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Yes, you'll need to link against whatever your plugin needs, as the future host of your plugin (which could be anything) does not (and cannot) 'know' what dependencies a plugin might have.

Symbols needed by dynamic libraries are resolved at run-/load time by the loader, and if something can't be found, you'll run into the undefined reference errors you mention.

You could potentially save some bytes by verifying which symbols your potential host(s) already have access to, but that will probably be quite involved, and in the end will make your plugin rather brittle: if the host(s) ever change their dependencies (ie: the libraries they load), your plugin will have a problem.