diff --git a/CMakeLists.txt b/CMakeLists.txt
index b48d3fc25..64995b639 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -431,7 +431,7 @@ if ((VIAMCPPSDK_GRPCXX_VERSION VERSION_GREATER 1.51.1) AND (VIAMCPPSDK_PROTOC_VE
 endif()
 
 if (VIAMCPPSDK_GRPCXX_VERSION VERSION_LESS 1.32.0)
-  set(VIAMCPPSDK_GRPCXX_LEGACY_CLIENT_FWD 1)
+  set(VIAMCPPSDK_GRPCXX_LEGACY_FWD 1)
 endif()
 
 include(FetchContent)
diff --git a/src/viam/sdk/CMakeLists.txt b/src/viam/sdk/CMakeLists.txt
index fe5982e1f..ad2bfe793 100644
--- a/src/viam/sdk/CMakeLists.txt
+++ b/src/viam/sdk/CMakeLists.txt
@@ -30,7 +30,7 @@ message(WARNING "api proto label is ${VIAMCPPSDK_API_PROTO_LABEL}")
 configure_file(common/private/version_metadata.hpp.in common/private/version_metadata.hpp @ONLY)
 
 # Configure the grpc client forward declarations file
-configure_file(common/grpc_client_fwd.hpp.in common/grpc_client_fwd.hpp)
+configure_file(common/grpc_fwd.hpp.in common/grpc_fwd.hpp)
 
 # Set compile and link options based on arguments
 if (VIAMCPPSDK_USE_WALL_WERROR)
@@ -192,7 +192,7 @@ target_sources(viamsdk
       ../../viam/sdk/spatialmath/geometry.hpp
       ../../viam/sdk/spatialmath/orientation.hpp
       ../../viam/sdk/spatialmath/orientation_types.hpp
-      ${CMAKE_CURRENT_BINARY_DIR}/../../viam/sdk/common/grpc_client_fwd.hpp
+      ${CMAKE_CURRENT_BINARY_DIR}/../../viam/sdk/common/grpc_fwd.hpp
 )
 
 set_target_properties(
diff --git a/src/viam/sdk/common/client_helper.hpp b/src/viam/sdk/common/client_helper.hpp
index 27171c9e0..f4fb5406a 100644
--- a/src/viam/sdk/common/client_helper.hpp
+++ b/src/viam/sdk/common/client_helper.hpp
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <viam/sdk/common/exception.hpp>
-#include <viam/sdk/common/grpc_client_fwd.hpp>
+#include <viam/sdk/common/grpc_fwd.hpp>
 #include <viam/sdk/common/private/utils.hpp>
 #include <viam/sdk/common/proto_value.hpp>
 
diff --git a/src/viam/sdk/common/grpc_client_fwd.hpp.in b/src/viam/sdk/common/grpc_client_fwd.hpp.in
deleted file mode 100644
index a855586df..000000000
--- a/src/viam/sdk/common/grpc_client_fwd.hpp.in
+++ /dev/null
@@ -1,63 +0,0 @@
-#pragma once
-
-#cmakedefine VIAMCPPSDK_GRPCXX_LEGACY_CLIENT_FWD
-
-#ifndef VIAMCPPSDK_GRPCXX_LEGACY_CLIENT_FWD
-
-// Forward declaration file for grpc ClientContext and ClientReaderInterface<T>.
-// This file provides includes for recent (>= 1.32.0) versions of grpc.
-
-namespace grpc {
-
-class Channel;
-
-class ClientContext;
-
-template <typename>
-class ClientReaderInterface;
-
-}  // namespace grpc
-
-namespace viam {
-namespace sdk {
-
-using GrpcChannel = ::grpc::Channel;
-
-using GrpcClientContext = ::grpc::ClientContext;
-
-template <typename T>
-using GrpcClientReaderInterface = ::grpc::ClientReaderInterface<T>;
-
-}  // namespace sdk
-}  // namespace viam
-
-#else
-
-// Forward declaration file for grpc ClientContext and ClientReaderInterface<T>.
-// This file provides includes for the oldest supported versions of grpc (< 1.32.0).
-
-namespace grpc_impl {
-
-class Channel;
-
-class ClientContext;
-
-template <typename>
-class ClientReaderInterface;
-
-}  // namespace grpc_impl
-
-namespace viam {
-namespace sdk {
-
-using GrpcChannel = ::grpc_impl::Channel;
-
-using GrpcClientContext = ::grpc_impl::ClientContext;
-
-template <typename T>
-using GrpcClientReaderInterface = ::grpc_impl::ClientReaderInterface<T>;
-
-}  // namespace sdk
-}  // namespace viam
-
-#endif
diff --git a/src/viam/sdk/common/grpc_fwd.hpp.in b/src/viam/sdk/common/grpc_fwd.hpp.in
new file mode 100644
index 000000000..39bafd3ac
--- /dev/null
+++ b/src/viam/sdk/common/grpc_fwd.hpp.in
@@ -0,0 +1,89 @@
+#pragma once
+
+#cmakedefine VIAMCPPSDK_GRPCXX_LEGACY_FWD
+
+// Forward declaration file grpc client and server types.
+// This file provides includes for recent (>= 1.32.0) versions of grpc or older
+// versions, depending on if `VIAMCPPSDK_GRPCXX_LEGACY_FWD` is defined.
+// The default behavior is for the variable to be undefined, providing the behavior for recent
+// versions. If you are experiencing compilation errors in an installed version of the SDK it may be
+// due to a mismatch with the configured version of this header and the grpc version found by the
+// compiler. You may wish to comment/uncomment the define above as needed, or add the definition
+// with `-D` to the compiler.
+#ifndef VIAMCPPSDK_GRPCXX_LEGACY_FWD
+
+namespace grpc {
+
+class Channel;
+
+class ClientContext;
+
+template <typename>
+class ClientReaderInterface;
+
+class Server;
+
+class ServerBuilder;
+
+class ServerCredentials;
+
+}  // namespace grpc
+
+namespace viam {
+namespace sdk {
+
+using GrpcChannel = ::grpc::Channel;
+
+using GrpcClientContext = ::grpc::ClientContext;
+
+template <typename T>
+using GrpcClientReaderInterface = ::grpc::ClientReaderInterface<T>;
+
+using GrpcServer = ::grpc::Server;
+
+using GrpcServerBuilder = ::grpc::ServerBuilder;
+
+using GrpcServerCredentials = ::grpc::ServerCredentials;
+
+}  // namespace sdk
+}  // namespace viam
+
+#else
+
+namespace grpc_impl {
+
+class Channel;
+
+class ClientContext;
+
+template <typename>
+class ClientReaderInterface;
+
+class Server;
+
+class ServerBuilder;
+
+class ServerCredentials;
+
+}  // namespace grpc_impl
+
+namespace viam {
+namespace sdk {
+
+using GrpcChannel = ::grpc_impl::Channel;
+
+using GrpcClientContext = ::grpc_impl::ClientContext;
+
+template <typename T>
+using GrpcClientReaderInterface = ::grpc_impl::ClientReaderInterface<T>;
+
+using GrpcServer = ::grpc_impl::Server;
+
+using GrpcServerBuilder = ::grpc_impl::ServerBuilder;
+
+using GrpcServerCredentials = ::grpc_impl::ServerCredentials;
+
+}  // namespace sdk
+}  // namespace viam
+
+#endif
diff --git a/src/viam/sdk/module/module.hpp b/src/viam/sdk/module/module.hpp
index cdbe48f04..661da0f5f 100644
--- a/src/viam/sdk/module/module.hpp
+++ b/src/viam/sdk/module/module.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <viam/sdk/common/grpc_client_fwd.hpp>
+#include <viam/sdk/common/grpc_fwd.hpp>
 #include <viam/sdk/module/handler_map.hpp>
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/resource/resource_manager.hpp>
diff --git a/src/viam/sdk/registry/registry.hpp b/src/viam/sdk/registry/registry.hpp
index 291ef11ef..b00d98833 100644
--- a/src/viam/sdk/registry/registry.hpp
+++ b/src/viam/sdk/registry/registry.hpp
@@ -5,12 +5,7 @@
 
 #include <string>
 
-#include <google/protobuf/descriptor.h>
-#include <google/protobuf/message.h>
-#include <grpcpp/impl/service_type.h>
-#include <grpcpp/server.h>
-
-#include <viam/sdk/common/grpc_client_fwd.hpp>
+#include <viam/sdk/common/grpc_fwd.hpp>
 #include <viam/sdk/config/resource.hpp>
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/resource/resource_api.hpp>
@@ -18,13 +13,21 @@
 #include <viam/sdk/resource/resource_server_base.hpp>
 #include <viam/sdk/rpc/server.hpp>
 
+namespace google {
+namespace protobuf {
+
+class ServiceDescriptor;
+
+}
+}  // namespace google
+
 namespace viam {
 namespace sdk {
 
 // TODO(RSDK-6617): one class per header
 class ResourceServerRegistration {
    public:
-    ResourceServerRegistration(const google::protobuf::ServiceDescriptor* service_descriptor);
+    ResourceServerRegistration(const ::google::protobuf::ServiceDescriptor* service_descriptor);
 
     virtual ~ResourceServerRegistration();
 
@@ -36,10 +39,10 @@ class ResourceServerRegistration {
         std::shared_ptr<ResourceManager> manager, Server& server) const = 0;
 
     /// @brief Returns a reference to the `ResourceServerRegistration`'s service descriptor.
-    const google::protobuf::ServiceDescriptor* service_descriptor() const;
+    const ::google::protobuf::ServiceDescriptor* service_descriptor() const;
 
    private:
-    const google::protobuf::ServiceDescriptor* service_descriptor_;
+    const ::google::protobuf::ServiceDescriptor* service_descriptor_;
 };
 
 /// @class ResourceClientRegistration registry.hpp "registry/registry.hpp"
diff --git a/src/viam/sdk/robot/client.hpp b/src/viam/sdk/robot/client.hpp
index 8ba74f281..a86b4361a 100644
--- a/src/viam/sdk/robot/client.hpp
+++ b/src/viam/sdk/robot/client.hpp
@@ -3,10 +3,11 @@
 /// @brief gRPC client implementation for a `robot`.
 #pragma once
 
+#include <atomic>
 #include <string>
 #include <thread>
 
-#include <viam/sdk/common/grpc_client_fwd.hpp>
+#include <viam/sdk/common/grpc_fwd.hpp>
 #include <viam/sdk/common/pose.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/common/world_state.hpp>
diff --git a/src/viam/sdk/rpc/dial.hpp b/src/viam/sdk/rpc/dial.hpp
index 1419b6193..a8e2bf07a 100644
--- a/src/viam/sdk/rpc/dial.hpp
+++ b/src/viam/sdk/rpc/dial.hpp
@@ -6,7 +6,7 @@
 
 #include <boost/optional.hpp>
 
-#include <viam/sdk/common/grpc_client_fwd.hpp>
+#include <viam/sdk/common/grpc_fwd.hpp>
 
 namespace viam {
 namespace sdk {
diff --git a/src/viam/sdk/rpc/server.cpp b/src/viam/sdk/rpc/server.cpp
index 94bb72542..408f23bf6 100644
--- a/src/viam/sdk/rpc/server.cpp
+++ b/src/viam/sdk/rpc/server.cpp
@@ -3,7 +3,10 @@
 #include <sstream>
 
 #include <boost/log/trivial.hpp>
+
+#include <grpcpp/impl/service_type.h>
 #include <grpcpp/security/server_credentials.h>
+#include <grpcpp/server_builder.h>
 
 #include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/registry/registry.hpp>
diff --git a/src/viam/sdk/rpc/server.hpp b/src/viam/sdk/rpc/server.hpp
index 6d9c8ba7b..e735a6351 100644
--- a/src/viam/sdk/rpc/server.hpp
+++ b/src/viam/sdk/rpc/server.hpp
@@ -3,14 +3,17 @@
 /// @brief Defines the `Server` class.
 #pragma once
 
-#include <grpcpp/impl/service_type.h>
-#include <grpcpp/security/server_credentials.h>
-#include <grpcpp/server_builder.h>
-
+#include <viam/sdk/common/grpc_fwd.hpp>
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/resource/resource_api.hpp>
 #include <viam/sdk/resource/resource_server_base.hpp>
 
+namespace grpc {
+
+class Service;
+
+}  // namespace grpc
+
 namespace viam {
 
 // needed for later `friend` declaration.
@@ -35,7 +38,7 @@ class Server {
     /// @brief Registers a gRPC service.
     /// @param service The gRPC service to be registered.
     /// @throws `Exception` if called after the server has been `start`ed.
-    void register_service(grpc::Service* service);
+    void register_service(::grpc::Service* service);
 
     /// @brief Returns reference to managed resource server.
     /// @param api The api of the managed resource server.
@@ -52,7 +55,7 @@ class Server {
     /// @param creds The server credentials; defaults to a insecure server credentials.
     /// @throws `Exception` if called after the server has been `start`ed.
     void add_listening_port(const std::string& address,
-                            std::shared_ptr<grpc::ServerCredentials> creds = nullptr);
+                            std::shared_ptr<GrpcServerCredentials> creds = nullptr);
 
     /// @brief waits on server close, only returning when the server is closed.
     void wait();
@@ -65,8 +68,8 @@ class Server {
 
    private:
     std::unordered_map<API, std::shared_ptr<ResourceServer>> managed_servers_;
-    std::unique_ptr<grpc::ServerBuilder> builder_;
-    std::unique_ptr<grpc::Server> server_;
+    std::unique_ptr<GrpcServerBuilder> builder_;
+    std::unique_ptr<GrpcServer> server_;
 };
 
 }  // namespace sdk