Well, I created a bbappend for this recipe:

PACKAGECONFIG:remove = "programs"
PACKAGES:remove = " ${PN}-programs"

EXTRA_OECMAKE = "\
    -DCMAKE_INSTALL_PREFIX=${exec_prefix} \
    -DCMAKE_INSTALL_LIBDIR=lib \
"

Which seems to fix the issue (it will add ${_IMPORT_PREFIX} to the cmake config) but it looks like a workarround