diff --git a/.editorconfig b/.editorconfig
new file mode 100644
index 00000000000..97296c7e339
--- /dev/null
+++ b/.editorconfig
@@ -0,0 +1,87 @@
+
+root = true
+
+[*.{c++,cc,cpp,cppm,cxx,h,h++,hh,hpp,hxx,inl,ipp,ixx,tlh,tli}]
+
+# Visual C++ Code Style settings
+
+cpp_generate_documentation_comments = doxygen_slash_star
+
+# Visual C++ Formatting settings
+
+indent_style = space
+indent_size = 2
+tab_width = 2
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = true
+
+cpp_indent_braces = false
+cpp_indent_multi_line_relative_to = innermost_parenthesis
+cpp_indent_within_parentheses = indent
+cpp_indent_preserve_within_parentheses = false
+cpp_indent_case_contents = true
+cpp_indent_case_labels = false
+cpp_indent_case_contents_when_block = false
+cpp_indent_lambda_braces_when_parameter = true
+cpp_indent_goto_labels = one_left
+cpp_indent_preprocessor = leftmost_column
+cpp_indent_access_specifiers = false
+cpp_indent_namespace_contents = true
+cpp_indent_preserve_comments = false
+cpp_new_line_before_open_brace_namespace = ignore
+cpp_new_line_before_open_brace_type = ignore
+cpp_new_line_before_open_brace_function = ignore
+cpp_new_line_before_open_brace_block = ignore
+cpp_new_line_before_open_brace_lambda = ignore
+cpp_new_line_scope_braces_on_separate_lines = false
+cpp_new_line_close_brace_same_line_empty_type = false
+cpp_new_line_close_brace_same_line_empty_function = false
+cpp_new_line_before_catch = true
+cpp_new_line_before_else = true
+cpp_new_line_before_while_in_do_while = false
+cpp_space_before_function_open_parenthesis = remove
+cpp_space_within_parameter_list_parentheses = false
+cpp_space_between_empty_parameter_list_parentheses = false
+cpp_space_after_keywords_in_control_flow_statements = true
+cpp_space_within_control_flow_statement_parentheses = false
+cpp_space_before_lambda_open_parenthesis = false
+cpp_space_within_cast_parentheses = false
+cpp_space_after_cast_close_parenthesis = false
+cpp_space_within_expression_parentheses = false
+cpp_space_before_block_open_brace = true
+cpp_space_between_empty_braces = false
+cpp_space_before_initializer_list_open_brace = false
+cpp_space_within_initializer_list_braces = true
+cpp_space_preserve_in_initializer_list = true
+cpp_space_before_open_square_bracket = false
+cpp_space_within_square_brackets = false
+cpp_space_before_empty_square_brackets = false
+cpp_space_between_empty_square_brackets = false
+cpp_space_group_square_brackets = true
+cpp_space_within_lambda_brackets = false
+cpp_space_between_empty_lambda_brackets = false
+cpp_space_before_comma = false
+cpp_space_after_comma = true
+cpp_space_remove_around_member_operators = true
+cpp_space_before_inheritance_colon = true
+cpp_space_before_constructor_colon = true
+cpp_space_remove_before_semicolon = true
+cpp_space_after_semicolon = true
+cpp_space_remove_around_unary_operator = true
+cpp_space_around_binary_operator = insert
+cpp_space_around_assignment_operator = insert
+cpp_space_pointer_reference_alignment = left
+cpp_space_around_ternary_operator = insert
+cpp_use_unreal_engine_macro_formatting = true
+cpp_wrap_preserve_blocks = one_liners
+cpp_include_cleanup_add_missing_error_tag_type = none
+cpp_include_cleanup_remove_unused_error_tag_type = none
+cpp_include_cleanup_optimize_unused_error_tag_type = none
+cpp_include_cleanup_sort_after_edits = false
+cpp_include_cleanup_format_after_edits = false
+cpp_sort_includes_error_tag_type = none
+cpp_sort_includes_priority_case_sensitive = false
+cpp_sort_includes_priority_style = quoted
+cpp_includes_style = default
+cpp_includes_use_forward_slash = true
diff --git a/CMake/Common.cmake b/CMake/Common.cmake
index 580158aca84..f777cb014ba 100644
--- a/CMake/Common.cmake
+++ b/CMake/Common.cmake
@@ -50,13 +50,39 @@ endif ()
 #   Common Definitions
 # ================================
 
+macro (carla_add_compile_option FLAG)
+  set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${FLAG}")
+endmacro ()
+
+macro (carla_add_link_option FLAG)
+  set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${FLAG}")
+endmacro ()
+
+macro (carla_try_add_compile_options)
+  foreach (NAME ${ARGN})
+    string (REPLACE "/" "__" NAME2 ${NAME})
+    string (MAKE_C_IDENTIFIER "CO_${NAME2}" RESULT)
+    check_c_compiler_flag(${NAME} ${RESULT})
+    if (${VARIABLE_IDENTIFIER})
+      carla_add_compile_option (${NAME})
+    endif ()
+  endforeach ()
+endmacro ()
+
+macro (carla_try_add_link_options)
+  foreach (NAME ${ARGN})
+    string (REPLACE "/" "__" NAME2 ${NAME})
+    string (MAKE_C_IDENTIFIER "LO_${NAME2}" RESULT)
+    check_linker_flag(C ${NAME} ${RESULT})
+    if (${RESULT})
+      carla_add_link_option (${NAME})
+    endif ()
+  endforeach ()
+endmacro ()
+
 if (WIN32)
   add_compile_definitions (_CRT_SECURE_NO_WARNINGS)
-  check_cxx_compiler_flag (/utf-8 HAS_MSVC_UTF8)
-  if (HAS_MSVC_UTF8)
-    # @TODO This causes warnings with MASM. A better approach should be looked into.
-    add_compile_options ($<$<COMPILE_LANGUAGE:CXX>:/utf-8>)
-  endif ()
+  carla_try_add_compile_options (/utf-8)
 endif ()
 
 set (CARLA_COMMON_DEFINITIONS)
@@ -107,13 +133,9 @@ else ()
 endif ()
 
 carla_message ("Checking for ${EXCEPTIONS_FLAG} support")
-check_cxx_compiler_flag (${EXCEPTIONS_FLAG} HAS_EXCEPTIONS_FLAG)
-if (HAS_EXCEPTIONS_FLAG)
-  add_compile_options ($<$<COMPILE_LANGUAGE:CXX>:${EXCEPTIONS_FLAG}>)
-endif ()
+carla_try_add_compile_options (${EXCEPTIONS_FLAG})
 
 set (CARLA_EXCEPTION_DEFINITIONS)
-
 if (ENABLE_EXCEPTIONS)
   # Nothing
 else ()
@@ -128,29 +150,15 @@ endif ()
 #   RTTI Definitions
 # ================================
 
-if (CMAKE_CXX_COMPILER_FRONTEND_VARIANT STREQUAL "MSVC" AND
-    NOT CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-  if (ENABLE_RTTI)
-    set (RTTI_FLAG /GR)
-  else ()
-    set (RTTI_FLAG /GR-)
-  endif ()
+if (ENABLE_RTTI)
+  carla_try_add_compile_options (/GR)
+  carla_try_add_compile_options (-frtti)
 else ()
-  if (ENABLE_RTTI)
-    set (RTTI_FLAG -frtti)
-  else ()
-    set (RTTI_FLAG -fno-rtti)
-  endif ()
-endif ()
-
-carla_message ("Checking for ${RTTI_FLAG} support")
-check_cxx_compiler_flag (${RTTI_FLAG} HAS_RTTI_FLAG)
-if (HAS_RTTI_FLAG)
-  add_compile_options ($<$<COMPILE_LANGUAGE:CXX>:${RTTI_FLAG}>)
+  carla_try_add_compile_options (/GR-)
+  carla_try_add_compile_options (-fno-rtti)
 endif ()
 
 set (CARLA_RTTI_DEFINITIONS)
-
 if (ENABLE_RTTI)
   # Nothing
 else ()
@@ -163,76 +171,30 @@ endif ()
 # ================================
 
 if (ENABLE_ALL_WARNINGS)
-  check_cxx_compiler_flag(-Wall HAS_WALL_GNU)
-  if (HAS_WALL_GNU)
-    set (CMAKE_C_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
-    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
-  endif ()
-  check_cxx_compiler_flag(-Wextra HAS_WEXTRA_GNU)
-  if (HAS_WEXTRA_GNU)
-    set (CMAKE_C_FLAGS "${CMAKE_CXX_FLAGS} -Wextra")
-    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wextra")
-  endif ()
-  check_cxx_compiler_flag(/Wall HAS_WALL_MSVC)
-  if (HAS_WALL_MSVC)
-    set (CMAKE_C_FLAGS "${CMAKE_CXX_FLAGS} /Wall")
-    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Wall")
+  if (CMAKE_CXX_COMPILER_FRONTEND_VARIANT STREQUAL "MSVC")
+    carla_try_add_compile_options (/W4)
+  else ()
+    carla_try_add_compile_options (-Wall)
+    carla_try_add_compile_options (-Wextra)
   endif ()
 endif ()
 
-if (CMAKE_C_COMPILER_FRONTEND_VARIANT STREQUAL "GNU")
-  set (SUPPRESS_WARNING_DIRECTIVE_PREFIX -Wno-)
-elseif (CMAKE_C_COMPILER_FRONTEND_VARIANT STREQUAL "MSVC")
-  set (SUPPRESS_WARNING_DIRECTIVE_PREFIX /wd)
-endif ()
-
-macro (carla_try_suppress_cxx_warning NAME FLAG)
-  check_cxx_compiler_flag (
-    ${SUPPRESS_WARNING_DIRECTIVE_PREFIX}${FLAG}
-    HAS_${NAME}
-  )
-  if (HAS_${NAME})
-    add_compile_options (
-      $<$<COMPILE_LANGUAGE:CXX>:${SUPPRESS_WARNING_DIRECTIVE_PREFIX}${FLAG}>)
-  endif ()
-endmacro ()
-
-macro (carla_try_suppress_c_warning NAME FLAG)
-  check_c_compiler_flag (
-    ${SUPPRESS_WARNING_DIRECTIVE_PREFIX}${FLAG}
-    HAS_${NAME}
-  )
-  if (HAS_${NAME})
-    add_compile_options (
-      $<$<COMPILE_LANGUAGE:C>:${SUPPRESS_WARNING_DIRECTIVE_PREFIX}${FLAG}>)
+function (carla_try_suppress_warning WARNING_ID)
+  if (CMAKE_C_COMPILER_FRONTEND_VARIANT STREQUAL "GNU")
+    carla_try_add_compile_options (-Wno-${WARNING_ID})
+  elseif (CMAKE_C_COMPILER_FRONTEND_VARIANT STREQUAL "MSVC")
+    carla_try_add_compile_options (/wd${WARNING_ID})
   endif ()
-endmacro ()
+endfunction ()
 
 set (
-  CARLA_C_SUPRESSED_WARNING_LIST
+  CARLA_SUPRESSED_WARNING_LIST
   macro-redefined 4005
   incompatible-pointer-types
 )
 
-set (
-  CARLA_CXX_SUPRESSED_WARNING_LIST
-  macro-redefined 4005
-)
-
-foreach (WARNING ${CARLA_C_SUPRESSED_WARNING_LIST})
-  string (MAKE_C_IDENTIFIER "${WARNING}" WARNING_NAME)
-  carla_try_suppress_c_warning (
-    ${WARNING_NAME}
-    ${WARNING}
-  )
-endforeach ()
-
-foreach (WARNING ${CARLA_CXX_SUPRESSED_WARNING_LIST})
-  string (MAKE_C_IDENTIFIER "${WARNING}" WARNING_NAME)
-  carla_try_suppress_cxx_warning (
-    ${WARNING_NAME}
-    ${WARNING}
-  )
+foreach (WARNING ${CARLA_SUPRESSED_WARNING_LIST})
+  carla_try_suppress_warning (${WARNING})
 endforeach ()
 
 # ================================
@@ -241,21 +203,8 @@ endforeach ()
 
 if (ENABLE_WARNINGS_TO_ERRORS)
   if (CMAKE_CXX_COMPILER_FRONTEND_VARIANT STREQUAL "MSVC")
-    if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-      check_cxx_compiler_flag(-Werror HAS_WALL)
-      if (HAS_WALL)
-        add_compile_options (-Werror)
-      endif ()
-    else ()
-      check_cxx_compiler_flag(/WX HAS_WALL)
-      if (HAS_WALL)
-        add_compile_options (/WX)
-      endif ()
-    endif ()
+    carla_try_add_compile_options (/WX)
   else ()
-    check_cxx_compiler_flag(-Werror HAS_WALL)
-    if (HAS_WALL)
-      add_compile_options (-Werror)
-    endif ()
+    carla_try_add_compile_options (-Werror)
   endif ()
 endif ()
diff --git a/CMake/Dependencies.cmake b/CMake/Dependencies.cmake
index c1374dbf166..30da9886720 100644
--- a/CMake/Dependencies.cmake
+++ b/CMake/Dependencies.cmake
@@ -173,7 +173,7 @@ carla_dependency_option (BOOST_GIL_BUILD_HEADER_TESTS OFF)
 carla_dependency_add(
   boost
   ${CARLA_BOOST_TAG}
-  https://github.com/boostorg/boost/releases/download/${CARLA_BOOST_TAG}/${CARLA_BOOST_TAG}.zip
+  https://github.com/boostorg/boost/releases/download/${CARLA_BOOST_TAG}/${CARLA_BOOST_TAG}-cmake.zip
   https://github.com/boostorg/boost.git
 )
 
diff --git a/CMake/Options.cmake b/CMake/Options.cmake
index b42c4d77d60..8b8e4a0c782 100644
--- a/CMake/Options.cmake
+++ b/CMake/Options.cmake
@@ -268,7 +268,7 @@ carla_option (
 carla_string_option (
   CARLA_BOOST_VERSION
   "Target boost version."
-  1.84.0
+  1.89.0
 )
 
 carla_string_option (
@@ -309,7 +309,7 @@ carla_string_option (
 
 # We can not upgrade any further due to ZLIB.
 # See https://github.com/madler/zlib/issues/1019
-# Once this is resolved we can target 1.6.50
+# Once this is resolved we can target >1.6.40
 carla_string_option (
   CARLA_LIBPNG_VERSION
   "Target libpng version."
diff --git a/CMakePresets.json b/CMakePresets.json
index 8fd5880aae7..4f0ca85199d 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -15,7 +15,8 @@
       "installDir": "${sourceDir}/Install/${presetName}",
       "cacheVariables":
       {
-        "CMAKE_TOOLCHAIN_FILE": "${sourceDir}/CMake/Toolchain.cmake"
+        "CMAKE_TOOLCHAIN_FILE": "${sourceDir}/CMake/Toolchain.cmake",
+        "CMAKE_POLICY_VERSION_MINIMUM" : "3.5"
       },
       "hidden": true
     },
diff --git a/LibCarla/source/carla/AtomicList.h b/LibCarla/source/carla/AtomicList.h
index b0894c280c9..0c9fbadf21b 100644
--- a/LibCarla/source/carla/AtomicList.h
+++ b/LibCarla/source/carla/AtomicList.h
@@ -13,9 +13,8 @@
 #include <mutex>
 #include <vector>
 
-namespace carla {
-namespace client {
-namespace detail {
+namespace carla::client::detail
+{
 
   /// Holds an atomic pointer to a list.
   ///
@@ -70,6 +69,4 @@ namespace detail {
     AtomicSharedPtr<const ListT> _list;
   };
 
-} // namespace detail
-} // namespace client
-} // namespace carla
+} // namespace carla::client::detail
diff --git a/LibCarla/source/carla/ThreadPool.h b/LibCarla/source/carla/ThreadPool.h
index 829cec790fe..85884d87ea2 100644
--- a/LibCarla/source/carla/ThreadPool.h
+++ b/LibCarla/source/carla/ThreadPool.h
@@ -16,31 +16,41 @@
 
 #include <future>
 #include <thread>
+#include <optional>
 #include <type_traits>
 
 namespace carla {
 
   /// A thread pool based on Boost.Asio's io context.
-  class ThreadPool : private NonCopyable {
+  class ThreadPool :
+      private NonCopyable
+  {
   public:
 
-    ThreadPool() : _work_to_do(_io_context) {}
+    ThreadPool() :
+      _io_context(),
+      _work_guard(),
+      _workers()
+    {
+    }
 
     /// Stops the ThreadPool and joins all its threads.
-    ~ThreadPool() {
+    ~ThreadPool()
+    {
       Stop();
     }
 
     /// Return the underlying io_context.
-    auto &io_context() {
+    auto &io_context()
+    {
       return _io_context;
     }
 
     /// Post a task to the pool.
-    template <
-      typename FunctorT,
-      typename ResultT = typename std::invoke_result_t<FunctorT()>>
-    std::future<ResultT> Post(FunctorT &&functor) {
+    template <typename FunctorT>
+    auto Post(FunctorT &&functor)
+    {
+      using ResultT = std::invoke_result_t<FunctorT()>;
       auto task = std::packaged_task<ResultT()>(std::forward<FunctorT>(functor));
       auto future = task.get_future();
       boost::asio::post(_io_context, carla::MoveHandler(task));
@@ -50,19 +60,25 @@ namespace carla {
     /// Launch threads to run tasks asynchronously. Launch specific number of
     /// threads if @a worker_threads is provided, otherwise use all available
     /// hardware concurrency.
-    void AsyncRun(size_t worker_threads) {
+    void AsyncRun(size_t worker_threads)
+    {
+      _work_guard.emplace(
+        boost::asio::make_work_guard(
+          _io_context.get_executor()));
       _workers.CreateThreads(worker_threads, [this]() { Run(); });
     }
 
     /// @copydoc AsyncRun(size_t)
-    void AsyncRun() {
+    void AsyncRun()
+    {
       AsyncRun(std::thread::hardware_concurrency());
     }
 
     /// Run tasks in this thread.
     ///
     /// @warning This function blocks until the ThreadPool has been stopped.
-    void Run() {
+    void Run()
+    {
       _io_context.run();
     }
 
@@ -70,23 +86,30 @@ namespace carla {
     ///
     /// @warning This function blocks until the ThreadPool has been stopped, or
     /// until the specified time duration has elapsed.
-    void RunFor(time_duration duration) {
+    void RunFor(time_duration duration)
+    {
       _io_context.run_for(duration.to_chrono());
     }
 
     /// Stop the ThreadPool and join all its threads.
     void Stop() {
+      if (_work_guard)
+        _work_guard.reset();
       _io_context.stop();
       _workers.JoinAll();
     }
 
   private:
 
-    boost::asio::io_context _io_context;
-
-    boost::asio::io_context::work _work_to_do;
+    using work_guard_type =
+      std::optional<
+        boost::asio::executor_work_guard<
+          boost::asio::io_context::executor_type>>;
 
+    boost::asio::io_context _io_context;
+    work_guard_type _work_guard;
     ThreadGroup _workers;
+
   };
 
 } // namespace carla
diff --git a/LibCarla/source/carla/client/Actor.cpp b/LibCarla/source/carla/client/Actor.cpp
index 529d481f65a..d534322acbd 100644
--- a/LibCarla/source/carla/client/Actor.cpp
+++ b/LibCarla/source/carla/client/Actor.cpp
@@ -9,8 +9,7 @@
 #include "carla/Logging.h"
 #include "carla/client/detail/Simulator.h"
 
-namespace carla {
-namespace client {
+namespace carla::client {
 
   geom::Location Actor::GetLocation() const {
     return GetEpisode().Lock()->GetActorLocation(*this);
@@ -137,5 +136,4 @@ namespace client {
     return result;
   }
 
-} // namespace client
-} // namespace carla
+} // namespace carla::client
diff --git a/LibCarla/source/carla/client/Actor.h b/LibCarla/source/carla/client/Actor.h
index c38997399f9..c62239168d0 100644
--- a/LibCarla/source/carla/client/Actor.h
+++ b/LibCarla/source/carla/client/Actor.h
@@ -11,8 +11,7 @@
 #include "carla/client/detail/ActorState.h"
 #include "carla/profiler/LifetimeProfiled.h"
 
-namespace carla {
-namespace client {
+namespace carla::client {
 
   /// Represents an actor in the simulation.
   class Actor
@@ -157,5 +156,4 @@ namespace client {
 
   };
 
-} // namespace client
-} // namespace carla
+} // namespace carla::client
diff --git a/LibCarla/source/carla/client/ActorAttribute.cpp b/LibCarla/source/carla/client/ActorAttribute.cpp
index 02c27fc2e6e..7c6610b4c84 100644
--- a/LibCarla/source/carla/client/ActorAttribute.cpp
+++ b/LibCarla/source/carla/client/ActorAttribute.cpp
@@ -10,8 +10,7 @@
 #include "carla/Logging.h"
 #include "carla/StringUtil.h"
 
-namespace carla {
-namespace client {
+namespace carla::client {
 
 #define LIBCARLA_THROW_INVALID_VALUE(message) throw_exception(InvalidAttributeValue(GetId() + ": " + message));
 #define LIBCARLA_THROW_BAD_VALUE_CAST(type) \
@@ -103,5 +102,4 @@ namespace client {
 #undef LIBCARLA_THROW_BAD_VALUE_CAST
 #undef LIBCARLA_THROW_INVALID_VALUE
 
-} // namespace client
-} // namespace carla
+} // namespace carla::client
diff --git a/LibCarla/source/carla/client/ActorAttribute.h b/LibCarla/source/carla/client/ActorAttribute.h
index 5585f1cc9e6..12d75774ab4 100644
--- a/LibCarla/source/carla/client/ActorAttribute.h
+++ b/LibCarla/source/carla/client/ActorAttribute.h
@@ -13,8 +13,7 @@
 #include <exception>
 #include <type_traits>
 
-namespace carla {
-namespace client {
+namespace carla::client {
 
   // ===========================================================================
   // -- InvalidAttributeValue --------------------------------------------------
@@ -237,5 +236,4 @@ namespace client {
     return rhs.operator==(*this);
   }
 
-} // namespace client
-} // namespace carla
+} // namespace carla::client
diff --git a/LibCarla/source/carla/client/ActorBlueprint.cpp b/LibCarla/source/carla/client/ActorBlueprint.cpp
index 12895664cf3..b37b66b8148 100644
--- a/LibCarla/source/carla/client/ActorBlueprint.cpp
+++ b/LibCarla/source/carla/client/ActorBlueprint.cpp
@@ -11,8 +11,7 @@
 
 #include <algorithm>
 
-namespace carla {
-namespace client {
+namespace carla::client {
 
   template <typename Map, typename Container>
   static void FillMap(Map &destination, Container &source) {
@@ -62,5 +61,4 @@ namespace client {
     return description;
   }
 
-} // namespace client
-} // namespace carla
+} // namespace carla::client
diff --git a/LibCarla/source/carla/client/ActorBlueprint.h b/LibCarla/source/carla/client/ActorBlueprint.h
index f08b7d09d86..b501254f39c 100644
--- a/LibCarla/source/carla/client/ActorBlueprint.h
+++ b/LibCarla/source/carla/client/ActorBlueprint.h
@@ -16,8 +16,7 @@
 #include <unordered_map>
 #include <unordered_set>
 
-namespace carla {
-namespace client {
+namespace carla::client {
 
   /// Contains all the necessary information for spawning an Actor.
   class ActorBlueprint {
@@ -120,5 +119,4 @@ namespace client {
     std::unordered_map<std::string, ActorAttribute> _attributes;
   };
 
-} // namespace client
-} // namespace carla
+} // namespace carla::client
diff --git a/LibCarla/source/carla/client/ActorList.cpp b/LibCarla/source/carla/client/ActorList.cpp
index 2c4fac39658..46366796b15 100644
--- a/LibCarla/source/carla/client/ActorList.cpp
+++ b/LibCarla/source/carla/client/ActorList.cpp
@@ -11,8 +11,7 @@
 
 #include <iterator>
 
-namespace carla {
-namespace client {
+namespace carla::client {
 
   ActorList::ActorList(
       detail::EpisodeProxy episode,
@@ -39,5 +38,4 @@ namespace client {
     return filtered;
   }
 
-} // namespace client
-} // namespace carla
+} // namespace carla::client
diff --git a/LibCarla/source/carla/client/ActorList.h b/LibCarla/source/carla/client/ActorList.h
index 9a51b54e04c..32b79c33d4e 100644
--- a/LibCarla/source/carla/client/ActorList.h
+++ b/LibCarla/source/carla/client/ActorList.h
@@ -12,8 +12,7 @@
 
 #include <vector>
 
-namespace carla {
-namespace client {
+namespace carla::client {
 
   class ActorList : public EnableSharedFromThis<ActorList> {
   private:
@@ -68,5 +67,4 @@ namespace client {
     std::vector<detail::ActorVariant> _actors;
   };
 
-} // namespace client
-} // namespace carla
+} // namespace carla::client
diff --git a/LibCarla/source/carla/client/ActorSnapshot.h b/LibCarla/source/carla/client/ActorSnapshot.h
index 0636eac9f07..037015c405a 100644
--- a/LibCarla/source/carla/client/ActorSnapshot.h
+++ b/LibCarla/source/carla/client/ActorSnapshot.h
@@ -12,8 +12,7 @@
 #include "carla/rpc/ActorState.h"
 #include "carla/sensor/data/ActorDynamicState.h"
 
-namespace carla {
-namespace client {
+namespace carla::client {
 
   struct ActorSnapshot {
     ActorId id = 0u;
@@ -25,5 +24,4 @@ namespace client {
     sensor::data::ActorDynamicState::TypeDependentState state;
   };
 
-} // namespace client
-} // namespace carla
+} // namespace carla::client
diff --git a/LibCarla/source/carla/client/BlueprintLibrary.cpp b/LibCarla/source/carla/client/BlueprintLibrary.cpp
index 81e4ada9481..5ddf1c2d119 100644
--- a/LibCarla/source/carla/client/BlueprintLibrary.cpp
+++ b/LibCarla/source/carla/client/BlueprintLibrary.cpp
@@ -11,8 +11,7 @@
 #include <algorithm>
 #include <iterator>
 
-namespace carla {
-namespace client {
+namespace carla::client {
 
   BlueprintLibrary::BlueprintLibrary(
       const std::vector<rpc::ActorDefinition> &blueprints) {
@@ -85,5 +84,4 @@ namespace client {
     return operator[](pos);
   }
 
-} // namespace client
-} // namespace carla
+} // namespace carla::client
diff --git a/LibCarla/source/carla/client/BlueprintLibrary.h b/LibCarla/source/carla/client/BlueprintLibrary.h
index 03986c07603..359d6ea834e 100644
--- a/LibCarla/source/carla/client/BlueprintLibrary.h
+++ b/LibCarla/source/carla/client/BlueprintLibrary.h
@@ -16,8 +16,7 @@
 #include <unordered_map>
 #include <vector>
 
-namespace carla {
-namespace client {
+namespace carla::client {
 
   /// @todo Works as a list but its actually a map. We should assess the use
   /// cases and reconsider this implementation.
@@ -84,5 +83,4 @@ namespace client {
     map_type _blueprints;
   };
 
-} // namespace client
-} // namespace carla
+} // namespace carla::client
diff --git a/LibCarla/source/carla/client/Client.h b/LibCarla/source/carla/client/Client.h
index 9355cca5c5d..f2ef57eca60 100644
--- a/LibCarla/source/carla/client/Client.h
+++ b/LibCarla/source/carla/client/Client.h
@@ -12,8 +12,7 @@
 #include "carla/PythonUtil.h"
 #include "carla/trafficmanager/TrafficManager.h"
 
-namespace carla {
-namespace client {
+namespace carla::client {
 
   using namespace carla::traffic_manager;
 
@@ -188,5 +187,4 @@ namespace client {
         new detail::Simulator(host, port, worker_threads),
         PythonUtil::ReleaseGILDeleter()) {}
 
-} // namespace client
-} // namespace carla
+} // namespace carla::client
diff --git a/LibCarla/source/carla/client/ClientSideSensor.h b/LibCarla/source/carla/client/ClientSideSensor.h
index 194d638999e..6ec4d1ed2be 100644
--- a/LibCarla/source/carla/client/ClientSideSensor.h
+++ b/LibCarla/source/carla/client/ClientSideSensor.h
@@ -8,8 +8,7 @@
 
 #include "carla/client/Sensor.h"
 
-namespace carla {
-namespace client {
+namespace carla::client {
 
   class ClientSideSensor : public Sensor {
   public:
@@ -17,5 +16,4 @@ namespace client {
     using Sensor::Sensor;
   };
 
-} // namespace client
-} // namespace carla
+} // namespace carla::client
diff --git a/LibCarla/source/carla/multigpu/listener.cpp b/LibCarla/source/carla/multigpu/listener.cpp
index ca789aee3d5..335f96ca1ba 100644
--- a/LibCarla/source/carla/multigpu/listener.cpp
+++ b/LibCarla/source/carla/multigpu/listener.cpp
@@ -31,7 +31,7 @@ namespace multigpu {
     _acceptor.cancel();
     _acceptor.close();
     _io_context.stop();
-    _io_context.reset();
+    _io_context.restart();
   }
   
   void Listener::OpenSession(
diff --git a/LibCarla/source/carla/multigpu/router.cpp b/LibCarla/source/carla/multigpu/router.cpp
index 398fdbf5247..d297dd29722 100644
--- a/LibCarla/source/carla/multigpu/router.cpp
+++ b/LibCarla/source/carla/multigpu/router.cpp
@@ -27,9 +27,10 @@ void Router::Stop() {
 }
 
 Router::Router(uint16_t port) :
-  _next(0) {
-
-  _endpoint = boost::asio::ip::tcp::endpoint(boost::asio::ip::address::from_string("0.0.0.0"), port);
+  _next(0)
+{
+  _endpoint = boost::asio::ip::tcp::endpoint(
+    boost::asio::ip::make_address_v4("0.0.0.0"), port);
   _listener = std::make_shared<carla::multigpu::Listener>(_pool.io_context(), _endpoint);
 }
 
diff --git a/LibCarla/source/carla/multigpu/secondary.cpp b/LibCarla/source/carla/multigpu/secondary.cpp
index 6fe8cd5da8e..a5fa148da57 100644
--- a/LibCarla/source/carla/multigpu/secondary.cpp
+++ b/LibCarla/source/carla/multigpu/secondary.cpp
@@ -48,7 +48,7 @@ namespace multigpu {
       _connection_timer(_pool.io_context()),
       _buffer_pool(std::make_shared<BufferPool>()) {
 
-    boost::asio::ip::address ip_address = boost::asio::ip::address::from_string(ip);
+    auto ip_address = boost::asio::ip::make_address(ip);
     _endpoint = boost::asio::ip::tcp::endpoint(ip_address, port);
     _commander.set_callback(callback);
   }
diff --git a/LibCarla/source/carla/rpc/Server.h b/LibCarla/source/carla/rpc/Server.h
index 6b89e5b57b6..f6b8ee61413 100644
--- a/LibCarla/source/carla/rpc/Server.h
+++ b/LibCarla/source/carla/rpc/Server.h
@@ -56,7 +56,7 @@ namespace rpc {
       TRACE_CPUPROFILER_EVENT_SCOPE_STR(__FUNCTION__);
       #include <util/disable-ue4-macros.h>
       #endif // LIBCARLA_INCLUDED_FROM_UE4
-      _sync_io_context.reset();
+      _sync_io_context.restart();
       _sync_io_context.run_for(duration.to_chrono());
     }
 
diff --git a/LibCarla/source/carla/streaming/EndPoint.h b/LibCarla/source/carla/streaming/EndPoint.h
index 0ac03949713..221d80730d1 100644
--- a/LibCarla/source/carla/streaming/EndPoint.h
+++ b/LibCarla/source/carla/streaming/EndPoint.h
@@ -10,9 +10,10 @@
 #include <boost/asio/ip/address.hpp>
 #include <boost/asio/ip/tcp.hpp>
 #include <boost/asio/ip/udp.hpp>
+#include <boost/asio/ip/basic_resolver_query.hpp>
+
+namespace carla::streaming {
 
-namespace carla {
-namespace streaming {
 namespace detail {
 
   // When in doubt, V4 addresses are returned.
@@ -24,87 +25,92 @@ namespace detail {
   class EndPoint;
 
   template <typename Protocol>
-  class EndPoint<Protocol, FullyDefinedEndPoint> {
+  class EndPoint<Protocol, FullyDefinedEndPoint>
+  {
   public:
 
-    explicit EndPoint(boost::asio::ip::basic_endpoint<Protocol> ep)
-      : _endpoint(std::move(ep)) {}
+  	explicit EndPoint(boost::asio::ip::basic_endpoint<Protocol> ep)
+  	  : _endpoint(std::move(ep)) {
+  	}
 
-    auto address() const {
-      return _endpoint.address();
-    }
+  	auto address() const {
+  	  return _endpoint.address();
+  	}
 
-    uint16_t port() const {
-      return _endpoint.port();
-    }
+  	uint16_t port() const {
+  	  return _endpoint.port();
+  	}
 
-    operator boost::asio::ip::basic_endpoint<Protocol>() const {
-      return _endpoint;
-    }
+  	operator boost::asio::ip::basic_endpoint<Protocol>() const {
+  	  return _endpoint;
+  	}
 
   private:
 
-    boost::asio::ip::basic_endpoint<Protocol> _endpoint;
+  	boost::asio::ip::basic_endpoint<Protocol> _endpoint;
   };
 
   template <typename Protocol>
   class EndPoint<Protocol, PartiallyDefinedEndPoint> {
   public:
 
-    explicit EndPoint(uint16_t port) : _port(port) {}
+  	explicit EndPoint(uint16_t port) : _port(port) {}
 
-    uint16_t port() const {
-      return _port;
-    }
+  	uint16_t port() const {
+  	  return _port;
+  	}
 
-    operator boost::asio::ip::basic_endpoint<Protocol>() const {
-      return {Protocol::v4(), _port};
-    }
+  	operator boost::asio::ip::basic_endpoint<Protocol>() const {
+  	  return { Protocol::v4(), _port };
+  	}
 
   private:
 
-    uint16_t _port;
+  	uint16_t _port;
   };
 
 } // namespace detail
 
-  static inline auto make_localhost_address() {
-    return boost::asio::ip::make_address("127.0.0.1");
-  }
-
-  static inline auto make_address(const std::string &address) {
-    boost::asio::io_context io_context;
-    boost::asio::ip::tcp::resolver resolver(io_context);
-    boost::asio::ip::tcp::resolver::query query(boost::asio::ip::tcp::v4(), address, "", boost::asio::ip::tcp::resolver::query::canonical_name);
-    boost::asio::ip::tcp::resolver::iterator iter = resolver.resolve(query);
-    boost::asio::ip::tcp::resolver::iterator end;
-    while (iter != end)
-    {
-      boost::asio::ip::tcp::endpoint endpoint = *iter++;
-      return endpoint.address();
-    }
-    return boost::asio::ip::make_address(address);
-  }
-
-  template <typename Protocol>
-  static inline auto make_endpoint(boost::asio::ip::basic_endpoint<Protocol> ep) {
-    return detail::EndPoint<Protocol, detail::FullyDefinedEndPoint>{std::move(ep)};
-  }
-
-  template <typename Protocol>
-  static inline auto make_endpoint(const char *address, uint16_t port) {
-    return make_endpoint<Protocol>({make_address(address), port});
-  }
-
-  template <typename Protocol>
-  static inline auto make_endpoint(const std::string &address, uint16_t port) {
-    return make_endpoint<Protocol>(address.c_str(), port);
+static inline auto make_localhost_address() {
+  return boost::asio::ip::make_address("127.0.0.1");
+}
+
+template <typename Protocol = boost::asio::ip::tcp>
+static inline auto make_address(std::string_view address)
+{
+  using namespace boost::asio;
+  io_context io_context;
+  ip::basic_resolver<Protocol> resolver(io_context);
+  auto resolve_results = resolver.resolve(
+    ip::tcp::v4(),
+    address,
+    std::string_view(),
+    ip::resolver_base::flags::canonical_name);
+  for (auto& result : resolve_results)
+  {
+    auto endpoint = result.endpoint();
+    return endpoint.address();
   }
-
-  template <typename Protocol>
-  static inline auto make_endpoint(uint16_t port) {
-    return detail::EndPoint<Protocol, detail::PartiallyDefinedEndPoint>{port};
-  }
-
-} // namespace streaming
-} // namespace carla
+  return ip::make_address(address);
+}
+
+template <typename Protocol = boost::asio::ip::tcp>
+static inline auto make_endpoint(boost::asio::ip::basic_endpoint<Protocol> ep) {
+  return detail::EndPoint<Protocol, detail::FullyDefinedEndPoint>{std::move(ep)};
+}
+
+template <typename Protocol = boost::asio::ip::tcp>
+static inline auto make_endpoint(std::string_view address, uint16_t port) {
+  return make_endpoint<Protocol>(
+  {
+    make_address<Protocol>(address), 
+    port
+  });
+}
+
+template <typename Protocol = boost::asio::ip::tcp>
+static inline auto make_endpoint(uint16_t port) {
+  return detail::EndPoint<Protocol, detail::PartiallyDefinedEndPoint>{port};
+}
+
+} // namespace carla::streaming
diff --git a/PythonAPI/CMakeLists.txt b/PythonAPI/CMakeLists.txt
index c0cf4eed61b..4e737d56e80 100644
--- a/PythonAPI/CMakeLists.txt
+++ b/PythonAPI/CMakeLists.txt
@@ -8,27 +8,6 @@ find_package (
   REQUIRED
 )
 
-# -- Temporary check for numpy 2 presence, which breaks our current version of Boost.Python.
-execute_process (
-  COMMAND
-    ${Python3_EXECUTABLE}
-      -c
-      "import numpy; print(numpy.__version__)"
-  OUTPUT_STRIP_TRAILING_WHITESPACE
-  OUTPUT_VARIABLE
-    NUMPY_VERSION_STRING
-  RESULT_VARIABLE
-    NUMPY_VERSION_QUERY_RESULT
-)
-if (NUMPY_VERSION_QUERY_RESULT)
-  carla_warning ("Failed to query numpy version.")
-endif ()
-carla_message ("Found Numpy ${NUMPY_VERSION_STRING} for Python ${Python3_VERSION} (${Python3_EXECUTABLE}).")
-if ("${NUMPY_VERSION_STRING}" VERSION_GREATER "2.0.0")
-  carla_error ("Unsupported Numpy version, please downgrade to a version prior to numpy 2.")
-endif ()
-# --
-
 set (
   PYTHON_API_DEPENDENCIES
   carla-client
diff --git a/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index 5994107bc18..125d95653ca 100644
--- a/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
+++ b/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -2822,6 +2822,8 @@ void FCarlaServer::Tick()
 bool FCarlaServer::TickCueReceived()
 {
   TRACE_CPUPROFILER_EVENT_SCOPE(FCarlaServer::TickCueReceived);
+  if (Pimpl->TickCuesReceived.load(std::memory_order_acquire) == 0)
+    return false;
   auto k = Pimpl->TickCuesReceived.fetch_sub(1, std::memory_order_acquire);
   bool flag = (k > 0);
   if (!flag)
diff --git a/Unreal/CarlaUnreal/Plugins/CarlaTools/Source/CarlaTools/Private/MapPreviewUserWidget.cpp b/Unreal/CarlaUnreal/Plugins/CarlaTools/Source/CarlaTools/Private/MapPreviewUserWidget.cpp
index 597334cc50d..12cd9080b08 100644
--- a/Unreal/CarlaUnreal/Plugins/CarlaTools/Source/CarlaTools/Private/MapPreviewUserWidget.cpp
+++ b/Unreal/CarlaUnreal/Plugins/CarlaTools/Source/CarlaTools/Private/MapPreviewUserWidget.cpp
@@ -22,7 +22,6 @@
 #include "Misc/Paths.h"
 #include <util/ue-header-guard-end.h>
 
-namespace Asio = boost::asio;
 using AsioStreamBuf = boost::asio::streambuf;
 using AsioTCP = boost::asio::ip::tcp;
 using AsioSocket = boost::asio::ip::tcp::socket;
@@ -74,9 +73,9 @@ void UMapPreviewUserWidget::RenderMap(FString Latitude, FString Longitude, FStri
     {
       AsioStreamBuf Buffer;
       std::size_t BytesReceived =
-        Asio::read(*SocketPtr, Buffer, Asio::transfer_at_least(2));
+        boost::asio::read(*SocketPtr, Buffer, boost::asio::transfer_at_least(2));
       TArray<uint8_t> ThisReceivedData;
-      const char* DataPtr = Asio::buffer_cast<const char*>(Buffer.data());
+      const char* DataPtr = (const char*)Buffer.data().data();
       for (std::size_t i = 0; i < Buffer.size(); ++i)
       {
         ThisReceivedData.Add(DataPtr[i]);
@@ -118,8 +117,8 @@ FString UMapPreviewUserWidget::RecvCornersLatLonCoords()
 
   AsioStreamBuf Buffer;
   std::size_t BytesReceived =
-      Asio::read(*SocketPtr, Buffer, Asio::transfer_at_least(2));
-  std::string BytesStr = Asio::buffer_cast<const char*>(Buffer.data());
+    boost::asio::read(*SocketPtr, Buffer, boost::asio::transfer_at_least(2));
+  std::string BytesStr = (const char*)Buffer.data().data();
 
   FString CoordStr = FString(BytesStr.size(), UTF8_TO_TCHAR(BytesStr.c_str()));
   UE_LOG(LogTemp, Log, TEXT("Received Coords %s"), *CoordStr);
@@ -157,7 +156,7 @@ bool UMapPreviewUserWidget::SendStr(FString Msg)
   std::size_t BytesSent = 0;
   try
   {
-    BytesSent = Asio::write(*SocketPtr, Asio::buffer(MessageStr));
+    BytesSent = boost::asio::write(*SocketPtr, boost::asio::buffer(MessageStr));
   }
   catch (const boost::system::system_error& e)
   {
diff --git a/Unreal/CarlaUnreal/Plugins/CarlaTools/Source/CarlaTools/Public/MapPreviewUserWidget.h b/Unreal/CarlaUnreal/Plugins/CarlaTools/Source/CarlaTools/Public/MapPreviewUserWidget.h
index 785fb28cf5d..75d26393039 100644
--- a/Unreal/CarlaUnreal/Plugins/CarlaTools/Source/CarlaTools/Public/MapPreviewUserWidget.h
+++ b/Unreal/CarlaUnreal/Plugins/CarlaTools/Source/CarlaTools/Public/MapPreviewUserWidget.h
@@ -7,10 +7,19 @@
 #include "Blueprint/UserWidget.h"
 #include <util/ue-header-guard-end.h>
 
+#ifdef _WIN32
+#pragma warning(push)
+#pragma warning(disable : 4459)
+#endif
+
 #include <util/disable-ue4-macros.h>
 #include <boost/asio.hpp>
 #include <util/enable-ue4-macros.h>
 
+#ifdef _WIN32
+#pragma warning(pop)
+#endif
+
 #include <memory>
 
 #include "MapPreviewUserWidget.generated.h"
@@ -25,7 +34,7 @@ class CARLATOOLS_API UMapPreviewUserWidget : public UUserWidget
 
 private:
 	// Boost socket
-  boost::asio::io_service io_service;
+  boost::asio::io_context io_service;
   std::unique_ptr<boost::asio::ip::tcp::socket> SocketPtr;