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What's up, @wintermute.
I just had this problem myself - I found that the dlls were installed in C:\opt\ros\noetic\x64\lib. To fix the problem, add that to your path by editing the Path variable in the System Properties. I did this by typing Environmental Variables in the Windows Search bar, selecting 'Edit the sytem environment variables', clicking 'Environment Variables,' then adding it to the Path variable under System Variables.
I think the intended way is the library path gets appended when you run setup.bat. I'm not sure why that's not occurring for either of us, so if I come across a better fix for setup.bat, I'll edit my post.