diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9d96a2f377..9fe359b274 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -3,6 +3,7 @@
     - Build:
       - FIXED: Update Node.js binding path from `lib/binding` to `lib/binding_napi_v8` to match node-pre-gyp versioning conventions [#7272](https://github.com/Project-OSRM/osrm-backend/pull/7272)
       - FIXED: Reduce MSVC compiler warnings by suppressing informational warnings while preserving bug-indicating warnings [#7253](https://github.com/Project-OSRM/osrm-backend/issues/7253)
+      - FIXED: Merge `osrm_extract` and `osrm_guidance` to avoid circular dependencies. [#7315](https://github.com/Project-OSRM/osrm-backend/pull/7315)
       - FIXED: Work around compilation error due to a false-positive of array-bounds check in sol2 [#7317](https://github.com/Project-OSRM/osrm-backend/pull/7317)
     - Misc:
       - ADDED: `SHM_LOCK_DIR` environment variable for shared memory lock file directory [#7312](https://github.com/Project-OSRM/osrm-backend/pull/7312)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e1967feaa8..5ca697969f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -160,8 +160,9 @@ file(GLOB ServerGlob src/server/*.cpp src/server/**/*.cpp)
 file(GLOB EngineGlob src/engine/*.cpp src/engine/**/*.cpp)
 
 add_library(UTIL OBJECT ${UtilGlob})
-add_library(EXTRACTOR OBJECT ${ExtractorGlob})
-add_library(GUIDANCE OBJECT ${GuidanceGlob})
+# For historical reason the guidance and extract code are separate.
+# They are so entangled though (circular dependencies) that separate libraries are not feasible.
+add_library(EXTRACTOR OBJECT ${ExtractorGlob} ${GuidanceGlob})
 add_library(PARTITIONER OBJECT ${PartitionerGlob})
 add_library(CUSTOMIZER OBJECT ${CustomizerGlob})
 add_library(CONTRACTOR OBJECT ${ContractorGlob})
@@ -181,7 +182,6 @@ add_executable(osrm-datastore src/tools/store.cpp $<TARGET_OBJECTS:MICROTAR> $<T
 add_library(osrm src/osrm/osrm.cpp $<TARGET_OBJECTS:ENGINE> $<TARGET_OBJECTS:STORAGE> $<TARGET_OBJECTS:MICROTAR> $<TARGET_OBJECTS:UTIL>)
 add_library(osrm_contract src/osrm/contractor.cpp $<TARGET_OBJECTS:CONTRACTOR> $<TARGET_OBJECTS:UTIL>)
 add_library(osrm_extract src/osrm/extractor.cpp $<TARGET_OBJECTS:EXTRACTOR> $<TARGET_OBJECTS:MICROTAR> $<TARGET_OBJECTS:UTIL>)
-add_library(osrm_guidance $<TARGET_OBJECTS:GUIDANCE> $<TARGET_OBJECTS:UTIL>)
 add_library(osrm_partition src/osrm/partitioner.cpp $<TARGET_OBJECTS:PARTITIONER> $<TARGET_OBJECTS:MICROTAR> $<TARGET_OBJECTS:UTIL>)
 add_library(osrm_customize src/osrm/customizer.cpp $<TARGET_OBJECTS:CUSTOMIZER> $<TARGET_OBJECTS:MICROTAR> $<TARGET_OBJECTS:UTIL>)
 add_library(osrm_update $<TARGET_OBJECTS:UPDATER> $<TARGET_OBJECTS:MICROTAR> $<TARGET_OBJECTS:UTIL>)
@@ -483,12 +483,6 @@ set(EXTRACTOR_LIBRARIES
     ${TBB_LIBRARIES}
     ${ZLIB_LIBRARY}
     ${MAYBE_COVERAGE_LIBRARIES})
-set(GUIDANCE_LIBRARIES
-    ${BOOST_BASE_LIBRARIES}
-    ${CMAKE_THREAD_LIBS_INIT}
-    ${LUA_LIBRARIES}
-    ${TBB_LIBRARIES}
-    ${MAYBE_COVERAGE_LIBRARIES})
 set(PARTITIONER_LIBRARIES
     ${BOOST_ENGINE_LIBRARIES}
     ${CMAKE_THREAD_LIBS_INIT}
@@ -540,7 +534,7 @@ set(UTIL_LIBRARIES
 target_link_libraries(osrm ${ENGINE_LIBRARIES})
 target_link_libraries(osrm_update ${UPDATER_LIBRARIES})
 target_link_libraries(osrm_contract ${CONTRACTOR_LIBRARIES} osrm_update osrm_store)
-target_link_libraries(osrm_extract osrm_guidance ${EXTRACTOR_LIBRARIES})
+target_link_libraries(osrm_extract ${EXTRACTOR_LIBRARIES})
 target_link_libraries(osrm_partition ${PARTITIONER_LIBRARIES})
 target_link_libraries(osrm_customize ${CUSTOMIZER_LIBRARIES} osrm_update osrm_store)
 target_link_libraries(osrm_store ${STORAGE_LIBRARIES})
@@ -607,7 +601,6 @@ install(TARGETS osrm_customize DESTINATION lib)
 install(TARGETS osrm_update DESTINATION lib)
 install(TARGETS osrm_contract DESTINATION lib)
 install(TARGETS osrm_store DESTINATION lib)
-install(TARGETS osrm_guidance DESTINATION lib)
 
 # Install profiles and support library to /usr/local/share/osrm/profiles by default
 set(DefaultProfilesDir profiles)
diff --git a/unit_tests/CMakeLists.txt b/unit_tests/CMakeLists.txt
index c3cd7b09c4..ac5f6b2b7e 100644
--- a/unit_tests/CMakeLists.txt
+++ b/unit_tests/CMakeLists.txt
@@ -160,12 +160,12 @@ target_include_directories(contractor-tests PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_include_directories(storage-tests PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 target_link_libraries(engine-tests ${ENGINE_LIBRARIES} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
-target_link_libraries(extractor-tests osrm_extract osrm_guidance ${EXTRACTOR_LIBRARIES} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
+target_link_libraries(extractor-tests osrm_extract ${EXTRACTOR_LIBRARIES} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
 target_link_libraries(partitioner-tests osrm_partition ${PARTITIONER_LIBRARIES} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
 target_link_libraries(customizer-tests osrm_customize ${CUSTOMIZER_LIBRARIES} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
 target_link_libraries(updater-tests osrm_update ${UPDATER_LIBRARIES} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
 target_link_libraries(library-tests osrm ${ENGINE_LIBRARIES} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
-target_link_libraries(library-extract-tests osrm_extract osrm_guidance ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
+target_link_libraries(library-extract-tests osrm_extract ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
 target_link_libraries(library-contract-tests osrm_contract ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
 target_link_libraries(library-customize-tests osrm_customize ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
 target_link_libraries(library-partition-tests osrm_partition ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})