HDRI cubemap shadows

Is there a way to generate the shadows of a Cubemap (HDRI)?

Right now after baking lightmaps the lights look great, but without any shadows.

How can I apply the proper shadows? I’m working in Unity 2019 with the URP.

Ah never mind. the shadows work perfectly on the STATIC objects. Obviously. Any Ideas how to work with the realtime moving objects? Probably setting up a directional light along with the Skybox? What would be the proper workflow?