diff --git a/Sofa/Component/ODESolver/Backward/compat/sofa/component/odesolver/backward/init.cpp b/Sofa/Component/ODESolver/Backward/compat/sofa/component/odesolver/backward/init.cpp
index dca9ae052e2..262bb763764 100644
--- a/Sofa/Component/ODESolver/Backward/compat/sofa/component/odesolver/backward/init.cpp
+++ b/Sofa/Component/ODESolver/Backward/compat/sofa/component/odesolver/backward/init.cpp
@@ -27,7 +27,7 @@
 
 namespace sofa::component::odesolver::backward
 {
-    
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
@@ -52,13 +52,27 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
+    const auto isLoaded = sofa::helper::system::PluginManager::getInstance().isPluginLoaded(Sofa.Component.IntegrationScheme.Backward);
+    bool objLoaded = false;
+
+    if (isLoaded.second)
+    {
+        objLoaded = factory->registerObjectsFromPlugin(Sofa.Component.IntegrationScheme.Backward);
 
+        if (!objLoaded)
+            msg_error_once("Sofa.Component.ODESolver.Backward")<<"Registering objects from Sofa.Component.IntegrationScheme.Backward failed.";
+    }
 }
 
 void init()
 {
     msg_deprecated_once(MODULE_NAME)<<"This plugin is empty since v26.12 and will be removed in v27.12, load Sofa.Component.IntegrationScheme.Backward instead.";
+    auto status = sofa::helper::system::PluginManager::getInstance().loadPluginByName(Sofa.Component.IntegrationScheme.Backward) ;
 
+    if (status <= sofa::helper::system::PluginManager::PluginLoadStatus::ALREADY_LOADED)
+        msg_info_once("Sofa.Component.ODESolver.Backward")<<"Sofa.Component.IntegrationScheme.Backward has been loaded automatically.";
+    else
+        msg_error_once("Sofa.Component.ODESolver.Backward")<<"Tried to load Sofa.Component.IntegrationScheme.Backward automatically but failed.";
 }
 
 } // namespace sofa::component::odesolver::backward
diff --git a/Sofa/Component/ODESolver/CMakeLists.txt b/Sofa/Component/ODESolver/CMakeLists.txt
index 05314933754..5940ba021af 100644
--- a/Sofa/Component/ODESolver/CMakeLists.txt
+++ b/Sofa/Component/ODESolver/CMakeLists.txt
@@ -16,8 +16,10 @@ set(SOURCE_FILES
     ${SOFACOMPONENTODESOLVER_SOURCE_DIR}/init.cpp
 )
 
+sofa_find_package(Sofa.Component.IntegrationScheme REQUIRED)
+
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
-target_link_libraries(${PROJECT_NAME} PUBLIC ${SOFACOMPONENTODESOLVER_TARGETS})
+target_link_libraries(${PROJECT_NAME} PUBLIC ${SOFACOMPONENTODESOLVER_TARGETS} Sofa.Component.IntegrationScheme)
 
 sofa_create_package_with_targets(
     PACKAGE_NAME ${PROJECT_NAME}
diff --git a/Sofa/Component/ODESolver/Forward/compat/sofa/component/odesolver/forward/init.cpp b/Sofa/Component/ODESolver/Forward/compat/sofa/component/odesolver/forward/init.cpp
index a4d3751f83e..7af9521bbdb 100644
--- a/Sofa/Component/ODESolver/Forward/compat/sofa/component/odesolver/forward/init.cpp
+++ b/Sofa/Component/ODESolver/Forward/compat/sofa/component/odesolver/forward/init.cpp
@@ -19,15 +19,15 @@
 *                                                                             *
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
-#include <sofa/component/odesolver/forward/init.h>
 
+#include <sofa/Modules.h>
+#include <sofa/component/odesolver/forward/init.h>
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/helper/system/PluginManager.h>
-#include <sofa/Modules.h>
 
 namespace sofa::component::odesolver::forward
 {
-    
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
@@ -52,12 +52,27 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
+    const auto isLoaded = sofa::helper::system::PluginManager::getInstance().isPluginLoaded(Sofa.Component.IntegrationScheme.Forward);
+    bool objLoaded = false;
+
+    if (isLoaded.second)
+    {
+        objLoaded = factory->registerObjectsFromPlugin(Sofa.Component.IntegrationScheme.Forward);
 
+        if (!objLoaded)
+            msg_error_once("Sofa.Component.ODESolver.Forward")<<"Registering objects from Sofa.Component.IntegrationScheme.Forward failed.";
+    }
 }
 
 void init()
 {
     msg_deprecated_once(MODULE_NAME)<<"This plugin is empty since v26.12 and will be removed in v27.12, load Sofa.Component.IntegrationScheme.Forward instead.";
+    auto status = sofa::helper::system::PluginManager::getInstance().loadPluginByName(Sofa.Component.IntegrationScheme.Forward) ;
+
+    if (status <= sofa::helper::system::PluginManager::PluginLoadStatus::ALREADY_LOADED)
+        msg_info_once("Sofa.Component.ODESolver.Forward")<<"Sofa.Component.IntegrationScheme.Forward has been loaded automatically.";
+    else
+        msg_error_once("Sofa.Component.ODESolver.Forward")<<"Tried to load Sofa.Component.IntegrationScheme.Forward automatically but failed.";
 }
 
 } // namespace sofa::component::odesolver::forward
diff --git a/Sofa/Component/ODESolver/Sofa.Component.ODESolverConfig.cmake.in b/Sofa/Component/ODESolver/Sofa.Component.ODESolverConfig.cmake.in
index fd6e05d58cd..19a9d63728c 100644
--- a/Sofa/Component/ODESolver/Sofa.Component.ODESolverConfig.cmake.in
+++ b/Sofa/Component/ODESolver/Sofa.Component.ODESolverConfig.cmake.in
@@ -21,6 +21,7 @@ foreach(target ${SOFACOMPONENTODESOLVER_SOURCE_DIR})
 endforeach()
 
 sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED)
+sofa_find_package(Sofa.Component.IntegrationScheme QUIET REQUIRED)
 
 if(NOT TARGET @PROJECT_NAME@)
     include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
diff --git a/Sofa/Component/ODESolver/compat/sofa/component/odesolver/init.cpp b/Sofa/Component/ODESolver/compat/sofa/component/odesolver/init.cpp
index f93c3510f03..820c55d3075 100644
--- a/Sofa/Component/ODESolver/compat/sofa/component/odesolver/init.cpp
+++ b/Sofa/Component/ODESolver/compat/sofa/component/odesolver/init.cpp
@@ -27,7 +27,7 @@
 
 namespace sofa::component::odesolver
 {
-    
+
 extern "C" {
     SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
     SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
@@ -52,12 +52,29 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
+    const auto isLoaded = sofa::helper::system::PluginManager::getInstance().isPluginLoaded(Sofa.Component.IntegrationScheme);
+    bool objLoaded = true;
+
+    if (isLoaded.second)
+    {
 
+        objLoaded &= factory->registerObjectsFromPlugin(Sofa.Component.IntegrationScheme.Backward);
+        objLoaded &= factory->registerObjectsFromPlugin(Sofa.Component.IntegrationScheme.Forward);
+
+        if (!objLoaded)
+            msg_error_once("Sofa.Component.ODESolver")<<"Registering objects from Sofa.Component.IntegrationScheme failed.";
+    }
 }
 
 void init()
 {
-    msg_deprecated_once(MODULE_NAME)<<"This plugin and its sub-plugins are empty since v26.12 and will be removed in v27.12, load Sofa.Component.IntegrationScheme instead.";
+    msg_deprecated_once(MODULE_NAME)<<"This plugin is empty since v26.12 and will be removed in v27.12, load Sofa.Component.IntegrationScheme instead.";
+    auto status = sofa::helper::system::PluginManager::getInstance().loadPluginByName(Sofa.Component.IntegrationScheme) ;
+
+    if (status <= sofa::helper::system::PluginManager::PluginLoadStatus::ALREADY_LOADED)
+        msg_info_once("Sofa.Component.ODESolver")<<"Sofa.Component.IntegrationScheme has been loaded automatically.";
+    else
+        msg_error_once("Sofa.Component.ODESolver")<<"Tried to load Sofa.Component.IntegrationScheme automatically but failed.";
 }
 
 } // namespace sofa::component::integrationscheme