Any way to not explicitly include dependent libraries?
No, it is not possible. The IDE needs to know which libraries you are using so that it can compile the source code for them.

Other IDEs have got around the problem by recursively scanning the libraries themselves and building up a list of dependencies (such as UECIDE) but this is not something that the Arduino IDE has been programmed to do.

The only other possible option might be to create a single massive library that contains everything that the "main" library relies on, however this may cause problems with other libraries also wanting the same things and you ending up with massive conflicts.