If you use a "unity" build (all .cpp files concatenated into one compilation unit) with the normal '#pragma once' or guard in the headers, then you can be certain that every header file is parsed only once, with no discipline needed. CMake can do this for you with an option. You lose the ability to do incremental builds of individual changed files, but it may be fast enough that you don't care.

For my own personal projects, I just use ccache and precompiled headers. It's good enough for me. I don't want to have to apply "hard-core discipline" to my projects.