Your requirements to have each library build in a separate job and it all sit in the same workspace are rather at odds with each other, even without using Pipeline. What you describe sounds more like a multijob project, which would then pull artefacts out of each of the library jobs for the overall build.
You could maybe have a separate job for each component (to build & run tests for just that component), and a single job which builds each component in a separate stage?
Your project structure really pushes towards having a single job to build the lot, it that's not ideal maybe consider if the project structure makes sense?