You should create real libraries, not just header files.
Then use lib_deps
in combination of symlinks
to point to those libraries from different projects.
See Creating a library
See Local folder
If you use a file structure like this:
.
├── libraries
│ ├── LibA
│ │ ├── src
│ │ │ ├── LibA.cpp
│ │ │ └── LibA.h
│ │ └── library.json
│ ├── LibB
│ └── LibC
└── projects
├── ProjectA
│ ├── include
│ ├── lib
│ ├── src
│ │ └── main.cpp
│ ├── test
│ └── platformio.ini
├── ProjectB
├── ProjectC
└── ProjectD
You can reference your libraries from the projects by
lib_deps =
symlink://../../libraries/LibA