Error during installation: "no type named Jacobian"

I am trying to install GPMP2. CMake runs fine but in running "make install" or any variant of it (make -j4, make -j8, make check) I get the following error:

In file included from /home/carternoh/gpmp2/gpmp2/geometry/ProductDynamicLieGroup.h:13,
from /home/carternoh/gpmp2/gpmp2/geometry/Pose2Vector.h:13,
from /home/carternoh/gpmp2/gpmp2/kinematics/Pose2Mobile2Arms.h:11,
from /home/carternoh/gpmp2/gpmp2/kinematics/Pose2Mobile2Arms.cpp:8:
/usr/local/include/gtsam/base/ProductLieGroup.h: In instantiation of ‘class gtsam::ProductLieGroup’:
/home/carternoh/gpmp2/gpmp2/geometry/ProductDynamicLieGroup.h:22:7: required from ‘class gpmp2::ProductDynamicLieGroup’
/home/carternoh/gpmp2/gpmp2/geometry/Pose2Vector.h:26:14: required from here
/usr/local/include/gtsam/base/ProductLieGroup.h:76:9: error: no type named ‘Jacobian’ in ‘struct gtsam::traits’
76 | using Jacobian2 = typename traits::Jacobian;
| ^~~~~~~~~

I installed GTSAM from source locally with the python flag/wrapper enabled (cmake .. -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=3.13.12 -DCMAKE_BUILD_TYPE=Debug).

GTSAM seems to expect the DynamicVector class from GPMP2 to have a Jacobian trait, but it doesn't. This seems like a pretty basic issue that should have been caught a long time ago though - how has this not caused issues before? Is this something wrong with my installation of GPMP2? Or is this a versioning issue with the version of gtsam I installed (latest as of today, I believe 4.3a1)?