diff --git a/src/SystemLoader.cc b/src/SystemLoader.cc
index 3a78dda509..ab18134643 100644
--- a/src/SystemLoader.cc
+++ b/src/SystemLoader.cc
@@ -78,7 +78,11 @@ class ignition::gazebo::SystemLoaderPrivate
       return false;
     }
 
-    auto pluginName = *pluginNames.begin();
+    std::string pluginName = "";
+    for (const auto &name : pluginNames)
+    {
+      pluginName = name;
+    }
     if (pluginName.empty())
     {
       ignerr << "Failed to load system plugin [" << _filename <<
diff --git a/src/systems/air_pressure/AirPressure.cc b/src/systems/air_pressure/AirPressure.cc
index c3e45a81ec..f3d7931b13 100644
--- a/src/systems/air_pressure/AirPressure.cc
+++ b/src/systems/air_pressure/AirPressure.cc
@@ -140,15 +140,17 @@ void AirPressurePrivate::CreateAirPressureEntities(EntityComponentManager &_ecm)
           data.SetTopic(topic);
         }
         std::unique_ptr<sensors::AirPressureSensor> sensor =
-            this->sensorFactory.CreateSensor<
-            sensors::AirPressureSensor>(data);
-        if (nullptr == sensor)
+          std::make_unique<sensors::AirPressureSensor>();
+        if (!sensor->Load(data))
         {
-          ignerr << "Failed to create sensor [" << sensorScopedName << "]"
-                 << std::endl;
-          return true;
+          ignerr << "Sensor::Load failed for plugin [AirPressureSensor]\n";
+          return false;
+        }
+        if (!sensor->Init())
+        {
+          ignerr << "Sensor::Init failed for plugin [AirPressureSensor]\n";
+          return false;
         }
-
         // set sensor parent
         std::string parentName = _ecm.Component<components::Name>(
             _parent->Data())->Data();
diff --git a/src/systems/altimeter/Altimeter.cc b/src/systems/altimeter/Altimeter.cc
index 65744608a6..740104c756 100644
--- a/src/systems/altimeter/Altimeter.cc
+++ b/src/systems/altimeter/Altimeter.cc
@@ -141,13 +141,16 @@ void AltimeterPrivate::CreateAltimeterEntities(EntityComponentManager &_ecm)
           data.SetTopic(topic);
         }
         std::unique_ptr<sensors::AltimeterSensor> sensor =
-            this->sensorFactory.CreateSensor<
-            sensors::AltimeterSensor>(data);
-        if (nullptr == sensor)
+          std::make_unique<sensors::AltimeterSensor>();
+        if (!sensor->Load(data))
         {
-          ignerr << "Failed to create sensor [" << sensorScopedName << "]"
-                 << std::endl;
-          return true;
+          ignerr << "Sensor::Load failed for plugin [AltimeterSensor]\n";
+          return false;
+        }
+        if (!sensor->Init())
+        {
+          ignerr << "Sensor::Init failed for plugin [AltimeterSensor]\n";
+          return false;
         }
 
         // set sensor parent
diff --git a/src/systems/imu/Imu.cc b/src/systems/imu/Imu.cc
index 6a645a13ec..fff0900ba4 100644
--- a/src/systems/imu/Imu.cc
+++ b/src/systems/imu/Imu.cc
@@ -160,13 +160,16 @@ void ImuPrivate::CreateImuEntities(EntityComponentManager &_ecm)
           data.SetTopic(topic);
         }
         std::unique_ptr<sensors::ImuSensor> sensor =
-            this->sensorFactory.CreateSensor<
-            sensors::ImuSensor>(data);
-        if (nullptr == sensor)
+          std::make_unique<sensors::ImuSensor>();
+        if (!sensor->Load(data))
         {
-          ignerr << "Failed to create sensor [" << sensorScopedName << "]"
-                 << std::endl;
-          return true;
+          ignerr << "Sensor::Load failed for plugin [ImuSensor]\n";
+          return false;
+        }
+        if (!sensor->Init())
+        {
+          ignerr << "Sensor::Init failed for plugin [ImuSensor]\n";
+          return false;
         }
 
         // set sensor parent
diff --git a/src/systems/logical_camera/LogicalCamera.cc b/src/systems/logical_camera/LogicalCamera.cc
index 9a16fcf40c..11ad7da8d1 100644
--- a/src/systems/logical_camera/LogicalCamera.cc
+++ b/src/systems/logical_camera/LogicalCamera.cc
@@ -144,13 +144,16 @@ void LogicalCameraPrivate::CreateLogicalCameraEntities(
           data->GetElement("topic")->Set(topic);
         }
         std::unique_ptr<sensors::LogicalCameraSensor> sensor =
-            this->sensorFactory.CreateSensor<
-            sensors::LogicalCameraSensor>(data);
-        if (nullptr == sensor)
+          std::make_unique<sensors::LogicalCameraSensor>();
+        if (!sensor->Load(data))
         {
-          ignerr << "Failed to create sensor [" << sensorScopedName << "]"
-                 << std::endl;
-          return true;
+          ignerr << "Sensor::Load failed for plugin [LogicalCameraSensor]\n";
+          return false;
+        }
+        if (!sensor->Init())
+        {
+          ignerr << "Sensor::Init failed for plugin [LogicalCameraSensor]\n";
+          return false;
         }
 
         // set sensor parent
diff --git a/src/systems/magnetometer/Magnetometer.cc b/src/systems/magnetometer/Magnetometer.cc
index 227558414b..4dfb3a329a 100644
--- a/src/systems/magnetometer/Magnetometer.cc
+++ b/src/systems/magnetometer/Magnetometer.cc
@@ -156,15 +156,17 @@ void MagnetometerPrivate::CreateMagnetometerEntities(
           data.SetTopic(topic);
         }
         std::unique_ptr<sensors::MagnetometerSensor> sensor =
-            this->sensorFactory.CreateSensor<
-            sensors::MagnetometerSensor>(data);
-        if (nullptr == sensor)
+          std::make_unique<sensors::MagnetometerSensor>();
+        if (!sensor->Load(data))
         {
-          ignerr << "Failed to create sensor [" << sensorScopedName << "]"
-                 << std::endl;
-          return true;
+          ignerr << "Sensor::Load failed for plugin [MagnetometerSensor]\n";
+          return false;
+        }
+        if (!sensor->Init())
+        {
+          ignerr << "Sensor::Init failed for plugin [MagnetometerSensor]\n";
+          return false;
         }
-
         // set sensor parent
         std::string parentName = _ecm.Component<components::Name>(
             _parent->Data())->Data();
diff --git a/src/systems/sensors/CMakeLists.txt b/src/systems/sensors/CMakeLists.txt
index da081b2dff..f8dd886e24 100644
--- a/src/systems/sensors/CMakeLists.txt
+++ b/src/systems/sensors/CMakeLists.txt
@@ -4,10 +4,8 @@ gz_add_system(sensors
   PUBLIC_LINK_LIBS
     ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
     ignition-sensors${IGN_SENSORS_VER}::ignition-sensors${IGN_SENSORS_VER}
+    ${PROJECT_LIBRARY_TARGET_NAME}-rendering
+  PRIVATE_LINK_LIBS
     ignition-sensors${IGN_SENSORS_VER}::camera
-    ignition-sensors${IGN_SENSORS_VER}::gpu_lidar
-    ignition-sensors${IGN_SENSORS_VER}::depth_camera
     ignition-sensors${IGN_SENSORS_VER}::thermal_camera
-    ${PROJECT_LIBRARY_TARGET_NAME}-rendering
 )
-
diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc
index d973d94a60..16a0aaf764 100644
--- a/src/systems/sensors/Sensors.cc
+++ b/src/systems/sensors/Sensors.cc
@@ -498,8 +498,9 @@ std::string Sensors::CreateSensor(const Entity &_entity,
     return std::string();
   }
 
-  // Create within ign-sensors
-  auto sensorId = this->dataPtr->sensorManager.CreateSensor(_sdf);
+  // Create using ign-sensors
+  ignition::sensors::SensorId sensorId =
+    this->dataPtr->sensorManager.CreateSensor(_sdf);
   auto sensor = this->dataPtr->sensorManager.Sensor(sensorId);
 
   // Add to sensorID -> entity map