
index de818f6a8b3..e70abca13e4 100644
--- a/modules/cudaimgproc/CMakeLists.txt
+++ b/modules/cudaimgproc/CMakeLists.txt
@@ -5,8 +5,9 @@ endif()
 set(the_description "CUDA-accelerated Image Processing")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4100 /wd4324 /wd4512 /wd4515 -Wundef -Wmissing-declarations -Wshadow -Wunused-parameter)
-set(extra_libs "")
+
+ocv_define_module(cudaimgproc opencv_imgproc OPTIONAL opencv_cudev opencv_cudaarithm opencv_cudafilters WRAP python)
+
 if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
-  set(extra_libs CUDA::nppial${CUDA_LIB_EXT} CUDA::nppist${CUDA_LIB_EXT} CUDA::nppicc${CUDA_LIB_EXT} CUDA::nppidei${CUDA_LIB_EXT})
+  ocv_target_link_libraries(${the_module} PRIVATE CUDA::cudart${CUDA_LIB_EXT} CUDA::nppial${CUDA_LIB_EXT} CUDA::nppist${CUDA_LIB_EXT} CUDA::nppicc${CUDA_LIB_EXT} CUDA::nppidei${CUDA_LIB_EXT})
 endif()
-ocv_define_module(cudaimgproc opencv_imgproc ${extra_libs} OPTIONAL opencv_cudev opencv_cudaarithm opencv_cudafilters WRAP python)
diff --git a/modules/cudalegacy/CMakeLists.txt b/modules/cudalegacy/CMakeLists.txt
index f3ebfeafde7..ba3f73510dc 100644
--- a/modules/cudalegacy/CMakeLists.txt
+++ b/modules/cudalegacy/CMakeLists.txt
@@ -5,8 +5,17 @@ endif()
 set(the_description "CUDA-accelerated Computer Vision (legacy)")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4130 /wd4324 /wd4512 /wd4310 -Wundef -Wmissing-declarations -Wuninitialized -Wshadow -Wdeprecated-declarations -Wstrict-aliasing -Wtautological-compare)
+
+ocv_add_module(cudalegacy opencv_core opencv_video OPTIONAL opencv_objdetect opencv_imgproc opencv_calib3d opencv_cudaarithm opencv_cudafilters opencv_cudaimgproc)
+
+ocv_module_include_directories()
+ocv_glob_module_sources()
+
+set(extra_libs "")
 if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
-  ocv_module_include_directories(${CUDAToolkit_INCLUDE_DIRS})
+  list(APPEND extra_libs CUDA::cudart${CUDA_LIB_EXT})
 endif()
-ocv_define_module(cudalegacy opencv_core opencv_video
-  OPTIONAL opencv_objdetect opencv_imgproc opencv_calib3d opencv_cudaarithm opencv_cudafilters opencv_cudaimgproc)
+ocv_create_module(${extra_libs})
+
+ocv_add_accuracy_tests(${extra_libs})
+ocv_add_perf_tests(${extra_libs})
diff --git a/modules/cudaobjdetect/CMakeLists.txt b/modules/cudaobjdetect/CMakeLists.txt
index a3f565ff0ab..8329f84a5a5 100644
--- a/modules/cudaobjdetect/CMakeLists.txt
+++ b/modules/cudaobjdetect/CMakeLists.txt
@@ -7,3 +7,7 @@ set(the_description "CUDA-accelerated Object Detection")
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations -Wshadow -Wstrict-aliasing)
 
 ocv_define_module(cudaobjdetect opencv_objdetect opencv_cudaarithm opencv_cudawarping OPTIONAL opencv_cudalegacy WRAP python)
+
+if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+  ocv_target_link_libraries(${the_module} PRIVATE CUDA::cudart${CUDA_LIB_EXT})
+endif()
diff --git a/modules/cudaoptflow/CMakeLists.txt b/modules/cudaoptflow/CMakeLists.txt
index d6ae902637d..b3af2a0bc8b 100644
--- a/modules/cudaoptflow/CMakeLists.txt
+++ b/modules/cudaoptflow/CMakeLists.txt
@@ -8,6 +8,10 @@ ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-d
 
 ocv_define_module(cudaoptflow opencv_video opencv_optflow opencv_cudaarithm opencv_cudawarping opencv_cudaimgproc OPTIONAL opencv_cudalegacy WRAP python)
 
+if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+  ocv_target_link_libraries(${the_module} PRIVATE CUDA::cudart${CUDA_LIB_EXT})
+endif()
+
 if(NOT CUDA_VERSION VERSION_LESS "10.0")
   set(NVIDIA_OPTICAL_FLOW_2_0_HEADERS_COMMIT "edb50da3cf849840d680249aa6dbef248ebce2ca")
   set(NVIDIA_OPTICAL_FLOW_2_0_HEADERS_MD5 "a73cd48b18dcc0cc8933b30796074191")
diff --git a/modules/cudastereo/CMakeLists.txt b/modules/cudastereo/CMakeLists.txt
index d129536e903..631e70aad19 100644
--- a/modules/cudastereo/CMakeLists.txt
+++ b/modules/cudastereo/CMakeLists.txt
@@ -5,7 +5,9 @@ endif()
 set(the_description "CUDA-accelerated Stereo Correspondence")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations -Wshadow)
+
+ocv_define_module(cudastereo opencv_calib3d OPTIONAL opencv_cudev WRAP python)
+
 if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
-  ocv_module_include_directories(${CUDAToolkit_INCLUDE_DIRS})
+  ocv_target_link_libraries(${the_module} PRIVATE CUDA::cudart${CUDA_LIB_EXT})
 endif()
-ocv_define_module(cudastereo opencv_calib3d OPTIONAL opencv_cudev WRAP python)
diff --git a/modules/cudawarping/CMakeLists.txt b/modules/cudawarping/CMakeLists.txt
index 67b4a1d6a62..403121f659e 100644
--- a/modules/cudawarping/CMakeLists.txt
+++ b/modules/cudawarping/CMakeLists.txt
@@ -5,8 +5,22 @@ endif()
 set(the_description "CUDA-accelerated Image Warping")
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS /wd4127 /wd4324 /wd4512 -Wundef -Wmissing-declarations -Wshadow)
-set(extra_libs "")
+
+set(build_libs "")
+if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
+  list(APPEND build_libs CUDA::cudart${CUDA_LIB_EXT} CUDA::nppial${CUDA_LIB_EXT} CUDA::nppig${CUDA_LIB_EXT})
+endif()
+
+ocv_add_module(cudawarping opencv_core opencv_imgproc OPTIONAL opencv_cudev WRAP python)
+
+ocv_module_include_directories()
+ocv_glob_module_sources()
+
+ocv_create_module(${build_libs})
+
+set(test_libs "")
 if(ENABLE_CUDA_FIRST_CLASS_LANGUAGE)
-  set(extra_libs CUDA::nppial${CUDA_LIB_EXT} CUDA::nppig${CUDA_LIB_EXT})
+  list(APPEND test_libs CUDA::cudart${CUDA_LIB_EXT})
 endif()
-ocv_define_module(cudawarping opencv_core opencv_imgproc ${extra_libs} OPTIONAL opencv_cudev WRAP python)
+ocv_add_accuracy_tests(${test_libs})
+ocv_add_perf_tests()
diff --git a/modules/superres/CMakeLists.txt b/modules/superres/CMakeLists.txt
index 2979ef0fb87..e5f455a3b83 100644
--- a/modules/superres/CMakeLists.txt
+++ b/modules/superres/CMakeLists.txt
@@ -9,3 +9,7 @@ endif()
 ocv_define_module(superres opencv_imgproc opencv_video opencv_optflow
                   OPTIONAL opencv_videoio opencv_cudaarithm opencv_cudafilters opencv_cudawarping opencv_cudaimgproc opencv_cudaoptflow opencv_cudacodec
                   WRAP python)
+
+if(HAVE_CUDA AND ENABLE_CUDA_FIRST_CLASS_LANGUAGE AND HAVE_opencv_cudaarithm AND HAVE_opencv_cudawarping AND HAVE_opencv_cudafilters)
+  ocv_target_link_libraries(${the_module} PRIVATE CUDA::cudart${CUDA_LIB_EXT})
+endif()
diff --git a/modules/superres/src/precomp.hpp b/modules/superres/src/precomp.hpp
index 9f12c248d6c..92370068799 100644
--- a/modules/superres/src/precomp.hpp
+++ b/modules/superres/src/precomp.hpp
@@ -54,9 +54,12 @@
 #include "opencv2/imgproc.hpp"
 #include "opencv2/video/tracking.hpp"
 #include "opencv2/core/private.hpp"
-
-#include "opencv2/core/private.cuda.hpp"
 #include "opencv2/core/ocl.hpp"
+#if !defined(HAVE_CUDA) || !defined(HAVE_OPENCV_CUDAARITHM) || !defined(HAVE_OPENCV_CUDAWARPING) || !defined(HAVE_OPENCV_CUDAFILTERS)
+#include "opencv2/core/private/cuda_stubs.hpp"
+#else
+#include "opencv2/core/private.cuda.hpp"
+#endif
 
 #ifdef HAVE_OPENCV_CUDAARITHM
 #  include "opencv2/cudaarithm.hpp"
diff --git a/modules/videostab/CMakeLists.txt b/modules/videostab/CMakeLists.txt
index c31fcfceb5f..def66625d0f 100644
--- a/modules/videostab/CMakeLists.txt
+++ b/modules/videostab/CMakeLists.txt
@@ -10,3 +10,7 @@ endif()
 
 ocv_define_module(videostab opencv_imgproc opencv_features2d opencv_video opencv_photo opencv_calib3d
 OPTIONAL opencv_cudawarping opencv_cudaoptflow opencv_videoio WRAP python)
+
+if(HAVE_CUDA AND ENABLE_CUDA_FIRST_CLASS_LANGUAGE AND ((HAVE_opencv_cudaimgproc AND HAVE_opencv_cudaoptflow) OR HAVE_opencv_cudawarping))
+  ocv_target_link_libraries(${the_module} PRIVATE CUDA::cudart${CUDA_LIB_EXT})
+endif()
diff --git a/modules/videostab/src/global_motion.cpp b/modules/videostab/src/global_motion.cpp
index eb42d6954d6..58363c911b7 100644
--- a/modules/videostab/src/global_motion.cpp
+++ b/modules/videostab/src/global_motion.cpp
@@ -47,7 +47,13 @@
 #include "opencv2/opencv_modules.hpp"
 #include "clp.hpp"
 
+#if defined(HAVE_OPENCV_CUDAIMGPROC) && defined(HAVE_OPENCV_CUDAOPTFLOW)
+#if !defined HAVE_CUDA || defined(CUDA_DISABLER)
+#include "opencv2/core/private/cuda_stubs.hpp"
+#else
 #include "opencv2/core/private.cuda.hpp"
+#endif
+#endif
 
 #if defined(HAVE_OPENCV_CUDAIMGPROC) && defined(HAVE_OPENCV_CUDAOPTFLOW)
     #if !defined HAVE_CUDA || defined(CUDA_DISABLER)
diff --git a/modules/videostab/src/wobble_suppression.cpp b/modules/videostab/src/wobble_suppression.cpp
index 079c511b5d8..961ca5f4a29 100644
--- a/modules/videostab/src/wobble_suppression.cpp
+++ b/modules/videostab/src/wobble_suppression.cpp
@@ -44,10 +44,13 @@
 #include "opencv2/videostab/wobble_suppression.hpp"
 #include "opencv2/videostab/ring_buffer.hpp"
 
-#include "opencv2/core/private.cuda.hpp"
-
 #ifdef HAVE_OPENCV_CUDAWARPING
-#  include "opencv2/cudawarping.hpp"
+#include "opencv2/cudawarping.hpp"
+#if !defined HAVE_CUDA || defined(CUDA_DISABLER)
+#include "opencv2/core/private/cuda_stubs.hpp"
+#else
+#include "opencv2/core/private.cuda.hpp"
+#endif
 #endif
 
 #if defined(HAVE_OPENCV_CUDAWARPING)
diff --git a/modules/xfeatures2d/CMakeLists.txt b/modules/xfeatures2d/CMakeLists.txt
index f30d2ed8c21..bafd4c59bac 100644
--- a/modules/xfeatures2d/CMakeLists.txt
+++ b/modules/xfeatures2d/CMakeLists.txt
@@ -5,6 +5,10 @@ if(HAVE_CUDA)
 endif()
 ocv_define_module(xfeatures2d opencv_core opencv_imgproc opencv_features2d opencv_calib3d OPTIONAL opencv_shape opencv_ml opencv_cudaarithm WRAP python java objc)
 
+if(HAVE_CUDA AND ENABLE_CUDA_FIRST_CLASS_LANGUAGE AND HAVE_opencv_cudaarithm)
+  ocv_target_link_libraries(${the_module} PRIVATE CUDA::cudart${CUDA_LIB_EXT})
+endif()
+
 if(NOT OPENCV_SKIP_FEATURES2D_DOWNLOADING)
   include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/download_vgg.cmake)
   include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/download_boostdesc.cmake)
diff --git a/modules/xfeatures2d/src/precomp.hpp b/modules/xfeatures2d/src/precomp.hpp
index 376999600bc..88c295eaa98 100644
--- a/modules/xfeatures2d/src/precomp.hpp
+++ b/modules/xfeatures2d/src/precomp.hpp
@@ -50,7 +50,11 @@
 
 #include "opencv2/core/utility.hpp"
 #include "opencv2/core/private.hpp"
+#if !defined(HAVE_CUDA) || !defined(HAVE_OPENCV_CUDAARITHM)
+#include "opencv2/core/private/cuda_stubs.hpp"
+#else
 #include "opencv2/core/private.cuda.hpp"
+#endif
 #include "opencv2/core/ocl.hpp"
 
 #include "opencv2/opencv_modules.hpp"