qmllint does not resolve other modules (and no types in other modules) in cmake projects

I'm using VSCode and cmake with ninja to build Qt QML projects. Everything works well except qmllint gives a lot of warnings for the use of qml modules. The qml modules are added as subdirectories in the same project, and the build and use in the application work fine. It is just qmllint that seems not to support them?!

When I run ninja with the all_qmllint target, it will complain about:

• Warning: Failed to import XXX. Are your import paths set up properly? for all modules
• Unqualified access for all C++ types from other modules except the main module (executable)

I can reproduce the problem for example with https://gitlab.com/basic53/DemoApp