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I came from doing mostly JS where all this has been a solved issue for a long time and I'm the polar opposite of what you describe in this. The result of that is the culmination of my desire to make things as simple (or at least as closely as possible) as there using existing tools: cmake-init
I would say simple things are simple. CMake does use RPATH on RPATH compatible platforms, there is no need to copy DLLs. In fact, if the DLL depends on assets relative ot its location now you are just digging a deep hole for yourself for no good reason. On platforms where RPATH is not supported (Windows), you should make DLLs available via PATH, which Just Works tm. This is a shortcoming of Windows. You are free to forward your complaints to Microsoft. Regardless, here's some help with the PATH thing.
Take a look at https://github.com/cppfw/prorab it is a framework for simplifying makefiles, perhaps with it your makefiles will be shorter than CMake files.
vcpkg now supports manifests and versions. You can have a vcpkg.json file in your project where you specify which packages and which versions of those packages you depend on.