diff --git a/bindings/pydrake/manipulation/BUILD.bazel b/bindings/pydrake/manipulation/BUILD.bazel
index 1a3a155b59c3..bee90e94fb93 100644
--- a/bindings/pydrake/manipulation/BUILD.bazel
+++ b/bindings/pydrake/manipulation/BUILD.bazel
@@ -38,6 +38,7 @@ drake_pybind_library(
     package_info = PACKAGE_INFO,
     py_deps = [
         "//bindings/pydrake/systems:framework_py",
+        "//bindings/pydrake/systems:primitives_py",
     ],
     py_srcs = [
         "_manipulation_extra.py",
diff --git a/bindings/pydrake/manipulation/manipulation_py.cc b/bindings/pydrake/manipulation/manipulation_py.cc
index 096098a80c85..dbb1b8c1d02a 100644
--- a/bindings/pydrake/manipulation/manipulation_py.cc
+++ b/bindings/pydrake/manipulation/manipulation_py.cc
@@ -7,6 +7,7 @@ PYBIND11_MODULE(manipulation, m) {
   PYDRAKE_PREVENT_PYTHON3_MODULE_REIMPORT(m);
 
   py::module::import("pydrake.systems.framework");
+  py::module::import("pydrake.systems.primitives");
 
   // The order of these calls matters. Some modules rely on prior definitions.
   internal::DefineManipulationKukaIiwa(m);
diff --git a/bindings/pydrake/multibody/BUILD.bazel b/bindings/pydrake/multibody/BUILD.bazel
index 57675312309b..64bde89651e7 100644
--- a/bindings/pydrake/multibody/BUILD.bazel
+++ b/bindings/pydrake/multibody/BUILD.bazel
@@ -161,6 +161,7 @@ drake_pybind_library(
     package_info = PACKAGE_INFO,
     py_deps = [
         ":module_py",
+        ":tree_py",
     ],
 )
 
@@ -198,6 +199,7 @@ drake_pybind_library(
     py_deps = [
         ":module_py",
         ":plant_py",
+        "//bindings/pydrake/planning",
         "//bindings/pydrake/solvers",
     ],
 )
@@ -217,6 +219,7 @@ drake_pybind_library(
         ":module_py",
         ":plant_py",
         "//bindings/pydrake/solvers",
+        "//bindings/pydrake:trajectories_py",
     ],
 )
 
diff --git a/bindings/pydrake/multibody/inverse_kinematics_py.cc b/bindings/pydrake/multibody/inverse_kinematics_py.cc
index bb6b543cdbf1..ed8f9ad3c532 100644
--- a/bindings/pydrake/multibody/inverse_kinematics_py.cc
+++ b/bindings/pydrake/multibody/inverse_kinematics_py.cc
@@ -60,6 +60,7 @@ PYBIND11_MODULE(inverse_kinematics, m) {
 
   py::module::import("pydrake.math");
   py::module::import("pydrake.multibody.plant");
+  py::module::import("pydrake.planning");
   py::module::import("pydrake.solvers");
 
   {
diff --git a/bindings/pydrake/multibody/optimization_py.cc b/bindings/pydrake/multibody/optimization_py.cc
index 48112e8fc13e..6d32cb412cb4 100644
--- a/bindings/pydrake/multibody/optimization_py.cc
+++ b/bindings/pydrake/multibody/optimization_py.cc
@@ -24,6 +24,7 @@ PYBIND11_MODULE(optimization, m) {
   py::module::import("pydrake.math");
   py::module::import("pydrake.multibody.plant");
   py::module::import("pydrake.solvers");
+  py::module::import("pydrake.trajectories");
 
   {
     using Class = CalcGridPointsOptions;
diff --git a/bindings/pydrake/multibody/parsing_py.cc b/bindings/pydrake/multibody/parsing_py.cc
index 832590d17405..4496c67f6282 100644
--- a/bindings/pydrake/multibody/parsing_py.cc
+++ b/bindings/pydrake/multibody/parsing_py.cc
@@ -24,6 +24,7 @@ PYBIND11_MODULE(parsing, m) {
   constexpr auto& doc = pydrake_doc.drake.multibody;
 
   py::module::import("pydrake.common.schema");
+  py::module::import("pydrake.multibody.tree");
 
   // CollisionFilterGroups
   {
diff --git a/bindings/pydrake/multibody/tree_py.cc b/bindings/pydrake/multibody/tree_py.cc
index 4297e30cb060..21dc0384218c 100644
--- a/bindings/pydrake/multibody/tree_py.cc
+++ b/bindings/pydrake/multibody/tree_py.cc
@@ -1167,6 +1167,7 @@ PYBIND11_MODULE(tree, m) {
 
   py::module::import("pydrake.common.eigen_geometry");
   py::module::import("pydrake.multibody.math");
+  py::module::import("pydrake.systems.framework");
 
   internal::DefineTreeInertia(m);
   DoScalarIndependentDefinitions(m);
diff --git a/bindings/pydrake/systems/BUILD.bazel b/bindings/pydrake/systems/BUILD.bazel
index 51eca6782b4a..a2b859cc9a99 100644
--- a/bindings/pydrake/systems/BUILD.bazel
+++ b/bindings/pydrake/systems/BUILD.bazel
@@ -88,6 +88,7 @@ drake_pybind_library(
     py_deps = [
         ":framework_py",
         ":module_py",
+        "//bindings/pydrake:trajectories_py",
     ],
 )
 
@@ -107,6 +108,7 @@ drake_pybind_library(
     py_deps = [
         ":framework_py",
         ":module_py",
+        "//bindings/pydrake:trajectories_py",
         "//bindings/pydrake/solvers",
     ],
 )
@@ -140,6 +142,7 @@ drake_pybind_library(
     py_deps = [
         ":framework_py",
         ":module_py",
+        ":primitives_py",
     ],
 )
 
diff --git a/bindings/pydrake/systems/analysis_py.cc b/bindings/pydrake/systems/analysis_py.cc
index 3540e0582f3a..169051b95fcc 100644
--- a/bindings/pydrake/systems/analysis_py.cc
+++ b/bindings/pydrake/systems/analysis_py.cc
@@ -44,6 +44,7 @@ PYBIND11_MODULE(analysis, m) {
 
   py::module::import("pydrake.systems.framework");
   py::module::import("pydrake.solvers");
+  py::module::import("pydrake.trajectories");
 
   {
     using Class = SimulatorConfig;
diff --git a/bindings/pydrake/systems/estimators_py.cc b/bindings/pydrake/systems/estimators_py.cc
index ba63dd89bdef..4a16f1ffdb22 100644
--- a/bindings/pydrake/systems/estimators_py.cc
+++ b/bindings/pydrake/systems/estimators_py.cc
@@ -16,6 +16,7 @@ PYBIND11_MODULE(estimators, m) {
   using drake::systems::System;
 
   py::module::import("pydrake.systems.framework");
+  py::module::import("pydrake.systems.primitives");
 
   {
     using Class = LuenbergerObserver<double>;
diff --git a/bindings/pydrake/systems/primitives_py.cc b/bindings/pydrake/systems/primitives_py.cc
index 63f4daada29a..0f7a3fd0a612 100644
--- a/bindings/pydrake/systems/primitives_py.cc
+++ b/bindings/pydrake/systems/primitives_py.cc
@@ -52,6 +52,7 @@ PYBIND11_MODULE(primitives, m) {
   constexpr auto& doc = pydrake_doc.drake.systems;
 
   py::module::import("pydrake.systems.framework");
+  py::module::import("pydrake.trajectories");
 
   py::enum_<PerceptronActivationType>(
       m, "PerceptronActivationType", doc.PerceptronActivationType.doc)