diff --git a/development/scripts/misc/common_symbols.py b/development/scripts/misc/common_symbols.py
new file mode 100755
index 000000000..ea759d6e0
--- /dev/null
+++ b/development/scripts/misc/common_symbols.py
@@ -0,0 +1,48 @@
+#! /usr/bin/env python3
+# Find common dynamics public symbols between shared libraries.
+
+import argparse
+import itertools
+import pathlib
+import subprocess
+import typing
+
+
+def generate_symbols(shared_library: pathlib.Path) -> typing.Set[str]:
+    # Show symbol
+    # -D: Dynamic
+    # -C: Demangled
+    # -U: Defined
+    # -W: Non weak
+    result = subprocess.run(
+        ["nm", "-DCUW", "--format=sysv", str(shared_library)],
+        capture_output=True,
+        text=True,
+    )
+    output = result.stdout
+    lines_split = (line.split("|") for line in output.splitlines() if "|" in line)
+    # Only keep lines with exported (upper case) symbols.
+    # `u` is also a global symbol, but if we always build with compatible libraries,
+    # there is no issue to find it in many places.
+    return set([line[0].strip() for line in lines_split if line[2].strip().isupper()])
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(
+        prog="common_symbol",
+        description="Find common dynamics public symbols between shared libraries.",
+    )
+    parser.add_argument("shared_libraries", nargs="+", type=pathlib.Path)
+
+    args = parser.parse_args()
+    symbols = [
+        (shared_library, generate_symbols(shared_library))
+        for shared_library in args.shared_libraries
+    ]
+
+    for lib1, lib2 in itertools.combinations(symbols, 2):
+        print(f"Common symbols between {lib1[0]} and {lib2[0]}")
+        common_symbols = lib1[1].intersection(lib2[1])
+        for common in common_symbols:
+            print(f"\t{common}")
+        print()