diff --git a/ci/docker/linux-r.dockerfile b/ci/docker/linux-r.dockerfile
index db5e5f656d7..d368a6629c5 100644
--- a/ci/docker/linux-r.dockerfile
+++ b/ci/docker/linux-r.dockerfile
@@ -45,6 +45,7 @@ ENV PATH "${RPREFIX}/bin:${PATH}"
 # Patch up some of the docker images
 COPY ci/scripts/r_docker_configure.sh /arrow/ci/scripts/
 COPY ci/etc/rprofile /arrow/ci/etc/
+COPY ci/scripts/r_install_system_dependencies.sh /arrow/ci/scripts/
 COPY ci/scripts/install_minio.sh /arrow/ci/scripts/
 COPY ci/scripts/install_gcs_testbench.sh /arrow/ci/scripts/
 RUN /arrow/ci/scripts/r_docker_configure.sh
@@ -53,10 +54,6 @@ RUN /arrow/ci/scripts/r_docker_configure.sh
 COPY ci/scripts/install_sccache.sh /arrow/ci/scripts/
 RUN /arrow/ci/scripts/install_sccache.sh unknown-linux-musl /usr/local/bin
 
-# Set up Python 3 and its dependencies
-RUN ln -s /usr/bin/python3 /usr/local/bin/python && \
-    ln -s /usr/bin/pip3 /usr/local/bin/pip
-
 COPY ci/scripts/r_deps.sh /arrow/ci/scripts/
 COPY r/DESCRIPTION /arrow/r/
 RUN /arrow/ci/scripts/r_deps.sh /arrow
diff --git a/ci/docker/ubuntu-18.04-cpp.dockerfile b/ci/docker/ubuntu-18.04-cpp.dockerfile
index 5d469e0ac63..715cc3424f0 100644
--- a/ci/docker/ubuntu-18.04-cpp.dockerfile
+++ b/ci/docker/ubuntu-18.04-cpp.dockerfile
@@ -88,11 +88,19 @@ RUN apt-get update -y -q && \
         libcurl4-openssl-dev \
         libgflags-dev \
         libgoogle-glog-dev \
+        libidn2-dev \
+        libkrb5-dev \
+        libldap-dev \
         liblz4-dev \
+        libnghttp2-dev \
         libprotobuf-dev \
         libprotoc-dev \
+        libpsl-dev \
         libre2-dev \
+        librtmp-dev \
         libsnappy-dev \
+        libssh-dev \
+        libssh2-1-dev \
         libssl-dev \
         ninja-build \
         pkg-config \
diff --git a/ci/docker/ubuntu-20.04-cpp.dockerfile b/ci/docker/ubuntu-20.04-cpp.dockerfile
index 1cd0581aa44..6cf48c56aa4 100644
--- a/ci/docker/ubuntu-20.04-cpp.dockerfile
+++ b/ci/docker/ubuntu-20.04-cpp.dockerfile
@@ -82,12 +82,20 @@ RUN apt-get update -y -q && \
         libcurl4-openssl-dev \
         libgflags-dev \
         libgoogle-glog-dev \
+        libidn2-dev \
+        libkrb5-dev \
+        libldap-dev \
         liblz4-dev \
+        libnghttp2-dev \
         libprotobuf-dev \
         libprotoc-dev \
+        libpsl-dev \
         libradospp-dev \
         libre2-dev \
+        librtmp-dev \
         libsnappy-dev \
+        libssh-dev \
+        libssh2-1-dev \
         libssl-dev \
         libthrift-dev \
         libutf8proc-dev \
diff --git a/ci/docker/ubuntu-22.04-cpp.dockerfile b/ci/docker/ubuntu-22.04-cpp.dockerfile
index 4bbb5c2b317..d47614ed2c9 100644
--- a/ci/docker/ubuntu-22.04-cpp.dockerfile
+++ b/ci/docker/ubuntu-22.04-cpp.dockerfile
@@ -81,13 +81,21 @@ RUN apt-get update -y -q && \
         libgflags-dev \
         libgoogle-glog-dev \
         libgrpc++-dev \
+        libidn2-dev \
+        libkrb5-dev \
+        libldap-dev \
         liblz4-dev \
+        libnghttp2-dev \
         libprotobuf-dev \
         libprotoc-dev \
+        libpsl-dev \
         libre2-dev \
+        librtmp-dev \
         libsnappy-dev \
-        libssl-dev \
         libsqlite3-dev \
+        libssh-dev \
+        libssh2-1-dev \
+        libssl-dev \
         libthrift-dev \
         libutf8proc-dev \
         libzstd-dev \
diff --git a/ci/scripts/r_docker_configure.sh b/ci/scripts/r_docker_configure.sh
index c671271e226..1cbd5f0b5ea 100755
--- a/ci/scripts/r_docker_configure.sh
+++ b/ci/scripts/r_docker_configure.sh
@@ -87,22 +87,8 @@ if [[ -n "$DEVTOOLSET_VERSION" ]]; then
   fi
 fi
 
-if [ "$ARROW_S3" == "ON" ] || [ "$ARROW_GCS" == "ON" ] || [ "$ARROW_R_DEV" == "TRUE" ]; then
-  # Install curl and openssl for S3/GCS support
-  if [ "$PACKAGE_MANAGER" = "apt-get" ]; then
-    apt-get install -y libcurl4-openssl-dev libssl-dev
-  else
-    $PACKAGE_MANAGER install -y libcurl-devel openssl-devel
-  fi
-
-  # The Dockerfile should have put this file here
-  if [ -f "${ARROW_SOURCE_HOME}/ci/scripts/install_minio.sh" ] && [ "`which wget`" ]; then
-    ${ARROW_SOURCE_HOME}/ci/scripts/install_minio.sh latest /usr/local
-  fi
-
-  if [ -f "${ARROW_SOURCE_HOME}/ci/scripts/install_gcs_testbench.sh" ] && [ "`which pip`" ]; then
-    ${ARROW_SOURCE_HOME}/ci/scripts/install_gcs_testbench.sh default
-  fi
+if [ -f "${ARROW_SOURCE_HOME}/ci/scripts/r_install_system_dependencies.sh" ]; then
+  "${ARROW_SOURCE_HOME}/ci/scripts/r_install_system_dependencies.sh"
 fi
 
 # Install rsync for bundling cpp source and curl to make sure it is installed on all images
diff --git a/ci/scripts/r_install_system_dependencies.sh b/ci/scripts/r_install_system_dependencies.sh
new file mode 100755
index 00000000000..f8f73675905
--- /dev/null
+++ b/ci/scripts/r_install_system_dependencies.sh
@@ -0,0 +1,141 @@
+#!/usr/bin/env bash
+#
+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements.  See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership.  The ASF licenses this file
+# to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance
+# with the License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied.  See the License for the
+# specific language governing permissions and limitations
+# under the License.
+
+set -ex
+
+: ${ARROW_SOURCE_HOME:=/arrow}
+
+if [ "$ARROW_S3" == "ON" ] || [ "$ARROW_GCS" == "ON" ] || [ "$ARROW_R_DEV" == "TRUE" ]; then
+  # Figure out what package manager we have
+  if [ "`which dnf`" ]; then
+    PACKAGE_MANAGER=dnf
+  elif [ "`which yum`" ]; then
+    PACKAGE_MANAGER=yum
+  elif [ "`which zypper`" ]; then
+    PACKAGE_MANAGER=zypper
+  else
+    PACKAGE_MANAGER=apt-get
+    apt-get update
+  fi
+
+  # Install curl and OpenSSL for S3/GCS support
+  #
+  # We need to install all dependencies explicitly to use "pkg-config
+  # --static --libs libcurl" result. Because libcurl-dev/libcurl-devel
+  # don't depend on packages that are only needed for "pkg-config
+  # --static".
+  case "$PACKAGE_MANAGER" in
+    apt-get)
+      # "pkg-config --static --libs libcurl" has
+      #   * -lnghttp2
+      #   * -lidn2
+      #   * -lrtmp
+      #   * -lssh or -lssh2
+      #   * -lpsl
+      #   * -lssl
+      #   * -lcrypto
+      #   * -lgssapi_krb5
+      #   * -lkrb5
+      #   * -lk5crypto
+      #   * -lcom_err
+      #   * -lldap
+      #   * -llber
+      #   * -lzstd
+      #   * -lbrotlidec
+      #   * -lz
+      apt-get install -y \
+              libbrotli-dev \
+              libcurl4-openssl-dev \
+              libidn2-dev \
+              libkrb5-dev \
+              libldap-dev \
+              libnghttp2-dev \
+              libpsl-dev \
+              librtmp-dev \
+              libssh-dev \
+              libssh2-1-dev \
+              libssl-dev \
+              libzstd-dev
+      ;;
+    dnf|yum)
+      # "pkg-config --static --libs libcurl" has -lidl, -lssh2 and -lldap
+      $PACKAGE_MANAGER install -y \
+                       libcurl-devel \
+                       libidn-devel \
+                       libssh2-devel \
+                       openldap-devel \
+                       openssl-devel
+      ;;
+    zypper)
+      # "pkg-config --static --libs libcurl" has
+      #   * -lnghttp2
+      #   * -lidn2
+      #   * -lssh
+      #   * -lpsl
+      #   * -lssl
+      #   * -lcrypto
+      #   * -lgssapi_krb5
+      #   * -lkrb5
+      #   * -lk5crypto
+      #   * -lcom_err
+      #   * -lldap
+      #   * -llber
+      #   * -lzstd
+      #   * -lbrotlidec
+      #   * -lz
+      $PACKAGE_MANAGER install -y \
+                       krb5-devel \
+                       libbrotli-devel \
+                       libcurl-devel \
+                       libidn2-devel \
+                       libnghttp2-devel \
+                       libpsl-devel \
+                       libssh-devel \
+                       libzstd-devel \
+                       openldap2-devel \
+                       openssl-devel
+      ;;
+    *)
+      $PACKAGE_MANAGER install -y libcurl-devel openssl-devel
+      ;;
+  esac
+
+  # The Dockerfile should have put this file here
+  if [ "$ARROW_S3" == "ON" ] && [ -f "${ARROW_SOURCE_HOME}/ci/scripts/install_minio.sh" ] && [ "`which wget`" ]; then
+    "${ARROW_SOURCE_HOME}/ci/scripts/install_minio.sh" latest /usr/local
+  fi
+
+  if [ "$ARROW_GCS" == "ON" ] && [ -f "${ARROW_SOURCE_HOME}/ci/scripts/install_gcs_testbench.sh" ]; then
+    case "$PACKAGE_MANAGER" in
+      zypper)
+        # python3 is Python 3.6 on OpenSUSE 15.3.
+        # PyArrow supports Python 3.7 or later.
+        $PACKAGE_MANAGER install -y python39-pip
+        ln -s /usr/bin/python3.9 /usr/local/bin/python
+        ln -s /usr/bin/pip3.9 /usr/local/bin/pip
+        ;;
+      *)
+        $PACKAGE_MANAGER install -y python3-pip
+        ln -s /usr/bin/python3 /usr/local/bin/python
+        ln -s /usr/bin/pip3 /usr/local/bin/pip
+        ;;
+    esac
+    "${ARROW_SOURCE_HOME}/ci/scripts/install_gcs_testbench.sh" default
+  fi
+fi
diff --git a/cpp/cmake_modules/BuildUtils.cmake b/cpp/cmake_modules/BuildUtils.cmake
index 71eec565be0..1da1e1de102 100644
--- a/cpp/cmake_modules/BuildUtils.cmake
+++ b/cpp/cmake_modules/BuildUtils.cmake
@@ -926,7 +926,11 @@ function(ARROW_INSTALL_ALL_HEADERS PATH)
 endfunction()
 
 function(ARROW_ADD_PKG_CONFIG MODULE)
-  configure_file(${MODULE}.pc.in "${CMAKE_CURRENT_BINARY_DIR}/${MODULE}.pc" @ONLY)
+  configure_file(${MODULE}.pc.in "${CMAKE_CURRENT_BINARY_DIR}/${MODULE}.pc.generate.in"
+                 @ONLY)
+  file(GENERATE
+       OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${MODULE}.pc"
+       INPUT "${CMAKE_CURRENT_BINARY_DIR}/${MODULE}.pc.generate.in")
   install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${MODULE}.pc"
           DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig/")
 endfunction()
diff --git a/cpp/cmake_modules/FindzstdAlt.cmake b/cpp/cmake_modules/FindzstdAlt.cmake
index c05cdd36a45..980cf265521 100644
--- a/cpp/cmake_modules/FindzstdAlt.cmake
+++ b/cpp/cmake_modules/FindzstdAlt.cmake
@@ -77,6 +77,7 @@ else()
   find_package(PkgConfig QUIET)
   pkg_check_modules(ZSTD_PC libzstd)
   if(ZSTD_PC_FOUND)
+    set(zstdAlt_VERSION "${ZSTD_PC_VERSION}")
     set(ZSTD_INCLUDE_DIR "${ZSTD_PC_INCLUDEDIR}")
 
     list(APPEND ZSTD_PC_LIBRARY_DIRS "${ZSTD_PC_LIBDIR}")
@@ -96,7 +97,34 @@ else()
   endif()
 endif()
 
-find_package_handle_standard_args(zstdAlt REQUIRED_VARS ZSTD_LIB ZSTD_INCLUDE_DIR)
+if("${zstdAlt_VERSION}" STREQUAL "" AND ZSTD_INCLUDE_DIR)
+  file(READ "${ZSTD_INCLUDE_DIR}/zstd.h" ZSTD_H_CONTENT)
+  string(REGEX MATCH "#define ZSTD_VERSION_MAJOR +([0-9]+)" ZSTD_VERSION_MAJOR_DEFINITION
+               "${ZSTD_H_CONTENT}")
+  string(REGEX REPLACE "^.+ ([0-9]+)$" "\\1" ZSTD_VERSION_MAJOR
+                       "${ZSTD_VERSION_MAJOR_DEFINITION}")
+  string(REGEX MATCH "#define ZSTD_VERSION_MINOR +([0-9]+)" ZSTD_VERSION_MINOR_DEFINITION
+               "${ZSTD_H_CONTENT}")
+  string(REGEX REPLACE "^.+ ([0-9]+)$" "\\1" ZSTD_VERSION_MINOR
+                       "${ZSTD_VERSION_MINOR_DEFINITION}")
+  string(REGEX MATCH "#define ZSTD_VERSION_RELEASE +([0-9]+)"
+               ZSTD_VERSION_RELEASE_DEFINITION "${ZSTD_H_CONTENT}")
+  string(REGEX REPLACE "^.+ ([0-9]+)$" "\\1" ZSTD_VERSION_RELEASE
+                       "${ZSTD_VERSION_RELEASE_DEFINITION}")
+  if("${ZSTD_VERSION_MAJOR}" STREQUAL ""
+     OR "${ZSTD_VERSION_MINOR}" STREQUAL ""
+     OR "${ZSTD_VERSION_RELEASE}" STREQUAL "")
+    set(zstdAlt_VERSION "0.0.0")
+  else()
+    set(zstdAlt_VERSION
+        "${ZSTD_VERSION_MAJOR}.${ZSTD_VERSION_MINOR}.${ZSTD_VERSION_RELEASE}")
+  endif()
+endif()
+
+find_package_handle_standard_args(
+  zstdAlt
+  REQUIRED_VARS ZSTD_LIB ZSTD_INCLUDE_DIR
+  VERSION_VAR zstdAlt_VERSION)
 
 if(zstdAlt_FOUND)
   if(ARROW_ZSTD_USE_SHARED)
diff --git a/cpp/cmake_modules/ThirdpartyToolchain.cmake b/cpp/cmake_modules/ThirdpartyToolchain.cmake
index 3f3487063f8..60fcbc22eff 100644
--- a/cpp/cmake_modules/ThirdpartyToolchain.cmake
+++ b/cpp/cmake_modules/ThirdpartyToolchain.cmake
@@ -4225,7 +4225,7 @@ macro(build_google_cloud_cpp_storage)
 endmacro()
 
 if(ARROW_WITH_GOOGLE_CLOUD_CPP)
-  resolve_dependency(google_cloud_cpp_storage)
+  resolve_dependency(google_cloud_cpp_storage PC_PACKAGE_NAMES google_cloud_cpp_storage)
   get_target_property(google_cloud_cpp_storage_INCLUDE_DIR google-cloud-cpp::storage
                       INTERFACE_INCLUDE_DIRECTORIES)
   message(STATUS "Found google-cloud-cpp::storage headers: ${google_cloud_cpp_storage_INCLUDE_DIR}"
@@ -4767,6 +4767,16 @@ if(ARROW_S3)
   message(STATUS "Found AWS SDK headers: ${AWSSDK_INCLUDE_DIR}")
   message(STATUS "Found AWS SDK libraries: ${AWSSDK_LINK_LIBRARIES}")
 
+  if(${AWSSDK_SOURCE} STREQUAL "SYSTEM")
+    foreach(AWSSDK_LINK_LIBRARY ${AWSSDK_LINK_LIBRARIES})
+      string(APPEND ARROW_PC_LIBS_PRIVATE " $<TARGET_FILE:${AWSSDK_LINK_LIBRARY}>")
+    endforeach()
+  endif()
+  if(UNIX)
+    string(APPEND ARROW_PC_REQUIRES_PRIVATE " libcurl")
+  endif()
+  string(APPEND ARROW_PC_REQUIRES_PRIVATE " openssl")
+
   if(APPLE)
     # CoreFoundation's path is hardcoded in the CMake files provided by
     # aws-sdk-cpp to use the MacOSX SDK provided by XCode which makes
diff --git a/dev/tasks/conda-recipes/r-arrow/build.sh b/dev/tasks/conda-recipes/r-arrow/build.sh
old mode 100644
new mode 100755
index 8479d9db5c4..efb9dfcd513
--- a/dev/tasks/conda-recipes/r-arrow/build.sh
+++ b/dev/tasks/conda-recipes/r-arrow/build.sh
@@ -11,5 +11,7 @@ if [[ "${target_platform}" == osx-* ]]; then
     export ARROW_R_CXXFLAGS="${ARROW_R_CXXFLAGS} -D_LIBCPP_DISABLE_AVAILABILITY"
 fi
 
+export PKG_CONFIG_PATH="${PREFIX}/lib/pkgconfig${PKG_CONFIG_PATH:+:${PKG_CONFIG_PATH}}"
+
 # ${R_ARGS} necessary to support cross-compilation
 ${R} CMD INSTALL --build r/. ${R_ARGS}
diff --git a/dev/tasks/r/github.linux.offline.build.yml b/dev/tasks/r/github.linux.offline.build.yml
index bc97e1bfd0b..b116accda89 100644
--- a/dev/tasks/r/github.linux.offline.build.yml
+++ b/dev/tasks/r/github.linux.offline.build.yml
@@ -66,14 +66,12 @@ jobs:
           path: arrow/r/
       - name: Install system dependencies
         run: |
-          sudo apt-get update
-          sudo apt install libcurl4-openssl-dev libssl-dev
+          sudo arrow/ci/scripts/r_install_system_dependencies.sh
           arrow/ci/scripts/install_sccache.sh unknown-linux-musl /usr/local/bin
-      - name: Prepare PKG_CONFIG_PATH for Homebrew
-        run: |
-          # zstd is installed by Homebrew on GitHub Actions.
-          echo "PKG_CONFIG_PATH=$(brew --prefix)/lib/pkgconfig${PKG_CONFIG_PATH:+:${PKG_CONFIG_PATH}}" \
-            >> "$GITHUB_ENV"
+        env:
+          ARROW_GCS: "ON"
+          ARROW_S3: "ON"
+          ARROW_SOURCE_HOME: arrow
       - name: Install dependencies
         run: |
           install.packages(c("remotes", "glue", "sys"))
@@ -83,7 +81,7 @@ jobs:
         env:
           TEST_OFFLINE_BUILD: true
           LIBARROW_MINIMAL: false
-        {{ macros.github_set_sccache_envvars()|indent(8)}}  
+        {{ macros.github_set_sccache_envvars()|indent(8)}}
         run: |
           cd arrow/r
           R CMD INSTALL --install-tests --no-test-load --no-docs --no-help --no-byte-compile arrow_with_deps.tar.gz
diff --git a/dev/tasks/r/github.macos-linux.local.yml b/dev/tasks/r/github.macos-linux.local.yml
index 24ed712caff..520965e8ad1 100644
--- a/dev/tasks/r/github.macos-linux.local.yml
+++ b/dev/tasks/r/github.macos-linux.local.yml
@@ -38,19 +38,19 @@ jobs:
       {{ macros.github_checkout_arrow()|indent }}
 
       - name: Configure non-autobrew dependencies (macos)
+        if: contains(matrix.os, 'macOS')
         run: |
           brew install openssl
           brew install sccache
-        if: contains(matrix.os, 'macOS')
       - name: Configure non-autobrew dependencies (linux)
+        if: contains(matrix.os, 'ubuntu')
         run: |
-          sudo apt-get update
-          sudo apt install libcurl4-openssl-dev libssl-dev
+          sudo env \
+            ARROW_GCS=ON \
+            ARROW_S3=ON \
+            ARROW_SOURCE_HOME=arrow \
+            arrow/ci/scripts/r_install_system_dependencies.sh
           arrow/ci/scripts/install_sccache.sh unknown-linux-musl /usr/local/bin
-          # zstd is installed by Homebrew on GitHub Actions.
-          echo "PKG_CONFIG_PATH=$(brew --prefix)/lib/pkgconfig${PKG_CONFIG_PATH:+:${PKG_CONFIG_PATH}}" \
-            >> "$GITHUB_ENV"
-        if: contains(matrix.os, 'ubuntu')
       - uses: r-lib/actions/setup-r@v2
         with:
           use-public-rspm: true
@@ -69,7 +69,7 @@ jobs:
           FORCE_BUNDLED_BUILD: true
           LIBARROW_MINIMAL: false
           ARROW_R_DEV: TRUE
-        {{ macros.github_set_sccache_envvars()|indent(8)}}  
+        {{ macros.github_set_sccache_envvars()|indent(8)}}
         run: |
           sccache --start-server
           cd arrow/r
diff --git a/dev/tasks/r/github.packages.yml b/dev/tasks/r/github.packages.yml
index 2242729928a..b02fc0ade5c 100644
--- a/dev/tasks/r/github.packages.yml
+++ b/dev/tasks/r/github.packages.yml
@@ -318,20 +318,23 @@ jobs:
         with:
           install-r: false
       {{ macros.github_setup_local_r_repo(false, false)|indent }}
+      {{ macros.github_checkout_arrow()|indent }}
       - name: Install sccache
         shell: bash
         run: |
-          curl -s \
-            https://raw.githubusercontent.com/{{ arrow.github_repo }}/{{ arrow.head }}/ci/scripts/install_sccache.sh | \
-            bash -s unknown-linux-musl /usr/local/bin
-      - name: Prepare PKG_CONFIG_PATH for Homebrew
-        run: |
-          # zstd is installed by Homebrew on GitHub Actions.
-          echo "PKG_CONFIG_PATH=$(brew --prefix)/lib/pkgconfig${PKG_CONFIG_PATH:+:${PKG_CONFIG_PATH}}" \
-            >> "$GITHUB_ENV"
+          arrow/ci/scripts/install_sccache.sh unknown-linux-musl /usr/local/bin
       - name: Install R package system dependencies
         run: |
-          sudo apt update && sudo apt install libcurl4-openssl-dev
+          sudo arrow/ci/scripts/r_install_system_dependencies.sh
+        env:
+          ARROW_GCS: "ON"
+          ARROW_S3: "ON"
+          ARROW_SOURCE_HOME: arrow
+      - name: Remove arrow/
+        run: |
+          rm -rf arrow/
+      - name: Enable parallel build
+        run: |
           echo "MAKEFLAGS=-j$(nproc)" >> $GITHUB_ENV
       - name: Install arrow from nightly repo
         env:
diff --git a/r/configure b/r/configure
index eae33be57a4..3f5f743fc08 100755
--- a/r/configure
+++ b/r/configure
@@ -31,7 +31,6 @@ PKG_DEB_NAME="(unsuppored)"
 PKG_RPM_NAME="(unsuppored)"
 PKG_BREW_NAME="apache-arrow"
 PKG_TEST_HEADER="<arrow/api.h>"
-PKG_LIBS="-larrow"
 
 # Make some env vars case-insensitive
 ARROW_R_DEV=`echo $ARROW_R_DEV | tr '[:upper:]' '[:lower:]'`
@@ -76,32 +75,41 @@ if [ "$FORCE_AUTOBREW" = "true" ] || [ "$FORCE_BUNDLED_BUILD" = "true" ]; then
   ARROW_USE_PKG_CONFIG="false"
 fi
 
+S3_LIBS=""
+GCS_LIBS=""
 # Note that cflags may be empty in case of success
 if [ "$ARROW_HOME" ] && [ "$FORCE_BUNDLED_BUILD" != "true" ]; then
   echo "*** Using ARROW_HOME as the source of libarrow"
   PKG_CFLAGS="-I$ARROW_HOME/include $PKG_CFLAGS"
-  PKG_DIRS="-L$ARROW_HOME/lib"
+  PKG_LIBS="-larrow"
+  LIB_DIR="$ARROW_HOME/lib"
+  PKG_DIRS="-L$LIB_DIR"
 elif [ "$INCLUDE_DIR" ] && [ "$LIB_DIR" ]; then
   echo "*** Using INCLUDE_DIR/LIB_DIR as the source of libarrow"
   PKG_CFLAGS="-I$INCLUDE_DIR $PKG_CFLAGS"
+  PKG_LIBS="-larrow"
   PKG_DIRS="-L$LIB_DIR"
 else
   # Use pkg-config to find libarrow if available and allowed
   pkg-config --version >/dev/null 2>&1
-  if [ $? -eq 0 ] && [ "$ARROW_USE_PKG_CONFIG" != "false" ]; then
+  if [ $? -eq 0 ]; then
+    PKG_CONFIG_AVAILABLE=true
+  else
+    PKG_CONFIG_AVAILABLE=false
+  fi
+  if [ "$PKG_CONFIG_AVAILABLE" = "true" ] && [ "$ARROW_USE_PKG_CONFIG" != "false" ]; then
     # Set the search paths and compile flags
     PKGCONFIG_CFLAGS=`pkg-config --cflags --silence-errors ${PKG_CONFIG_NAME}`
-    PKGCONFIG_LIBS=`pkg-config --libs-only-l --silence-errors ${PKG_CONFIG_NAME}`
-    PKGCONFIG_LIBS="${PKGCONFIG_LIBS} `pkg-config --libs-only-other --silence-errors ${PKG_CONFIG_NAME}`"
+    PKGCONFIG_LIBS=`pkg-config --libs-only-l --libs-only-other --silence-errors ${PKG_CONFIG_NAME}`
     PKGCONFIG_DIRS=`pkg-config --libs-only-L --silence-errors ${PKG_CONFIG_NAME}`
   fi
 
   if [ "$PKGCONFIG_CFLAGS" ] && [ "$PKGCONFIG_LIBS" ]; then
-    FOUND_LIB_DIR=`echo $PKG_DIRS | sed -e 's/^-L//'`
+    FOUND_LIB_DIR=`echo $PKGCONFIG_DIRS | sed -e 's/^-L//'`
     echo "*** Arrow C++ libraries found via pkg-config at $FOUND_LIB_DIR"
-    PKG_CFLAGS="$PKGCONFIG_CFLAGS"
-    PKG_LIBS=${PKGCONFIG_LIBS}
-    PKG_DIRS=${PKGCONFIG_DIRS}
+    PKG_CFLAGS="$PKGCONFIG_CFLAGS $PKG_CFLAGS"
+    PKG_LIBS="${PKGCONFIG_LIBS}"
+    PKG_DIRS="${PKGCONFIG_DIRS}"
 
     # Check for version mismatch
     PC_LIB_VERSION=`pkg-config --modversion arrow`
@@ -118,9 +126,9 @@ else
       if [ "$FORCE_AUTOBREW" != "true" ] && [ "`command -v brew`" ] && [ "`brew ls --versions ${PKG_BREW_NAME}`" != "" ]; then
         echo "*** Using Homebrew ${PKG_BREW_NAME}"
         BREWDIR=`brew --prefix`
-        PKG_LIBS="$PKG_LIBS -larrow_bundled_dependencies"
+        PKG_LIBS="-larrow -larrow_bundled_dependencies"
         PKG_DIRS="-L$BREWDIR/opt/$PKG_BREW_NAME/lib $PKG_DIRS"
-        PKG_CFLAGS="-I$BREWDIR/opt/$PKG_BREW_NAME/include"
+        PKG_CFLAGS="-I$BREWDIR/opt/$PKG_BREW_NAME/include $PKG_CFLAGS"
       else
         echo "*** Downloading ${PKG_BREW_NAME}"
         if [ -f "autobrew" ]; then
@@ -141,10 +149,10 @@ else
       if [ "${NOT_CRAN}" = "true" ]; then
         # Set some default values
         if [ "${LIBARROW_BINARY}" = "" ]; then
-          LIBARROW_BINARY=true; export LIBARROW_BINARY
+          export LIBARROW_BINARY=true
         fi
         if [ "${LIBARROW_MINIMAL}" = "" ]; then
-          LIBARROW_MINIMAL=false; export LIBARROW_MINIMAL
+          export LIBARROW_MINIMAL=false
         fi
       fi
 
@@ -157,52 +165,61 @@ else
       if [ "$UNAME" = "Darwin" ] && [ "${OPENSSL_ROOT_DIR}" = "" ]; then
         brew --prefix openssl >/dev/null 2>&1
         if [ $? -eq 0 ]; then
-          OPENSSL_ROOT_DIR="`brew --prefix openssl`"; export OPENSSL_ROOT_DIR
+          export OPENSSL_ROOT_DIR="`brew --prefix openssl`"
+          export PKG_CONFIG_PATH="`brew --prefix openssl`/lib/pkgconfig${PKG_CONFIG_PATH:+:${PKG_CONFIG_PATH}}"
         fi
       fi
 
       if [ "${ARROW_DEPENDENCY_SOURCE}" = "" ]; then
-        ARROW_DEPENDENCY_SOURCE=AUTO; export ARROW_DEPENDENCY_SOURCE
+        export ARROW_DEPENDENCY_SOURCE=AUTO
       fi
-      if [ "${ARROW_DEPENDENCY_SOURCE}" = "AUTO" ]; then
-        pkg-config --version >/dev/null 2>&1
-        if [ $? -ne 0 ]; then
-          export ARROW_DEPENDENCY_SOURCE=BUNDLED
-          echo "**** pkg-config not installed, setting ARROW_DEPENDENCY_SOURCE=BUNDLED"
-        fi
+      if [ "${ARROW_DEPENDENCY_SOURCE}" = "AUTO" ] && \
+           [ "${PKG_CONFIG_AVAILABLE}" = "false" ]; then
+        export ARROW_DEPENDENCY_SOURCE=BUNDLED
+        echo "**** pkg-config not installed, setting ARROW_DEPENDENCY_SOURCE=BUNDLED"
       fi
 
       ${R_HOME}/bin/Rscript tools/nixlibs.R $VERSION
-      PKG_CFLAGS="-I`pwd`/libarrow/arrow-${VERSION}/include $PKG_CFLAGS"
 
-      LIB_DIR="libarrow/arrow-${VERSION}/lib"
+      LIB_DIR="`pwd`/libarrow/arrow-${VERSION}/lib"
       if [ -d "$LIB_DIR" ]; then
-        # Enumerate the static libs, put their -l flags in BUNDLED_LIBS,
-        # and put their -L location in PKG_DIRS
-        #
-        # If tools/nixlibs.R fails to produce libs, this dir won't exist
-        # so don't try (the error message from `ls` would be misleading)
-        # Assume nixlibs.R has handled and messaged about its failure already
-        #
-        # TODO: what about non-bundled deps?
-        # Set CDPATH locally to prevent interference from global CDPATH (if set)
-        BUNDLED_LIBS=`CDPATH=''; cd $LIB_DIR && ls *.a`
-        BUNDLED_LIBS=`echo "$BUNDLED_LIBS" | sed -e "s/\\.a lib/ -l/g" | sed -e "s/\\.a$//" | sed -e "s/^lib/-l/" | tr '\n' ' ' | sed -e "s/ $//"`
-        PKG_DIRS="-L`pwd`/$LIB_DIR"
-
-        # Use pkg-config to do static linking of libarrow's dependencies
-        if [ "$ARROW_DEPENDENCY_SOURCE" = "AUTO" ] || [ "$ARROW_DEPENDENCY_SOURCE" = "SYSTEM" ]; then
-          export PKG_CONFIG_PATH=${LIB_DIR}/pkgconfig${PKG_CONFIG_PATH:+:${PKG_CONFIG_PATH}}
-          PKG_LIBS="`pkg-config --libs --static --silence-errors ${PKG_CONFIG_NAME}`"
-        fi
-
-        # When using brew's openssl it is not bundled and it is not on the system
-        # search path  and so we must add the lib path to BUNDLED_LIBS if we are
-        # using it. Note the order is important, this must be after the arrow
-        # lib path + the pkg and bundled libs above so this is why we're
-        # appending to BUNDLED_LIBS and not PKG_DIRS
-        if [ "$OPENSSL_ROOT_DIR" != "" ]; then
-          BUNDLED_LIBS="$BUNDLED_LIBS -L$OPENSSL_ROOT_DIR/lib"
+        if [ "${PKG_CONFIG_AVAILABLE}" = "true" ]; then
+          # Use pkg-config to do static linking of libarrow's dependencies
+          export PKG_CONFIG_PATH="${LIB_DIR}/pkgconfig${PKG_CONFIG_PATH:+:${PKG_CONFIG_PATH}}"
+          PKG_CONFIG="pkg-config"
+          # pkg-config on CentOS 7 doesn't have --define-prefix option.
+          if ${PKG_CONFIG} --help | grep -- --define-prefix >/dev/null 2>&1; then
+            # --define-prefix is for binary packages. Binary packages
+            # uses "/arrow/r/libarrow/dist" as prefix but it doesn't
+            # match the extracted path. --define-prefix uses a directory
+            # that arrow.pc exists as its prefix instead of
+            # "/arrow/r/libarrow/dist".
+            PKG_CONFIG="${PKG_CONFIG} --define-prefix"
+          else
+            # Rewrite prefix= in arrow.pc on CentOS 7.
+            sed \
+              -i.bak \
+              -e "s,prefix=/arrow/r/libarrow/dist,prefix=${LIB_DIR}/..,g" \
+              ${LIB_DIR}/pkgconfig/*.pc
+            rm -f ${LIB_DIR}/pkgconfig/*.pc.bak
+          fi
+          PKG_CONFIG="${PKG_CONFIG} --static --silence-errors"
+          PKG_CFLAGS="`${PKG_CONFIG} --cflags ${PKG_CONFIG_NAME}` $PKG_CFLAGS"
+          PKG_DIRS="`${PKG_CONFIG} --libs-only-L ${PKG_CONFIG_NAME}`"
+          PKG_LIBS="`${PKG_CONFIG} --libs-only-l --libs-only-other ${PKG_CONFIG_NAME}`"
+        else
+          # This case must be ARROW_DEPENDENCY_SOURCE=BUNDLED.
+          PKG_CFLAGS="-I${LIB_DIR}/../include $PKG_CFLAGS"
+          PKG_DIRS="-L${LIB_DIR}"
+          if [ "${OPENSSL_ROOT_DIR}" != "" ]; then
+            PKG_DIRS="${PKG_DIRS} -L${OPENSSL_ROOT_DIR}/lib"
+          fi
+          PKG_LIBS="-larrow"
+          if [ -n "$(find "$LIB_DIR" -name 'libarrow_bundled_dependencies.*')" ]; then
+            PKG_LIBS="$PKG_LIBS -larrow_bundled_dependencies"
+          fi
+          S3_LIBS="-lcurl -lssl -lcrypto"
+          GCS_LIBS="-lcurl -lssl -lcrypto"
         fi
       fi
     fi
@@ -231,7 +248,6 @@ echo "#include $PKG_TEST_HEADER" | ${TEST_CMD} >/dev/null 2>&1
 
 if [ $? -eq 0 ]; then
   # Check for features
-  LIB_DIR=`echo $PKG_DIRS | sed -e 's/^-L//'`
   ARROW_OPTS_CMAKE="$LIB_DIR/cmake/Arrow/ArrowOptions.cmake"
 
   arrow_built_with() {
@@ -262,21 +278,15 @@ if [ $? -eq 0 ]; then
   fi
   if arrow_built_with ARROW_S3; then
     PKG_CFLAGS="$PKG_CFLAGS -DARROW_R_WITH_S3"
-    if [ "$BUNDLED_LIBS" != "" ]; then
-      # We're depending on openssl/curl from the system, so they're not in the bundled deps
-      BUNDLED_LIBS="$BUNDLED_LIBS -lssl -lcrypto -lcurl"
-    fi
+    PKG_LIBS="$PKG_LIBS $S3_LIBS"
   fi
   if arrow_built_with ARROW_GCS; then
     PKG_CFLAGS="$PKG_CFLAGS -DARROW_R_WITH_GCS"
-    if [ "$BUNDLED_LIBS" != "" ]; then
-      # GCS also requires openssl and curl
-      BUNDLED_LIBS="$BUNDLED_LIBS -lssl -lcrypto -lcurl"
-    fi
+    PKG_LIBS="$PKG_LIBS $GCS_LIBS"
   fi
 
-  # prepend PKG_DIRS and append BUNDLED_LIBS to PKG_LIBS
-  PKG_LIBS="$PKG_DIRS $PKG_LIBS $BUNDLED_LIBS"
+  # prepend PKG_DIRS to PKG_LIBS
+  PKG_LIBS="$PKG_DIRS $PKG_LIBS"
   echo "PKG_CFLAGS=$PKG_CFLAGS"
   echo "PKG_LIBS=$PKG_LIBS"
 else
diff --git a/r/inst/build_arrow_static.sh b/r/inst/build_arrow_static.sh
index 9c0ee21e469..800b9cde3f6 100755
--- a/r/inst/build_arrow_static.sh
+++ b/r/inst/build_arrow_static.sh
@@ -86,7 +86,7 @@ ${CMAKE} -DARROW_BOOST_USE_SHARED=OFF \
     -Dxsimd_SOURCE=${xsimd_SOURCE:-} \
     -Dzstd_SOURCE=${zstd_SOURCE:-} \
     ${EXTRA_CMAKE_FLAGS} \
-    -G ${CMAKE_GENERATOR:-"Unix Makefiles"} \
+    -G "${CMAKE_GENERATOR:-Unix Makefiles}" \
     ${SOURCE_DIR}
 
 ${CMAKE} --build . --target install -- -j $N_JOBS
diff --git a/r/tests/testthat/helper-skip.R b/r/tests/testthat/helper-skip.R
index 7279e245f23..1f10712c33b 100644
--- a/r/tests/testthat/helper-skip.R
+++ b/r/tests/testthat/helper-skip.R
@@ -102,6 +102,20 @@ skip_on_r_older_than <- function(r_version) {
   }
 }
 
+skip_on_python_older_than <- function(python_version) {
+  if (force_tests()) {
+    return()
+  }
+
+  if (!reticulate::py_available(initialize = TRUE)) {
+    skip("Python isn't available")
+  }
+
+  if (reticulate::py_version() < python_version) {
+    skip(paste("Python version:", reticulate::py_version()))
+  }
+}
+
 process_is_running <- function(x) {
   if (force_tests()) {
     # Return TRUE as this is used as a condition in an if statement
diff --git a/r/tests/testthat/test-python.R b/r/tests/testthat/test-python.R
index 1a83ebd85f6..cf10579e2de 100644
--- a/r/tests/testthat/test-python.R
+++ b/r/tests/testthat/test-python.R
@@ -22,6 +22,8 @@ test_that("install_pyarrow", {
   # Windows CI machine doesn't pick up the right python or something
   skip_on_os("windows")
   skip_if_not_installed("reticulate")
+  # PyArrow doesn't support Python 3.6 or earlier
+  skip_on_python_older_than("3.7")
 
   venv <- try(reticulate::virtualenv_create("arrow-test"))
   # Bail out if virtualenv isn't available