diff --git a/.clangd.in b/.clangd.in
index 12902db3f67..16cb4c9b331 100644
--- a/.clangd.in
+++ b/.clangd.in
@@ -1,2 +1,2 @@
 CompileFlags:
-  CompilationDatabase: "@CMAKE_CURRENT_BINARY_DIR@"
+  CompilationDatabase: "@CMAKE_BINARY_DIR@"
diff --git a/.gitignore b/.gitignore
index 25fa898a664..533cefe1c79 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,7 +4,6 @@
 __pycache__/
 
 Build/
-Install/
 Doxygen/
 Dist/
 Temp/
@@ -15,3 +14,4 @@ CMakeSettings.json
 .clangd
 
 Help.md
+targets.txt
\ No newline at end of file
diff --git a/CMake/Common.cmake b/CMake/Common.cmake
index 580158aca84..cb578613b12 100644
--- a/CMake/Common.cmake
+++ b/CMake/Common.cmake
@@ -1,91 +1,3 @@
-# ================================
-#   Common
-# ================================
-
-set (CMAKE_CXX_STANDARD 20)
-set (CMAKE_CXX_STANDARD_REQUIRED ON)
-
-set (CMAKE_C_STANDARD 11)
-set (CMAKE_C_STANDARD_REQUIRED ON)
-
-set (CMAKE_POSITION_INDEPENDENT_CODE ON)
-
-if (CMAKE_BUILD_TYPE STREQUAL "Debug")
-  carla_warning (
-    "CARLA is set to be built in Debug mode. This may cause issues when building CarlaUnrealEditor."
-  )
-endif ()
-
-if (LINUX)
-  check_linker_flag (CXX -lpthread HAS_PTHREAD)
-  if (HAS_PTHREAD)
-    add_link_options (-lpthread)
-  endif ()
-endif ()
-
-if (WIN32)
-  if (CMAKE_BUILD_TYPE STREQUAL "Debug")
-    set (CARLA_DEBUG_AFFIX d)
-    set (CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreadedDebugDLL")
-  else ()
-    set (CARLA_DEBUG_AFFIX )
-    set (CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreadedDLL")
-  endif ()
-endif ()
-
-if (CMAKE_TOOLCHAIN_FILE)
-  cmake_path (
-    ABSOLUTE_PATH
-      CMAKE_TOOLCHAIN_FILE
-    BASE_DIRECTORY
-      ${CARLA_WORKSPACE_PATH}
-    NORMALIZE
-    OUTPUT_VARIABLE
-      TOOLCHAIN_FILE
-  )
-  set (CMAKE_TOOLCHAIN_FILE ${TOOLCHAIN_FILE})
-endif ()
-
-# ================================
-#   Common Definitions
-# ================================
-
-if (WIN32)
-  add_compile_definitions (_CRT_SECURE_NO_WARNINGS)
-  check_cxx_compiler_flag (/utf-8 HAS_MSVC_UTF8)
-  if (HAS_MSVC_UTF8)
-    # @TODO This causes warnings with MASM. A better approach should be looked into.
-    add_compile_options ($<$<COMPILE_LANGUAGE:CXX>:/utf-8>)
-  endif ()
-endif ()
-
-set (CARLA_COMMON_DEFINITIONS)
-
-foreach (FORMAT ${LIBCARLA_IMAGE_SUPPORTED_FORMATS})
-  carla_message_verbose ("Enabling CARLA image support for \"${FORMAT}\".")
-  string (TOUPPER "${FORMAT}" FORMAT_UPPERCASE)
-  list (APPEND CARLA_COMMON_DEFINITIONS LIBCARLA_IMAGE_SUPPORT_${FORMAT_UPPERCASE}=1)
-endforeach ()
-
-if (WIN32)
-  # Documentation: https://learn.microsoft.com/en-us/cpp/porting/modifying-winver-and-win32-winnt?view=msvc-170
-  list (APPEND CARLA_COMMON_DEFINITIONS _WIN32_WINNT=0x0601) # <- Windows 10
-  list (APPEND CARLA_COMMON_DEFINITIONS HAVE_SNPRINTF)
-  list (APPEND CARLA_COMMON_DEFINITIONS _USE_MATH_DEFINES)
-endif ()
-
-if (WIN32)
-  set (EXE_EXT .exe)
-  set (UE_SYSTEM_NAME Win64)
-elseif (LINUX)
-  set (EXE_EXT)
-  set (UE_SYSTEM_NAME Linux)
-elseif (APPLE)
-  set (EXE_EXT)
-  set (UE_SYSTEM_NAME Mac)
-else ()
-  carla_error ("Unknown target system.")
-endif ()
 
 # ================================
 #   Exception Definitions
@@ -106,14 +18,13 @@ else ()
   endif ()
 endif ()
 
-carla_message ("Checking for ${EXCEPTIONS_FLAG} support")
+message (STATUS "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 ()
 
 set (CARLA_EXCEPTION_DEFINITIONS)
-
 if (ENABLE_EXCEPTIONS)
   # Nothing
 else ()
@@ -143,7 +54,7 @@ else ()
   endif ()
 endif ()
 
-carla_message ("Checking for ${RTTI_FLAG} support")
+message (STATUS "Checking for ${RTTI_FLAG} support")
 check_cxx_compiler_flag (${RTTI_FLAG} HAS_RTTI_FLAG)
 if (HAS_RTTI_FLAG)
   add_compile_options ($<$<COMPILE_LANGUAGE:CXX>:${RTTI_FLAG}>)
@@ -175,8 +86,8 @@ if (ENABLE_ALL_WARNINGS)
   endif ()
   check_cxx_compiler_flag(/Wall HAS_WALL_MSVC)
   if (HAS_WALL_MSVC)
-    set (CMAKE_C_FLAGS "${CMAKE_CXX_FLAGS} /Wall")
-    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Wall")
+    set (CMAKE_C_FLAGS "${CMAKE_CXX_FLAGS} /W4")
+    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4")
   endif ()
 endif ()
 
diff --git a/CMake/Dependencies.cmake b/CMake/Dependencies.cmake
index edcf9a58b19..c6a6c5e3505 100644
--- a/CMake/Dependencies.cmake
+++ b/CMake/Dependencies.cmake
@@ -13,7 +13,7 @@ include (FetchContent)
 set (CARLA_DEPENDENCIES_PENDING)
 
 macro (carla_git_dependency_add NAME TAG ARCHIVE_URL GIT_URL)
-  carla_message ("Cloning ${NAME}...")
+  message (STATUS "Cloning ${NAME}...")
   FetchContent_Declare (
     ${NAME}
     GIT_REPOSITORY ${GIT_URL}
@@ -28,7 +28,7 @@ macro (carla_git_dependency_add NAME TAG ARCHIVE_URL GIT_URL)
 endmacro ()
 
 macro (carla_download_dependency_add NAME TAG ARCHIVE_URL GIT_URL)
-  carla_message ("Downloading ${NAME}...")
+  message (STATUS "Downloading ${NAME}...")
   FetchContent_Declare (
     ${NAME}
     URL ${ARCHIVE_URL}
@@ -52,23 +52,17 @@ macro (carla_dependencies_make_available)
   set (CARLA_DEPENDENCIES_PENDING)
 endmacro ()
 
-macro (carla_dependency_option NAME VALUE)
-  set (${NAME} ${VALUE} CACHE INTERNAL "")
-endmacro ()
-
-
-
 # ==== SQLITE3 ====
-
+#[[
 set (THREADS_PREFER_PTHREAD_FLAG ON)
 find_package (Threads REQUIRED)
 
-string (REPLACE "." "" CARLA_SQLITE_TAG ${CARLA_SQLITE_VERSION})
+string (REPLACE "." "" CARLA_SQLITE_TAG ${SQLITE_VERSION})
 
-carla_message ("Downloading sqlite3...")
+message (STATUS "Downloading sqlite3...")
 FetchContent_Declare (
   sqlite3
-  URL https://www.sqlite.org/${CARLA_SQLITE_RELEASE_YEAR}/sqlite-amalgamation-${CARLA_SQLITE_TAG}.zip
+  URL https://www.sqlite.org/${SQLITE_RELEASE_YEAR}/sqlite-amalgamation-${CARLA_SQLITE_TAG}.zip
   SYSTEM OVERRIDE_FIND_PACKAGE EXCLUDE_FROM_ALL
 )
 FetchContent_MakeAvailable (sqlite3)
@@ -95,15 +89,16 @@ target_link_libraries (
   sqlite3 PRIVATE
   libsqlite3
 )
-
+]]
 
 
 # ==== ZLIB ====
+#[[
 carla_dependency_option (ZLIB_BUILD_EXAMPLES OFF)
 carla_dependency_add (
   zlib
-  ${CARLA_ZLIB_TAG}
-  https://github.com/madler/zlib/archive/refs/tags/${CARLA_ZLIB_TAG}.zip
+  ${ZLIB_TAG}
+  https://github.com/madler/zlib/archive/refs/tags/${ZLIB_TAG}.zip
   https://github.com/madler/zlib.git
 )
 carla_dependencies_make_available ()
@@ -119,10 +114,11 @@ else ()
 endif ()
 carla_dependency_option (ZLIB_INCLUDE_DIRS ${zlib_SOURCE_DIR} ${zlib_BINARY_DIR})
 carla_dependency_option (ZLIB_LIBRARIES ${ZLIB_LIBRARY})
-
+]]
 
 
 # ==== LIBPNG ====
+#[[
 carla_dependency_option (PNG_SHARED OFF)
 carla_dependency_option (PNG_STATIC ON)
 if (APPLE)
@@ -134,8 +130,8 @@ carla_dependency_option (PNG_DEBUG OFF)
 carla_dependency_option (PNG_HARDWARE_OPTIMIZATIONS ON)
 carla_dependency_add (
   libpng
-  ${CARLA_LIBPNG_TAG}
-  https://github.com/pnggroup/libpng/archive/refs/tags/${CARLA_LIBPNG_TAG}.zip
+  ${PNG_TAG}
+  https://github.com/pnggroup/libpng/archive/refs/tags/${PNG_TAG}.zip
   https://github.com/pnggroup/libpng.git
 )
 carla_dependencies_make_available ()
@@ -143,10 +139,11 @@ include_directories (
   ${libpng_SOURCE_DIR}
   ${libpng_BINARY_DIR}
 ) # @TODO HACK
-
+]]
 
 
 # ==== BOOST ====
+#[[
 set (
   BOOST_INCLUDED_PROJECTS
   asio
@@ -164,7 +161,7 @@ set (
 )
 carla_dependency_option (BOOST_INCLUDE_LIBRARIES "${BOOST_INCLUDED_PROJECTS}")
 carla_dependency_option (BOOST_EXCLUDE_LIBRARIES "${BOOST_EXCLUDED_PROJECTS}")
-carla_dependency_option (BOOST_ENABLE_PYTHON ${BUILD_PYTHON_API})
+carla_dependency_option (BOOST_ENABLE_PYTHON ON)
 carla_dependency_option (BOOST_ENABLE_MPI OFF)
 carla_dependency_option (BOOST_LOCALE_WITH_ICU OFF)
 carla_dependency_option (BOOST_LOCALE_WITH_ICONV OFF)
@@ -172,27 +169,32 @@ carla_dependency_option (BOOST_GIL_BUILD_EXAMPLES OFF)
 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
+  ${BOOST_TAG}
+  https://github.com/boostorg/boost/releases/download/${BOOST_TAG}/${BOOST_TAG}.zip
   https://github.com/boostorg/boost.git
 )
+]]
 
 
 
 # ==== EIGEN ====
+#[[
 carla_dependency_option (EIGEN_BUILD_PKGCONFIG OFF)
 carla_dependency_option (BUILD_TESTING OFF)
 carla_dependency_option (EIGEN_BUILD_DOC OFF)
+carla_dependency_option (CMAKE_Fortran_COMPILER "")
 carla_dependency_add (
   eigen
   ${CARLA_EIGEN_TAG}
   https://gitlab.com/libeigen/eigen/-/archive/${CARLA_EIGEN_TAG}/eigen-${CARLA_EIGEN_TAG}.tar.gz
   https://gitlab.com/libeigen/eigen.git
 )
+]]
 
 
 
 # ==== RPCLIB ====
+#[[
 carla_dependency_option (RPCLIB_BUILD_TESTS OFF)
 carla_dependency_option (RPCLIB_GENERATE_COMPDB OFF)
 carla_dependency_option (RPCLIB_BUILD_EXAMPLES OFF)
@@ -200,21 +202,24 @@ carla_dependency_option (RPCLIB_ENABLE_LOGGING OFF)
 carla_dependency_option (RPCLIB_ENABLE_COVERAGE OFF)
 carla_dependency_add (
   rpclib
-  ${CARLA_RPCLIB_TAG}
-  https://github.com/carla-simulator/rpclib/archive/refs/heads/${CARLA_RPCLIB_TAG}.zip
+  ${RPC_TAG}
+  https://github.com/carla-simulator/rpclib/archive/refs/heads/${RPC_TAG}.zip
   https://github.com/carla-simulator/rpclib.git
 )
+  ]]
 
 
 
 # ==== RECAST ====
+#[[
 carla_dependency_option (RECASTNAVIGATION_BUILDER ON)
 carla_dependency_add (
   recastnavigation
-  ${CARLA_RECAST_TAG}
-  https://github.com/carla-simulator/recastnavigation/archive/refs/heads/${CARLA_RECAST_TAG}.zip
+  ${RECAST_TAG}
+  https://github.com/carla-simulator/recastnavigation/archive/refs/heads/${RECAST_TAG}.zip
   https://github.com/carla-simulator/recastnavigation.git
 )
+]]
 
 
 
@@ -272,7 +277,7 @@ if (BUILD_CARLA_UNREAL AND ENABLE_STREETMAP)
     ${CARLA_STREETMAP_TAG}
     https://github.com/carla-simulator/StreetMap/archive/refs/heads/${CARLA_STREETMAP_TAG}.zip
     https://github.com/carla-simulator/StreetMap.git
-    SOURCE_DIR ${CARLA_WORKSPACE_PATH}/Unreal/CarlaUnreal/Plugins/StreetMap
+    SOURCE_DIR ${CARLA_ROOT}/Unreal/CarlaUnreal/Plugins/StreetMap
   )
 endif ()
 
diff --git a/CMake/Options.cmake b/CMake/Options.cmake
deleted file mode 100644
index fc0eeea0613..00000000000
--- a/CMake/Options.cmake
+++ /dev/null
@@ -1,479 +0,0 @@
-#[[
-
-  Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
-  de Barcelona (UAB).
-  
-  This work is licensed under the terms of the MIT license.
-  For a copy, see <https://opensource.org/licenses/MIT>.
-
-]]
-
-
-
-# ================================
-#   Common Options
-# ================================
-
-carla_option (
-  BUILD_CARLA_CLIENT
-  "Build the CARLA client."
-  ON
-)
-
-carla_option (
-  BUILD_CARLA_SERVER
-  "Build the CARLA server."
-  ON
-)
-
-carla_option (
-  BUILD_EXAMPLES
-  "Build CARLA examples."
-  ON
-)
-
-carla_option (
-  BUILD_LIBCARLA_TESTS
-  "Build LibCarla tests."
-  ON
-)
-
-carla_option (
-  ENABLE_PYTORCH
-  "Enable PyTorch for CARLA."
-  OFF
-)
-
-carla_option (
-  BUILD_PYTHON_API
-  "Build the CARLA Python API."
-  ON
-)
-
-carla_option (
-  ENABLE_ROS2
-  "Enable ROS2."
-  OFF
-)
-
-carla_option (
-  ENABLE_ROS2_DEMO
-  "Enable ROS2 demo."
-  OFF
-)
-
-carla_option (
-  ENABLE_OSM2ODR
-  "Enable OSM2ODR."
-  OFF
-)
-
-carla_option (
-  ENABLE_RSS
-  "Enable RSS components (ad-rss-lib)"
-  OFF
-)
-
-carla_option (
-  INSTALL_LIBCARLA
-  "Install LibCarla and all of its dependencies."
-  ON
-)
-
-carla_option (
-  BUILD_OSM_WORLD_RENDERER
-  "Build OSM World Renderer."
-  OFF
-)
-
-carla_option (
-  ENABLE_RTTI
-  "Enable C++ RTTI."
-  ON
-)
-
-carla_option (
-  ENABLE_EXCEPTIONS
-  "Enable C++ Exceptions."
-  ON
-)
-
-carla_option (
-  PREFER_CLONE
-  "Whether to clone dependencies instead of directly downloading a compressed archive."
-  OFF
-)
-
-carla_option (
-  ENABLE_PEP517
-  "Whether to use PEP 517."
-  ON
-)
-
-carla_option (
-  ENABLE_ALL_WARNINGS
-  "Whether to emit extra build warnings."
-  ON
-)
-
-carla_option (
-  ENABLE_WARNINGS_TO_ERRORS
-  "Whether to convert build warnings to errors."
-  OFF
-)
-
-carla_string_option (
-  LIBCARLA_IMAGE_SUPPORTED_FORMATS
-  "Semicolon-separated list of supported image formats by LibCarla. Available formats: png, jpeg, tiff."
-  "png"
-)
-
-carla_option (
-  VERBOSE_CONFIGURE
-  "Whether to emit extra messages during CMake configure."
-  OFF
-)
-
-carla_option (
-  ENABLE_STREETMAP
-  "Whether to download the Streetmap UE plugin."
-  ON
-)
-
-
-
-# ================================
-#   Unreal Engine-related Options
-# ================================
-
-carla_option (
-  CARLA_UNREAL_CONTENT_PREFER_CLONE
-  "Whether to perform a git clone instead of a direct archive download of the CARLA Unreal assets (EXTREMELY DISCOURAGED)."
-  OFF
-)
-
-cmake_path (
-  CONVERT
-  "$ENV{CARLA_UNREAL_ENGINE_PATH}"
-  TO_CMAKE_PATH_LIST
-  CARLA_UNREAL_ENGINE_PATH_INFERRED
-  NORMALIZE
-)
-
-carla_string_option (
-  CARLA_UNREAL_ENGINE_PATH
-  "Path to the CARLA fork of Unreal Engine."
-  "${CARLA_UNREAL_ENGINE_PATH_INFERRED}"
-)
-
-carla_message ("Using ${CARLA_UNREAL_ENGINE_PATH} as Unreal Engine root path.")
-
-if (EXISTS ${CARLA_UNREAL_ENGINE_PATH})
-  set (CARLA_HAS_UNREAL_ENGINE_PATH ON)
-else ()
-  set (CARLA_HAS_UNREAL_ENGINE_PATH OFF)
-endif ()
-
-carla_option (
-  BUILD_CARLA_UNREAL
-  "Build the Carla Unreal Engine project."
-  ${CARLA_HAS_UNREAL_ENGINE_PATH}
-)
-
-if (WIN32)
-  set (CARLA_UNREAL_RHI_DEFAULT d3d12)
-elseif (LINUX)
-  set (CARLA_UNREAL_RHI_DEFAULT vulkan)
-endif ()
-
-carla_string_option (
-  CARLA_UNREAL_RHI
-  "Target CARLA Unreal Engine RHI."
-  "${CARLA_UNREAL_RHI_DEFAULT}"
-)
-
-if (BUILD_CARLA_UNREAL)
-  if (NOT ${CARLA_HAS_UNREAL_ENGINE_PATH})
-    carla_error (
-      "Could not add UE project to build since the carla_option CARLA_UNREAL_ENGINE_PATH "
-      "is not set to a valid path (\"${CARLA_UNREAL_ENGINE_PATH}\")."
-      "Please set it to point to the root path of your CARLA Unreal Engine installation."
-    )
-  endif ()
-endif ()
-
-carla_option (
-  CARLA_UNREAL_LOG_WINDOW
-  "Whether to open a terminal window along the Unreal editor."
-  ON
-)
-
-set (CARLA_LAUNCH_ARGS_DEFAULT)
-if (CARLA_UNREAL_LOG_WINDOW)
-  list (APPEND CARLA_LAUNCH_ARGS_DEFAULT -log)
-endif ()
-
-carla_string_option (
-  CARLA_LAUNCH_ARGS
-  "CMake-style semicolon-separated list of arguments to pass when launching the Unreal Editor with CARLA."
-  "${CARLA_LAUNCH_ARGS_DEFAULT}"
-)
-
-carla_string_option (
-  CARLA_UNREAL_BUILD_TYPE
-  "Set the default CARLA Unreal Editor build configuration."
-  "Development"
-)
-
-# Docs for UE5 build configurations:
-# https://docs.unrealengine.com/4.27/en-US/ProductionPipelines/DevelopmentSetup/BuildConfigurations/
-
-if (${CMAKE_BUILD_TYPE} STREQUAL "Debug")
-  set (CARLA_UNREAL_PACKAGE_BUILD_TYPE_DEFAULT Debug)
-elseif (${CMAKE_BUILD_TYPE} STREQUAL "RelWithDebInfo")
-  set (CARLA_UNREAL_PACKAGE_BUILD_TYPE_DEFAULT Development)
-elseif (${CMAKE_BUILD_TYPE} STREQUAL "Release")
-  set (CARLA_UNREAL_PACKAGE_BUILD_TYPE_DEFAULT Shipping)
-else ()
-  carla_warning("Unexpected CMAKE_BUILD_TYPE \"${CMAKE_BUILD_TYPE}\". Unreal packages will default to Development. Manually override DEFAULT_PACKAGE_CONFIGURATION if this behavior is not desired.")
-  set (CARLA_UNREAL_PACKAGE_BUILD_TYPE_DEFAULT Development)
-endif ()
-
-carla_string_option (
-  CARLA_UNREAL_PACKAGE_BUILD_TYPE
-  "Set the default CARLA package build configuration."
-  "${CARLA_UNREAL_PACKAGE_BUILD_TYPE_DEFAULT}"
-)
-
-if ("${CARLA_UNREAL_PACKAGE_BUILD_TYPE}" STREQUAL "Shipping")
-  set (CARLA_UNREAL_PACKAGE_NO_COMPRESSION_DEFAULT OFF)
-else ()
-  set (CARLA_UNREAL_PACKAGE_NO_COMPRESSION_DEFAULT ON)
-endif ()
-
-carla_option (
-  CARLA_UNREAL_PACKAGE_NO_COMPRESSION
-  "Whether to skip the package compression step."
-  ${CARLA_UNREAL_PACKAGE_NO_COMPRESSION_DEFAULT}
-)
-
-
-
-# ================================
-#   Dependency-specific Options
-# ================================
-
-# ==== BOOST ====
-
-carla_string_option (
-  CARLA_BOOST_VERSION
-  "Target boost version."
-  1.84.0
-)
-
-carla_string_option (
-  CARLA_BOOST_TAG
-  "Target boost git tag."
-  boost-${CARLA_BOOST_VERSION}
-)
-
-# ==== EIGEN ====
-
-carla_string_option (
-  CARLA_EIGEN_VERSION
-  "Target Eigen version."
-  3.4.0
-)
-
-carla_string_option (
-  CARLA_EIGEN_TAG
-  "Target Eigen git tag."
-  ${CARLA_EIGEN_VERSION}
-)
-
-# ==== GOOGLE TEST ====
-
-carla_string_option (
-  CARLA_GTEST_VERSION
-  "Target googletest version."
-  1.14.0
-)
-
-carla_string_option (
-  CARLA_GTEST_TAG
-  "Target googletest git tag."
-  v${CARLA_GTEST_VERSION}
-)
-
-# ==== LIBPNG ====
-
-# 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
-carla_string_option (
-  CARLA_LIBPNG_VERSION
-  "Target libpng version."
-  1.6.40
-)
-
-carla_string_option (
-  CARLA_LIBPNG_TAG
-  "Target libpng git tag."
-  v${CARLA_LIBPNG_VERSION}
-)
-
-# ==== PROJ ====
-
-carla_string_option (
-  CARLA_PROJ_VERSION
-  "Target PROJ version."
-  9.7.0
-)
-
-carla_string_option (
-  CARLA_PROJ_TAG
-  "Target PROJ git tag."
-  ${CARLA_PROJ_VERSION}
-)
-
-# ==== RECAST ====
-
-carla_string_option (
-  CARLA_RECAST_TAG
-  "Target recastnavigation git tag."
-  carla
-)
-
-# ==== RPCLIB ====
-
-carla_string_option (
-  CARLA_RPCLIB_TAG
-  "Target rpclib git tag."
-  carla
-)
-
-# ==== SQLITE3 ====
-
-carla_string_option (
-  CARLA_SQLITE_VERSION
-  "Target SQLite version (major[1].minor[2].patch[2].revision[2])."
-  3.50.04.00
-)
-
-carla_string_option (
-  CARLA_SQLITE_RELEASE_YEAR
-  "Year corresponding to the target SQLite release."
-  2025
-)
-
-# ==== XERCESC ====
-
-carla_string_option (
-  CARLA_XERCESC_VERSION
-  "Target xerces-c version."
-  3.3.0
-)
-
-carla_string_option (
-  CARLA_XERCESC_TAG
-  "Target xerces-c git tag."
-  v${CARLA_XERCESC_VERSION}
-)
-
-# ==== ZLIB ====
-
-carla_string_option (
-  CARLA_ZLIB_VERSION
-  "Target zlib git tag."
-  1.3.1
-)
-
-carla_string_option (
-  CARLA_ZLIB_TAG
-  "Target zlib git tag."
-  v${CARLA_ZLIB_VERSION}
-)
-  
-# ==== LUNASVG ====
-
-carla_string_option (
-  CARLA_LUNASVG_VERSION
-  "Target lunasvg version."
-  master
-)
-
-carla_string_option (
-  CARLA_LUNASVG_TAG
-  "Target lunasvg git tag."
-  ${CARLA_LUNASVG_VERSION}
-)
-
-# ==== LIBOSMSCOUT ====
-
-carla_string_option (
-  CARLA_LIBOSMSCOUT_VERSION
-  "Target libosmscout version."
-  master
-)
-
-carla_string_option (
-  CARLA_LIBOSMSCOUT_TAG
-  "Target libosmscout git tag."
-  ${CARLA_LIBOSMSCOUT_VERSION}
-)
-
-# ==== STREETMAP ====
-
-carla_string_option (
-  CARLA_STREETMAP_VERSION
-  "Target StreetMap version."
-  ue5-dev-carla
-)
-
-carla_string_option (
-  CARLA_STREETMAP_TAG
-  "Target StreetMap git tag."
-  ${CARLA_STREETMAP_VERSION}
-)
-
-# ==== FASTDDS ====
-
-carla_string_option (
-  CARLA_FASTDDS_VERSION
-  "Target Fast-DDS version."
-  2.11.2
-)
-
-carla_string_option (
-  CARLA_FASTDDS_TAG
-  "Target Fast-DDS git tag."
-  v${CARLA_FASTDDS_VERSION}
-)
-
-# ==== FASTCDR ====
-
-carla_string_option (
-  CARLA_FASTCDR_VERSION
-  "Target Fast-CDR version."
-  1.1.x
-)
-
-carla_string_option (
-  CARLA_FASTCDR_TAG
-  "Target Fast-CDR git tag."
-  ${CARLA_FASTCDR_VERSION}
-)
-
-# ==== FOONATHAN MEMORY VENDOR ====
-
-carla_string_option (
-  CARLA_FOONATHAN_MEMORY_VENDOR_VERSION
-  "Target foonathan_memory_vendor version."
-  master
-)
-
-carla_string_option (
-  CARLA_FOONATHAN_MEMORY_VENDOR_TAG
-  "Target foonathan_memory_vendor git tag."
-  ${CARLA_FOONATHAN_MEMORY_VENDOR_VERSION}
-)
diff --git a/CMake/SuperBuild/Boost.cmake b/CMake/SuperBuild/Boost.cmake
new file mode 100644
index 00000000000..0a5a4ec874b
--- /dev/null
+++ b/CMake/SuperBuild/Boost.cmake
@@ -0,0 +1,80 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
+
+option (
+  CARLA_BOOST_USE_FIND_PACKAGE
+  "Whether to use find_package when retrieving boost."
+  OFF
+)
+
+if (CARLA_BOOST_USE_FIND_PACKAGE)
+  find_package (
+    Boost ${BOOST_VERSION}
+    EXACT
+    QUIET
+    NO_MODULE
+    COMPONENTS
+      asio
+      geometry
+      algorithm
+      assert
+      gil
+  )
+endif ()
+
+if (NOT CARLA_BOOST_USE_FIND_PACKAGE OR NOT Boost_FOUND)
+  include (ExternalProject)
+    
+  if (PREFER_CLONE)
+    set (
+      DOWNLOAD_OPTIONS
+      GIT_REPOSITORY
+          https://github.com/boostorg/boost.git
+      GIT_TAG ${BOOST_TAG}
+      GIT_SUBMODULES_RECURSE ON
+      GIT_SHALLOW ON
+      GIT_PROGRESS ON
+    )
+  else ()
+    set (
+      DOWNLOAD_OPTIONS
+      URL https://github.com/boostorg/boost/releases/download/${BOOST_TAG}/${BOOST_TAG}.zip
+    )
+  endif ()
+
+  if (NOT TARGET boost_project)
+    set (
+      BOOST_INCLUDED_PROJECTS
+      asio
+      iterator
+      python
+      date_time
+      geometry
+      container
+      variant2
+      filesystem
+      gil
+    )
+    string (REPLACE ";" "," BOOST_INCLUDED_PROJECTS_ESCAPED "${BOOST_INCLUDED_PROJECTS}")
+    ExternalProject_Add (
+      boost_project
+      ${DOWNLOAD_OPTIONS}
+      LIST_SEPARATOR ,
+      CMAKE_CACHE_ARGS
+        -DBOOST_INCLUDE_LIBRARIES:STRING=${BOOST_INCLUDED_PROJECTS_ESCAPED}
+        -DBOOST_INSTALL_LAYOUT:STRING="system"
+        # -DBOOST_EXCLUDE_LIBRARIES=ON
+        -DBOOST_ENABLE_PYTHON:BOOL=ON
+        -DBOOST_ENABLE_MPI:BOOL=OFF
+        -DBOOST_LOCALE_WITH_ICU:BOOL=OFF
+        -DBOOST_LOCALE_WITH_ICONV:BOOL=OFF
+        -DBOOST_GIL_BUILD_EXAMPLES:BOOL=OFF
+        -DBOOST_GIL_BUILD_HEADER_TESTS:BOOL=OFF
+      CMAKE_ARGS
+        -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+        -DCMAKE_INSTALL_PREFIX:FILEPATH=<INSTALL_DIR>
+        -DCMAKE_TOOLCHAIN_FILE:FILEPATH=${CMAKE_TOOLCHAIN_FILE}
+    )
+    ExternalProject_Add_StepTargets (boost_project install) # Generates boost_project-install
+  endif ()
+
+endif ()
diff --git a/CMake/SuperBuild/Config.cmake b/CMake/SuperBuild/Config.cmake
new file mode 100644
index 00000000000..68968c591e3
--- /dev/null
+++ b/CMake/SuperBuild/Config.cmake
@@ -0,0 +1,220 @@
+set (CARLA_VERSION_MAJOR 0)
+set (CARLA_VERSION_MINOR 10)
+set (CARLA_VERSION_PATCH 0)
+
+set (
+  CARLA_VERSION 
+  ${CARLA_VERSION_MAJOR}.${CARLA_VERSION_MINOR}.${CARLA_VERSION_PATCH}
+)
+
+set (
+  BOOST_VERSION
+  "1.84.0"
+  CACHE STRING
+  "Target boost version."
+)
+
+set (
+  BOOST_TAG
+  "boost-${BOOST_VERSION}"
+  CACHE STRING
+  "Target boost git tag."
+)
+
+set (
+  EIGEN_VERSION
+  "3.4.0"
+  CACHE STRING
+  "Target Eigen version."
+)
+
+set (
+  CARLA_EIGEN_TAG
+  "${EIGEN_VERSION}"
+  CACHE STRING
+  "Target Eigen git tag."
+)
+
+set (
+  FASTCDR_VERSION
+  "1.1.x"
+  CACHE STRING
+  "Target Fast-CDR version."
+)
+
+set (
+  FASTCDR_TAG
+  "${FASTCDR_VERSION}"
+  CACHE STRING
+  "Target Fast-CDR git tag."
+)
+
+set (
+  FASTDDS_VERSION
+  "3.4.1"
+  CACHE STRING
+  "Target Fast-DDS version."
+)
+
+set (
+  CARLA_FAST_DDS_TAG
+  "v${FASTDDS_VERSION}"
+  CACHE STRING
+  "Target Fast-DDS git tag."
+)
+
+set (
+  FOONATHAN_MEMORY_VENDOR_VERSION
+  "master"
+  CACHE STRING
+  "Target foonathan_memory_vendor version."
+)
+
+set (
+  FOONATHAN_MEMORY_VENDOR_TAG
+  "${FOONATHAN_MEMORY_VENDOR_VERSION}"
+  CACHE STRING
+  "Target foonathan_memory_vendor git tag."
+)
+
+set (
+  GTEST_VERSION
+  "1.14.0"
+  CACHE STRING
+  "Target googletest version."
+)
+
+set (
+  GTEST_TAG
+  "v${GTEST_VERSION}"
+  CACHE STRING
+  "Target googletest git tag."
+)
+
+set (
+  LIBOSMSCOUT_VERSION
+  "master"
+  CACHE STRING
+  "Target libosmscout version."
+)
+
+set (
+  LIBOSMSCOUT_TAG
+  "${LIBOSMSCOUT_VERSION}"
+  CACHE STRING
+  "Target libosmscout git tag."
+)
+
+set (
+  LUNASVG_VERSION
+  "master"
+  CACHE STRING
+  "Target lunasvg version."
+)
+
+set (
+  LUNASVG_TAG
+  "${LUNASVG_VERSION}"
+  CACHE STRING
+  "Target lunasvg git tag."
+)
+
+set (
+  PNG_VERSION
+  "1.6.54"
+  CACHE STRING
+  "Target libpng version."
+)
+
+set (
+  PNG_TAG
+  "v${PNG_VERSION}"
+  CACHE STRING
+  "Target libpng git tag."
+)
+
+set (
+  PROJ_VERSION
+  "9.7.0"
+  CACHE STRING
+  "Target PROJ version."
+)
+
+set (
+  PROJ_TAG
+  "${PROJ_VERSION}"
+  CACHE STRING
+  "Target PROJ git tag."
+)
+
+set (
+  RECAST_TAG
+  "carla"
+  CACHE STRING
+  "Target recastnavigation git tag."
+)
+
+set (
+  RPC_TAG
+  "carla"
+  CACHE STRING
+  "Target rpclib git tag."
+)
+
+set (
+  SQLITE_VERSION
+  "3.50.04.00"
+  CACHE STRING
+  "Target SQLite version (major[1].minor[2].patch[2].revision[2])."
+)
+
+string (REPLACE "." "" CARLA_SQLITE_TAG ${SQLITE_VERSION})
+
+set (
+  SQLITE_RELEASE_YEAR
+  "2025"
+  CACHE STRING
+  "Year corresponding to the target SQLite release."
+)
+
+set (
+  STREETMAP_VERSION
+  "ue5-dev-carla"
+  CACHE STRING
+  "Target StreetMap version."
+)
+
+set (
+  CARLA_STREETMAP_TAG
+  "${STREETMAP_VERSION}"
+  CACHE STRING
+  "Target StreetMap git tag."
+)
+
+set (
+  XERCESC_VERSION
+  "3.3.0"
+  CACHE STRING
+  "Target xerces-c version."
+)
+
+set (
+  XERCESC_TAG
+  "v${XERCESC_VERSION}"
+  CACHE STRING
+  "Target xerces-c git tag."
+)
+
+set (
+  ZLIB_VERSION
+  "1.3.1"
+  CACHE STRING
+  "Target zlib git tag."
+)
+
+set (
+  ZLIB_TAG
+  "v${ZLIB_VERSION}"
+  CACHE STRING
+  "Target zlib git tag."
+)
diff --git a/CMake/SuperBuild/Eigen.cmake b/CMake/SuperBuild/Eigen.cmake
new file mode 100644
index 00000000000..59739a5f862
--- /dev/null
+++ b/CMake/SuperBuild/Eigen.cmake
@@ -0,0 +1,54 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
+
+option (
+  CARLA_EIGEN_USE_FIND_PACKAGE
+  "Whether to use find_package when retrieving Eigen."
+  OFF
+)
+
+if (CARLA_EIGEN_USE_FIND_PACKAGE)
+    find_package (
+        Eigen ${EIGEN_VERSION}
+        EXACT
+        QUIET
+        NO_MODULE
+    )
+endif ()
+
+if (NOT CARLA_EIGEN_USE_FIND_PACKAGE OR NOT Eigen_FOUND)
+
+    include (ExternalProject)
+    
+    if (PREFER_CLONE)
+        set (
+            DOWNLOAD_OPTIONS
+            GIT_REPOSITORY
+                https://gitlab.com/libeigen/eigen.git
+            GIT_TAG ${CARLA_EIGEN_TAG}
+            GIT_SUBMODULES_RECURSE ON
+            GIT_SHALLOW ON
+            GIT_PROGRESS ON
+        )
+    else ()
+        set (
+            DOWNLOAD_OPTIONS
+            URL https://gitlab.com/libeigen/eigen/-/archive/${CARLA_EIGEN_TAG}/eigen-${CARLA_EIGEN_TAG}.tar.gz
+        )
+    endif ()
+
+    if (NOT TARGET eigen_project)
+        ExternalProject_Add (
+            eigen_project
+            ${DOWNLOAD_OPTIONS}
+            CMAKE_ARGS
+                -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+                -DEIGEN_BUILD_PKGCONFIG=OFF
+                -DBUILD_TESTING=OFF
+                -DEIGEN_BUILD_DOC=OFF
+                -DCMAKE_INSTALL_PREFIX:FILEPATH=<INSTALL_DIR>
+                -DCMAKE_TOOLCHAIN_FILE:FILEPATH=${CMAKE_TOOLCHAIN_FILE}
+        )
+        ExternalProject_Add_StepTargets (eigen_project install) # Generates eigen_project-install
+    endif ()
+
+endif ()
diff --git a/CMake/SuperBuild/FastCDR.cmake b/CMake/SuperBuild/FastCDR.cmake
new file mode 100644
index 00000000000..58322ec3ffa
--- /dev/null
+++ b/CMake/SuperBuild/FastCDR.cmake
@@ -0,0 +1 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
diff --git a/CMake/SuperBuild/FastDDS.cmake b/CMake/SuperBuild/FastDDS.cmake
new file mode 100644
index 00000000000..b2778f2d345
--- /dev/null
+++ b/CMake/SuperBuild/FastDDS.cmake
@@ -0,0 +1,71 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
+
+option (
+  CARLA_FAST_DDS_USE_FIND_PACKAGE
+  "Whether to use find_package when retrieving Fast-DDS."
+  OFF
+)
+
+if (CARLA_FAST_DDS_USE_FIND_PACKAGE)
+    find_package (
+        FastDDS ${FAST_DDS_VERSION}
+        EXACT
+        QUIET
+        NO_MODULE
+    )
+endif ()
+
+if (NOT CARLA_FAST_DDS_USE_FIND_PACKAGE OR NOT FastDDS_FOUND)
+
+    include (ExternalProject)
+    
+    # FastDDS may not provide submodule in their release archives:
+    set (FASTDDS_CLONE_OVERRIDE ON)
+
+    if (PREFER_CLONE OR FASTDDS_CLONE_OVERRIDE)
+        set (
+            DOWNLOAD_OPTIONS
+            GIT_REPOSITORY https://github.com/eProsima/Fast-DDS.git
+            GIT_TAG ${CARLA_FAST_DDS_TAG}
+            GIT_SUBMODULES_RECURSE ON
+            GIT_SHALLOW ON
+            GIT_PROGRESS ON
+        )
+    else ()
+        set (
+            DOWNLOAD_OPTIONS
+            URL
+            https://github.com/eProsima/Fast-DDS/archive/refs/tags/${CARLA_FAST_DDS_TAG}.zip
+        )
+    endif ()
+
+    if (NOT TARGET fastdds_project)
+        ExternalProject_Get_Property (foonathan_memory_vendor_project INSTALL_DIR)
+        set (FOONATHAN_MEMORY_VENDOR_INSTALL_DIR ${INSTALL_DIR})
+        ExternalProject_Add (
+            fastdds_project
+            ${DOWNLOAD_OPTIONS}
+            CMAKE_ARGS
+                -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+                -DBUILD_SHARED_LIBS=ON
+                -DBUILD_TESTING=OFF
+                -DCOMPILE_EXAMPLES=OFF
+                -DCOMPILE_TOOLS=OFF
+                -DTHIRDPARTY_Asio=FORCE
+                -DTHIRDPARTY_fastcdr=FORCE
+                -DTHIRDPARTY_TinyXML2=FORCE
+                -DSQLITE3_SUPPORT=OFF
+                -DOPENSSL_FOUND:BOOL=ON
+                -DOPENSSL_INCLUDE_DIR:FILEPATH=${UE_OPENSSL_INCLUDE}
+                -DOPENSSL_SSL_LIBRARY:FILEPATH=${UE_OPENSSL_LIBS}/libssl.a
+                -DOPENSSL_CRYPTO_LIBRARY:FILEPATH=${UE_OPENSSL_LIBS}/libcrypto.a
+                -DCMAKE_PREFIX_PATH:STRING=${FOONATHAN_MEMORY_VENDOR_INSTALL_DIR}
+                -DCMAKE_INSTALL_PREFIX:FILEPATH=<INSTALL_DIR>
+                -DCMAKE_TOOLCHAIN_FILE:FILEPATH=${CMAKE_TOOLCHAIN_FILE}
+            DEPENDS
+                foonathan_memory_vendor_project-install
+        )
+        ExternalProject_Add_StepTargets (fastdds_project install) # Generates fastdds_project-install
+    endif ()
+
+endif ()
diff --git a/CMake/SuperBuild/FoonathanMemoryVendor.cmake b/CMake/SuperBuild/FoonathanMemoryVendor.cmake
new file mode 100644
index 00000000000..d88831ebb94
--- /dev/null
+++ b/CMake/SuperBuild/FoonathanMemoryVendor.cmake
@@ -0,0 +1,52 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
+
+option (
+  CARLA_FOONATHAN_MEMORY_VENDOR_USE_FIND_PACKAGE
+  "Whether to use find_package when retrieving foonathan_memory_vendor."
+  OFF
+)
+
+if (CARLA_FOONATHAN_MEMORY_VENDOR_USE_FIND_PACKAGE)
+    find_package (
+        FoonathanMemoryVendor ${FOONATHAN_MEMORY_VENDOR_VERSION}
+        EXACT
+        QUIET
+        NO_MODULE
+    )
+endif ()
+
+if (NOT CARLA_FOONATHAN_MEMORY_VENDOR_USE_FIND_PACKAGE OR NOT FoonathanMemoryVendor_FOUND)
+
+    include (ExternalProject)
+    
+    if (PREFER_CLONE)
+        set (
+            DOWNLOAD_OPTIONS
+            GIT_REPOSITORY https://github.com/eProsima/foonathan_memory_vendor.git
+            GIT_TAG ${FOONATHAN_MEMORY_VENDOR_TAG}
+            GIT_SUBMODULES_RECURSE ON
+            GIT_SHALLOW ON
+            GIT_PROGRESS ON
+        )
+    else ()
+        set (
+            DOWNLOAD_OPTIONS
+            URL
+            https://github.com/eProsima/foonathan_memory_vendor/archive/refs/heads/${FOONATHAN_MEMORY_VENDOR_TAG}.zip
+        )
+    endif ()
+
+    if (NOT TARGET foonathan_memory_vendor_project)
+        ExternalProject_Add (
+            foonathan_memory_vendor_project
+            ${DOWNLOAD_OPTIONS}
+            CMAKE_ARGS
+                -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+                -DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON
+                -DCMAKE_INSTALL_PREFIX:FILEPATH=<INSTALL_DIR>
+                -DCMAKE_TOOLCHAIN_FILE:FILEPATH=${CMAKE_TOOLCHAIN_FILE}
+        )
+        ExternalProject_Add_StepTargets (foonathan_memory_vendor_project install) # Generates foonathan_memory_vendor_project-install
+    endif ()
+
+endif ()
diff --git a/CMake/SuperBuild/GTest.cmake b/CMake/SuperBuild/GTest.cmake
new file mode 100644
index 00000000000..58322ec3ffa
--- /dev/null
+++ b/CMake/SuperBuild/GTest.cmake
@@ -0,0 +1 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
diff --git a/CMake/SuperBuild/LibCarla.cmake b/CMake/SuperBuild/LibCarla.cmake
new file mode 100644
index 00000000000..397db817d62
--- /dev/null
+++ b/CMake/SuperBuild/LibCarla.cmake
@@ -0,0 +1,80 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
+include (${CMAKE_CURRENT_LIST_DIR}/Boost.cmake)
+include (${CMAKE_CURRENT_LIST_DIR}/Eigen.cmake)
+include (${CMAKE_CURRENT_LIST_DIR}/ZLIB.cmake)
+include (${CMAKE_CURRENT_LIST_DIR}/PNG.cmake)
+include (${CMAKE_CURRENT_LIST_DIR}/Recast.cmake)
+include (${CMAKE_CURRENT_LIST_DIR}/RPCLib.cmake)
+
+set (PREFIX_PATHS ${CMAKE_PREFIX_PATH})
+set (DEP_ROOTS)
+
+if (TARGET boost_project)
+  ExternalProject_Get_Property (boost_project INSTALL_DIR)
+  list (APPEND DEP_ROOTS -DBoost_ROOT=${INSTALL_DIR})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake)
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/Boost-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_asio-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_iterator-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_python-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_date_time-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_geometry-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_container-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_variant2-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_gil-${BOOST_VERSION})
+endif ()
+
+if (TARGET eigen_project)
+  ExternalProject_Get_Property (eigen_project INSTALL_DIR)
+  list (APPEND DEP_ROOTS -DEigen3_ROOT=${INSTALL_DIR})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/share/eigen3/cmake)
+endif ()
+
+if (TARGET zlib_project)
+  ExternalProject_Get_Property (zlib_project INSTALL_DIR)
+  list (APPEND DEP_ROOTS -DZLIB_ROOT=${INSTALL_DIR})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR})
+endif ()
+
+if (TARGET png_project)
+  ExternalProject_Get_Property (png_project INSTALL_DIR)
+  list (APPEND DEP_ROOTS -DPNG_ROOT=${INSTALL_DIR})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/PNG)
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/libpng)
+endif ()
+
+if (TARGET recast_project)
+  ExternalProject_Get_Property (recast_project INSTALL_DIR)
+  list (APPEND DEP_ROOTS -DRRecastNavigation_ROOT=${INSTALL_DIR})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/recastnavigation)
+endif ()
+
+if (TARGET rpclib_project)
+  ExternalProject_Get_Property (rpclib_project INSTALL_DIR)
+  list (APPEND DEP_ROOTS -DRPCLib_ROOT=${INSTALL_DIR})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/rpclib)
+endif ()
+
+string (REPLACE ";" "," PREFIX_PATHS_ESCAPED "${PREFIX_PATHS}")
+
+ExternalProject_Add (
+  libcarla_project
+  DOWNLOAD_COMMAND ""
+  SOURCE_DIR ${CARLA_ROOT}/LibCarla
+  LIST_SEPARATOR ,
+  CMAKE_ARGS
+    ${DEP_ROOTS}
+    -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+    -DCARLA_CONFIG_FILEPATH=${CMAKE_CURRENT_LIST_DIR}/Config.cmake
+    -DCMAKE_PREFIX_PATH:STRING=${PREFIX_PATHS_ESCAPED}
+    -DCMAKE_INSTALL_PREFIX:FILEPATH=<INSTALL_DIR>
+    -DCMAKE_TOOLCHAIN_FILE:FILEPATH=${CMAKE_TOOLCHAIN_FILE}
+  DEPENDS
+    boost_project-install
+    eigen_project-install
+    zlib_project-install
+    png_project-install
+    recast_project-install
+    rpclib_project-install
+)
+ExternalProject_Add_StepTargets (libcarla_project install) # Generates libcarla_project-install
diff --git a/CMake/SuperBuild/LibOSMScout.cmake b/CMake/SuperBuild/LibOSMScout.cmake
new file mode 100644
index 00000000000..58322ec3ffa
--- /dev/null
+++ b/CMake/SuperBuild/LibOSMScout.cmake
@@ -0,0 +1 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
diff --git a/CMake/SuperBuild/LunaSVG.cmake b/CMake/SuperBuild/LunaSVG.cmake
new file mode 100644
index 00000000000..58322ec3ffa
--- /dev/null
+++ b/CMake/SuperBuild/LunaSVG.cmake
@@ -0,0 +1 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
diff --git a/CMake/SuperBuild/PNG.cmake b/CMake/SuperBuild/PNG.cmake
new file mode 100644
index 00000000000..6f1e5d8f996
--- /dev/null
+++ b/CMake/SuperBuild/PNG.cmake
@@ -0,0 +1,86 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
+
+option (
+  CARLA_PNG_USE_FIND_PACKAGE
+  "Whether to use find_package when retrieving LibPNG."
+  OFF
+)
+
+if (CARLA_PNG_USE_FIND_PACKAGE)
+  find_package (
+    PNG ${PNG_VERSION}
+      EXACT
+      QUIET
+      NO_MODULE
+  )
+endif ()
+
+if (NOT CARLA_PNG_USE_FIND_PACKAGE OR NOT PNG_FOUND)
+  include (ExternalProject)
+  if (PREFER_CLONE)
+    set (
+      DOWNLOAD_OPTIONS
+        GIT_REPOSITORY
+        https://github.com/pnggroup/libpng.git
+        GIT_TAG ${PNG_TAG}
+        GIT_SUBMODULES_RECURSE ON
+        GIT_SHALLOW ON
+        GIT_PROGRESS ON
+    )
+  else ()
+    set (
+      DOWNLOAD_OPTIONS
+        URL https://github.com/pnggroup/libpng/archive/refs/tags/${PNG_TAG}.zip
+    )
+  endif ()
+  
+  if (NOT TARGET zlib_project-install)
+    message (FATAL_ERROR "You must include Dependencies/ZLIB.cmake before Dependencies/PNG.cmake")
+  endif ()
+  
+  if (NOT TARGET png_project)
+
+  set (PNG_ZLIB_OPTIONS)
+
+    if (TARGET zlib_project)
+      ExternalProject_get_property (zlib_project INSTALL_DIR)
+      if (${CMAKE_BUILD_TYPE} STREQUAL "Debug")
+        if (WIN32)
+          set (ZLIB_NAME zlibstaticd.lib)
+        else ()
+          set (ZLIB_NAME libzsd.a)
+        endif ()
+      else ()
+        if (WIN32)
+          set (ZLIB_NAME zlibstatic.lib)
+        else ()
+          set (ZLIB_NAME libz.a)
+        endif ()
+      endif ()
+      set (
+        PNG_ZLIB_OPTIONS
+        -DZLIB_INCLUDE_DIR=${INSTALL_DIR}/include
+        -DZLIB_LIBRARY=${INSTALL_DIR}/lib/${ZLIB_NAME}
+      )
+    endif ()
+
+    ExternalProject_Add (
+      png_project
+      ${DOWNLOAD_OPTIONS}
+      CMAKE_ARGS
+        -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+        -DPNG_SHARED=ON
+        -DPNG_STATIC=ON
+        -DPNG_TESTS=OFF
+        -DPNG_TOOLS=OFF
+        -DPNG_DEBUG=OFF
+        -DPNG_HARDWARE_OPTIMIZATIONS=ON
+        ${PNG_ZLIB_OPTIONS}
+        -DCMAKE_INSTALL_PREFIX:FILEPATH=<INSTALL_DIR>
+        -DCMAKE_TOOLCHAIN_FILE:FILEPATH=${CMAKE_TOOLCHAIN_FILE}
+    )
+    ExternalProject_Add_StepDependencies (png_project configure zlib_project-install)
+    ExternalProject_Add_StepTargets (png_project install) # Generates png_project-install
+  endif ()
+
+endif ()
diff --git a/CMake/SuperBuild/PROJ.cmake b/CMake/SuperBuild/PROJ.cmake
new file mode 100644
index 00000000000..58322ec3ffa
--- /dev/null
+++ b/CMake/SuperBuild/PROJ.cmake
@@ -0,0 +1 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
diff --git a/CMake/SuperBuild/PythonAPI.cmake b/CMake/SuperBuild/PythonAPI.cmake
new file mode 100644
index 00000000000..5c0f053cdfc
--- /dev/null
+++ b/CMake/SuperBuild/PythonAPI.cmake
@@ -0,0 +1,86 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
+
+if (NOT TARGET libcarla_project)
+  message (FATAL_ERROR "libcarla_project does not exist.")
+endif ()
+
+set (PREFIX_PATHS ${CMAKE_PREFIX_PATH})
+set (DEP_ROOTS)
+
+if (TARGET boost_project)
+  ExternalProject_Get_Property (boost_project INSTALL_DIR)
+  list (APPEND DEP_ROOTS -DBoost_ROOT=${INSTALL_DIR})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake)
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/Boost-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_asio-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_iterator-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_python-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_date_time-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_geometry-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_container-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_variant2-${BOOST_VERSION})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/boost_gil-${BOOST_VERSION})
+endif ()
+
+if (TARGET eigen_project)
+  ExternalProject_Get_Property (eigen_project INSTALL_DIR)
+  list (APPEND DEP_ROOTS -DEigen3_ROOT=${INSTALL_DIR})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/share/eigen3/cmake)
+endif ()
+
+if (TARGET zlib_project)
+  ExternalProject_Get_Property (zlib_project INSTALL_DIR)
+  list (APPEND DEP_ROOTS -DZLIB_ROOT=${INSTALL_DIR})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR})
+endif ()
+
+if (TARGET png_project)
+  ExternalProject_Get_Property (png_project INSTALL_DIR)
+  list (APPEND DEP_ROOTS -DPNG_ROOT=${INSTALL_DIR})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/PNG)
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/libpng)
+endif ()
+
+if (TARGET recast_project)
+  ExternalProject_Get_Property (recast_project INSTALL_DIR)
+  list (APPEND DEP_ROOTS -DRRecastNavigation_ROOT=${INSTALL_DIR})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/recastnavigation)
+endif ()
+
+if (TARGET rpclib_project)
+  ExternalProject_Get_Property (rpclib_project INSTALL_DIR)
+  list (APPEND DEP_ROOTS -DRPCLib_ROOT=${INSTALL_DIR})
+  list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/rpclib)
+endif ()
+
+ExternalProject_Get_Property(libcarla_project INSTALL_DIR)
+list (APPEND PREFIX_PATHS ${INSTALL_DIR}/lib/cmake/LibCarla)
+
+string (REPLACE ";" "," PREFIX_PATHS_ESCAPED "${PREFIX_PATHS}")
+
+ExternalProject_Add (
+    carla_python_api_project
+    DOWNLOAD_COMMAND ""
+    SOURCE_DIR ${CARLA_ROOT}/PythonAPI
+    INSTALL_COMMAND ""
+    LIST_SEPARATOR ,
+    CMAKE_ARGS
+      ${DEP_ROOTS}
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+      -DCARLA_CONFIG_FILEPATH=${CMAKE_CURRENT_LIST_DIR}/Config.cmake
+      -DENABLE_PEP517=${ENABLE_PEP517}
+      -DCMAKE_PREFIX_PATH:STRING=${PREFIX_PATHS_ESCAPED}
+      -DCMAKE_INSTALL_PREFIX:FILEPATH=<INSTALL_DIR>
+      -DCMAKE_TOOLCHAIN_FILE:FILEPATH=${CMAKE_TOOLCHAIN_FILE}
+    DEPENDS
+      libcarla_project-install
+)
+ExternalProject_Add_StepTargets (carla_python_api_project install) # Generates carla_python_api_project-install
+ExternalProject_Add_StepTargets (carla_python_api_project configure) # Generates carla_python_api_project-configure
+
+file (
+  COPY
+    ${CARLA_ROOT}/LICENSE
+  DESTINATION
+    ${CARLA_ROOT}/PythonAPI/carla/
+)
diff --git a/CMake/SuperBuild/RPCLib.cmake b/CMake/SuperBuild/RPCLib.cmake
new file mode 100644
index 00000000000..ea1e3e4f2f8
--- /dev/null
+++ b/CMake/SuperBuild/RPCLib.cmake
@@ -0,0 +1,55 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
+
+option (
+  CARLA_RPC_USE_FIND_PACKAGE
+  "Whether to use find_package when retrieving RPCLib."
+  OFF
+)
+
+if (CARLA_RPC_USE_FIND_PACKAGE)
+    find_package (
+        RPC
+        QUIET
+        NO_MODULE
+    )
+endif ()
+
+if (NOT CARLA_RPC_USE_FIND_PACKAGE OR NOT RPC_FOUND)
+
+    include (ExternalProject)
+    
+    if (PREFER_CLONE)
+        set (
+            DOWNLOAD_OPTIONS
+            GIT_REPOSITORY
+                https://github.com/carla-simulator/rpclib.git
+            GIT_TAG ${RPC_TAG}
+            GIT_SUBMODULES_RECURSE ON
+            GIT_SHALLOW ON
+            GIT_PROGRESS ON
+        )
+    else ()
+        set (
+            DOWNLOAD_OPTIONS
+            URL https://github.com/carla-simulator/rpclib/archive/refs/heads/${RPC_TAG}.zip
+        )
+    endif ()
+
+    if (NOT TARGET rpclib_project)
+        ExternalProject_Add (
+            rpclib_project
+            ${DOWNLOAD_OPTIONS}
+            CMAKE_ARGS
+                -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+                -DRPCLIB_BUILD_TESTS=OFF
+                -DRPCLIB_GENERATE_COMPDB=OFF
+                -DRPCLIB_BUILD_EXAMPLES=OFF
+                -DRPCLIB_ENABLE_LOGGING=OFF
+                -DRPCLIB_ENABLE_COVERAGE=OFF
+                -DCMAKE_INSTALL_PREFIX:FILEPATH=<INSTALL_DIR>
+                -DCMAKE_TOOLCHAIN_FILE:FILEPATH=${CMAKE_TOOLCHAIN_FILE}
+        )
+        ExternalProject_Add_StepTargets (rpclib_project install) # Generates rpclib_project-install
+    endif ()
+
+endif ()
diff --git a/CMake/SuperBuild/Recast.cmake b/CMake/SuperBuild/Recast.cmake
new file mode 100644
index 00000000000..66bb62fa554
--- /dev/null
+++ b/CMake/SuperBuild/Recast.cmake
@@ -0,0 +1,52 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
+
+option (
+  CARLA_RECAST_USE_FIND_PACKAGE
+  "Whether to use find_package when retrieving Recast."
+  OFF
+)
+
+if (CARLA_RECAST_USE_FIND_PACKAGE)
+    find_package (
+        RecastNavigation
+        QUIET
+        NO_MODULE
+    )
+endif ()
+
+if (NOT CARLA_RECAST_USE_FIND_PACKAGE OR NOT RECAST_FOUND)
+
+    include (ExternalProject)
+    
+    if (PREFER_CLONE)
+        set (
+            DOWNLOAD_OPTIONS
+            GIT_REPOSITORY
+                https://github.com/carla-simulator/recastnavigation.git
+            GIT_TAG ${RECAST_TAG}
+            GIT_SUBMODULES_RECURSE ON
+            GIT_SHALLOW ON
+            GIT_PROGRESS ON
+        )
+    else ()
+        set (
+            DOWNLOAD_OPTIONS
+            URL https://github.com/carla-simulator/recastnavigation/archive/refs/heads/${RECAST_TAG}.zip
+        )
+    endif ()
+
+    if (NOT TARGET recast_project)
+        ExternalProject_Add (
+            recast_project
+            ${DOWNLOAD_OPTIONS}
+            CMAKE_CACHE_ARGS
+                -DRECASTNAVIGATION_BUILDER:BOOL=ON
+            CMAKE_ARGS
+                -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+                -DCMAKE_INSTALL_PREFIX:FILEPATH=<INSTALL_DIR>
+                -DCMAKE_TOOLCHAIN_FILE:FILEPATH=${CMAKE_TOOLCHAIN_FILE}
+        )
+        ExternalProject_Add_StepTargets (recast_project install) # Generates recast_project-install
+    endif ()
+
+endif ()
diff --git a/CMake/SuperBuild/SQLite3.cmake b/CMake/SuperBuild/SQLite3.cmake
new file mode 100644
index 00000000000..614f6432faf
--- /dev/null
+++ b/CMake/SuperBuild/SQLite3.cmake
@@ -0,0 +1,50 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
+
+option (
+  CARLA_SQLITE3_USE_FIND_PACKAGE
+  "Whether to use find_package when retrieving ZLib."
+  OFF
+)
+
+if (CARLA_SQLITE3_USE_FIND_PACKAGE)
+  find_package (
+      SQLite3 ${SQLITE_VERSION}
+      EXACT
+      QUIET
+      NO_MODULE
+  )
+endif ()
+
+if (NOT CARLA_SQLITE3_USE_FIND_PACKAGE OR NOT SQLite3_FOUND)
+  include (FetchContent)
+  
+  if (NOT TARGET sqlite3_project)
+    FetchContent_Declare (
+      sqlite3_project
+      URL https://www.sqlite.org/${SQLITE_RELEASE_YEAR}/sqlite-amalgamation-${CARLA_SQLITE_TAG}.zip
+      SYSTEM OVERRIDE_FIND_PACKAGE EXCLUDE_FROM_ALL
+    )
+    FetchContent_MakeAvailable (sqlite3_project)
+    message (STATUS "sqlite3_project_SOURCE_DIR=${sqlite3_project_SOURCE_DIR}")
+    add_library (
+      libsqlite3
+      ${sqlite3_project_SOURCE_DIR}/sqlite3.h
+      ${sqlite3_project_SOURCE_DIR}/sqlite3.c
+    )
+    add_executable (
+      sqlite3
+      ${sqlite3_project_SOURCE_DIR}/shell.c
+    )
+    if (NOT WIN32)
+      target_link_libraries (libsqlite3 PRIVATE ${CMAKE_DL_LIBS})
+      target_link_libraries (libsqlite3 PRIVATE Threads::Threads)
+      find_library (STD_MATH_LIB m)
+      target_link_libraries (libsqlite3 PRIVATE ${STD_MATH_LIB})
+    endif ()
+    target_link_libraries (
+      sqlite3 PRIVATE
+      libsqlite3
+    )
+  endif ()
+  
+endif ()
diff --git a/CMake/SuperBuild/Streetmap.cmake b/CMake/SuperBuild/Streetmap.cmake
new file mode 100644
index 00000000000..58322ec3ffa
--- /dev/null
+++ b/CMake/SuperBuild/Streetmap.cmake
@@ -0,0 +1 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
diff --git a/CMake/SuperBuild/XercesC.cmake b/CMake/SuperBuild/XercesC.cmake
new file mode 100644
index 00000000000..58322ec3ffa
--- /dev/null
+++ b/CMake/SuperBuild/XercesC.cmake
@@ -0,0 +1 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
diff --git a/CMake/SuperBuild/ZLIB.cmake b/CMake/SuperBuild/ZLIB.cmake
new file mode 100644
index 00000000000..22210960f65
--- /dev/null
+++ b/CMake/SuperBuild/ZLIB.cmake
@@ -0,0 +1,52 @@
+include (${CMAKE_CURRENT_LIST_DIR}/Config.cmake)
+
+option (
+  CARLA_ZLIB_USE_FIND_PACKAGE
+  "Whether to use find_package when retrieving ZLib."
+  OFF
+)
+
+if (CARLA_ZLIB_USE_FIND_PACKAGE)
+    find_package (
+        ZLIB ${ZLIB_VERSION}
+        EXACT
+        QUIET
+        NO_MODULE
+    )
+endif ()
+
+if (NOT CARLA_ZLIB_USE_FIND_PACKAGE OR NOT ZLIB_FOUND)
+
+    include (ExternalProject)
+    
+    if (PREFER_CLONE)
+        set (
+            DOWNLOAD_OPTIONS
+            GIT_REPOSITORY
+                https://github.com/madler/zlib.git
+            GIT_TAG ${ZLIB_TAG}
+            GIT_SUBMODULES_RECURSE ON
+            GIT_SHALLOW ON
+            GIT_PROGRESS ON
+        )
+    else ()
+        set (
+            DOWNLOAD_OPTIONS
+            URL https://github.com/madler/zlib/archive/refs/tags/${ZLIB_TAG}.zip
+        )
+    endif ()
+
+    if (NOT TARGET zlib_project)
+        ExternalProject_Add (
+            zlib_project
+            ${DOWNLOAD_OPTIONS}
+            CMAKE_ARGS
+                -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+                -DZLIB_BUILD_EXAMPLES=OFF
+                -DCMAKE_INSTALL_PREFIX:FILEPATH=<INSTALL_DIR>
+                -DCMAKE_TOOLCHAIN_FILE:FILEPATH=${CMAKE_TOOLCHAIN_FILE}
+        )
+        ExternalProject_Add_StepTargets (zlib_project install) # Generates eigen_project-install
+    endif ()
+
+endif ()
diff --git a/CMake/Util.cmake b/CMake/Util.cmake
deleted file mode 100644
index bc8ad99d6ad..00000000000
--- a/CMake/Util.cmake
+++ /dev/null
@@ -1,181 +0,0 @@
-# message wrapper for normal messages.
-function (carla_message)
-  message (STATUS "CARLA: " ${ARGN})
-endfunction ()
-
-# message wrapper for normal messages.
-function (carla_message_verbose)
-  if (VERBOSE_CONFIGURE)
-    message (STATUS "CARLA: " ${ARGN})
-  endif ()
-endfunction ()
-
-
-
-# message() wrapper for warnings.
-function (carla_warning)
-  message (WARNING ${ARGN})
-endfunction ()
-
-
-
-# message() wrapper for errors.
-function (carla_error)
-  message (FATAL_ERROR ${ARGN})
-endfunction ()
-
-
-
-function (carla_get_option_docs OUT_VAR)
-  get_property (DOCS GLOBAL PROPERTY CARLA_OPTION_DOCS)
-  set (${OUT_VAR} ${DOCS})
-  return (PROPAGATE ${OUT_VAR})
-endfunction ()
-
-macro (carla_option NAME DESCRIPTION VALUE)
-  option (${NAME} ${DESCRIPTION} ${VALUE})
-  carla_message_verbose ("(option) ${NAME} : ${${NAME}}")
-  get_property (DOCS GLOBAL PROPERTY CARLA_OPTION_DOCS)
-  string (
-    APPEND
-    DOCS
-    "- ${NAME}\n"
-    "\t- Description: ${DESCRIPTION}\n"
-    "\t- Default: ${VALUE}\n"
-  )
-  set_property (GLOBAL PROPERTY CARLA_OPTION_DOCS ${DOCS})
-endmacro ()
-
-
-
-macro (carla_string_option NAME DESCRIPTION VALUE)
-  set (${NAME} "${VALUE}")
-  carla_message_verbose ("(option) ${NAME} : \"${${NAME}}\"")
-  get_property (DOCS GLOBAL PROPERTY CARLA_OPTION_DOCS)
-  string (
-    APPEND
-    DOCS
-    "- ${NAME}\n"
-    "\t- Description: ${DESCRIPTION}\n"
-    "\t- Default: \"${VALUE}\"\n"
-  )
-  set_property (GLOBAL PROPERTY CARLA_OPTION_DOCS ${DOCS})
-endmacro ()
-
-
-
-# Similar to configure_file, but also expands variables
-# that are set at generate time, like generator expressions.
-function (carla_two_step_configure_file DESTINATION SOURCE)
-  carla_message_verbose ("Configuring file ${DESTINATION}")
-  # Configure-time step; evaluate variables:
-  configure_file (${SOURCE} ${DESTINATION} @ONLY)
-  # Generate-time step; evaluate generator expressions:
-  file (GENERATE OUTPUT ${DESTINATION} INPUT ${DESTINATION})
-endfunction ()
-
-
-
-# If, for some reason, CARLA is configured with CMake<3.5, this is necessary:
-if (${CMAKE_VERSION} VERSION_LESS 3.5)
-  include (CMakeParseArguments)
-endif ()
-
-function (carla_add_target_docs)
-  set (OPTIONS)
-  set (ONE_VAL_ARGS NAME TYPE DOCS_BRIEF)
-  set (MULTI_VAL_ARGS)
-  cmake_parse_arguments (
-    ARG
-    "${OPTIONS}"
-    "${ONE_VAL_ARGS}"
-    "${MULTI_VAL_ARGS}"
-    ${ARGN}
-  )
-  get_property (DOCS GLOBAL PROPERTY CARLA_TARGET_DOCS)
-  string (APPEND DOCS "- ${ARG_NAME}\n")
-  if (NOT ${ARG_TYPE} STREQUAL "")
-    string (APPEND DOCS "\t- Type: ${ARG_TYPE}\n")
-  endif ()
-  if (NOT ${ARG_DOCS_BRIEF} STREQUAL "")
-    string (APPEND DOCS "\t- Description: ${ARG_DOCS_BRIEF}\n")
-  endif ()
-  set_property (GLOBAL PROPERTY CARLA_TARGET_DOCS ${DOCS})
-endfunction ()
-
-
-
-function (carla_get_target_docs OUT_VAR)
-  get_property (DOCS GLOBAL PROPERTY CARLA_TARGET_DOCS)
-  set (${OUT_VAR} ${DOCS})
-  return (PROPAGATE ${OUT_VAR})
-endfunction ()
-
-
-
-function (carla_add_library NAME DESCRIPTION)
-  carla_add_target_docs (
-    NAME ${NAME}
-    TYPE Library
-    DOCS_BRIEF ${DESCRIPTION}
-  )
-  add_library (${NAME} ${ARGN})
-endfunction ()
-
-
-
-function (carla_add_executable NAME DESCRIPTION)
-  carla_add_target_docs (
-    NAME ${NAME}
-    TYPE Executable
-    DOCS_BRIEF ${DESCRIPTION}
-  )
-  add_executable (${NAME} ${ARGN})
-endfunction ()
-
-
-
-function (carla_add_custom_target NAME DESCRIPTION)
-  carla_add_target_docs (
-    NAME ${NAME}
-    TYPE CustomTarget
-    DOCS_BRIEF ${DESCRIPTION}
-  )
-  add_custom_target (${NAME} ${ARGN})
-endfunction ()
-
-
-
-if (VERBOSE_CONFIGURE)
-  macro (carla_print_cmake_variable NAME)
-    carla_message ("${NAME}: \'${${NAME}}\'")
-  endmacro ()
-
-  carla_print_cmake_variable (CMAKE_C_COMPILER)
-  carla_print_cmake_variable (CMAKE_CXX_COMPILER)
-  carla_print_cmake_variable (CMAKE_ASM_COMPILER)
-  carla_print_cmake_variable (CMAKE_AR)
-  carla_print_cmake_variable (CMAKE_C_COMPILER_AR)
-  carla_print_cmake_variable (CMAKE_CXX_COMPILER_AR)
-  carla_print_cmake_variable (CMAKE_OBJCOPY)
-  carla_print_cmake_variable (CMAKE_ADDR2LINE)
-  carla_print_cmake_variable (CMAKE_C_COMPILER_RANLIB)
-  carla_print_cmake_variable (CMAKE_CXX_COMPILER_RANLIB)
-  carla_print_cmake_variable (CMAKE_LINKER)
-  carla_print_cmake_variable (CMAKE_NM)
-  carla_print_cmake_variable (CMAKE_OBJDUMP)
-  carla_print_cmake_variable (CMAKE_RANLIB)
-  carla_print_cmake_variable (CMAKE_READELF)
-  carla_print_cmake_variable (CMAKE_STRIP)
-  carla_print_cmake_variable (COVERAGE_COMMAND)
-  carla_print_cmake_variable (CMAKE_CXX_STANDARD_LIBRARIES)
-  carla_print_cmake_variable (CMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES)
-endif ()
-
-
-
-carla_add_target_docs (
-  NAME clean
-  TYPE Builtin
-  DOCS_BRIEF "Removes all build directories and files."
-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b030a641f09..27a0ceec6ec 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,14 +8,9 @@
 
 ]]
 
-set (
-  CARLA_CMAKE_MINIMUM_REQUIRED_VERSION
-  3.27.2
-)
-
 cmake_minimum_required (
   VERSION
-  ${CARLA_CMAKE_MINIMUM_REQUIRED_VERSION}
+  3.28
 )
 
 cmake_policy (SET CMP0097 NEW)
@@ -42,100 +37,106 @@ project (
   VERSION
     ${CARLA_VERSION}
   LANGUAGES
-    C
-    CXX
-    ASM
+    C CXX ASM
   DESCRIPTION
     "Open-source simulator for autonomous driving research."
   HOMEPAGE_URL
     https://carla.org
 )
 
-set (
-  CARLA_WORKSPACE_PATH
-  ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-set (
-  CARLA_BUILD_PATH
-  ${CMAKE_BINARY_DIR}
-)
-
-set (
-  CARLA_PACKAGE_PATH
-  ${CARLA_BUILD_PATH}/Package
-)
-
-set (
-  CARLA_UNREAL_PLUGINS_PATH
-  ${CARLA_WORKSPACE_PATH}/Unreal/CarlaUnreal/Plugins
-)
-
-set (
-  CARLA_LICENSE_FILE_PATH
-  ${CARLA_WORKSPACE_PATH}/LICENSE
-)
+set (CARLA_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
 
 include (CheckCCompilerFlag)
 include (CheckCXXCompilerFlag)
 include (CheckLinkerFlag)
-include (${CARLA_WORKSPACE_PATH}/CMake/Util.cmake)
-include (${CARLA_WORKSPACE_PATH}/CMake/Options.cmake)
-include (${CARLA_WORKSPACE_PATH}/CMake/Common.cmake)
-include (${CARLA_WORKSPACE_PATH}/CMake/Dependencies.cmake)
 
-if (BUILD_CARLA_CLIENT OR BUILD_CARLA_SERVER)
-  add_subdirectory (LibCarla)
+if (CMAKE_BUILD_TYPE STREQUAL "Debug")
+  message (WARNING 
+    "CARLA is set to be built in Debug mode. This may cause issues when building CarlaUnrealEditor."
+  )
 endif ()
 
-if (BUILD_OSM_WORLD_RENDERER)
-  add_subdirectory (osm-world-renderer)
+if (LINUX)
+  check_linker_flag (CXX -lpthread HAS_PTHREAD)
+  if (HAS_PTHREAD)
+    add_link_options (-lpthread)
+  endif ()
 endif ()
 
-if (ENABLE_ROS2)
-  add_subdirectory (Ros2Native)
-endif()
+if (WIN32)
+  if (CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set (CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreadedDebugDLL")
+  else ()
+    set (CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreadedDLL")
+  endif ()
+endif ()
 
-if (BUILD_PYTHON_API)
-  add_subdirectory (PythonAPI)
+if (WIN32)
+  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 ()
 endif ()
 
-if (BUILD_CARLA_UNREAL)
-  add_subdirectory (Unreal)
+include (${CARLA_ROOT}/CMake/Common.cmake)
+
+option (BUILD_SERVER "Build the CARLA server." ON)
+option (BUILD_CLIENT "Build the CARLA client." ON)
+option (BUILD_PYTHON_API "Build the CARLA Python API." ON)
+option (BUILD_EXAMPLES "Build CARLA examples." ON)
+option (ENABLE_ROS2 "Enable ROS2." OFF)
+option (ENABLE_ROS2_DEMO "Enable ROS2 demo." OFF)
+option (ENABLE_OSM2ODR "Enable OSM2ODR." OFF)
+option (ENABLE_RSS "Enable RSS components (ad-rss-lib)" OFF)
+option (BUILD_OSM_WORLD_RENDERER "Build OSM World Renderer." OFF)
+option (ENABLE_RTTI "Enable C++ RTTI." ON)
+option (ENABLE_EXCEPTIONS "Enable C++ Exceptions." ON)
+option (PREFER_CLONE "Whether to clone dependencies instead of directly downloading a compressed archive." OFF)
+option (ENABLE_PEP517 "Whether to use PEP 517." ON)
+option (ENABLE_ALL_WARNINGS "Whether to emit extra build warnings." ON)
+option (ENABLE_WARNINGS_TO_ERRORS "Whether to convert build warnings to errors." OFF)
+
+option (ENABLE_STREETMAP "Whether to download the Streetmap UE plugin." ON)
+
+include (${CMAKE_CURRENT_LIST_DIR}/CMake/SuperBuild/Config.cmake)
+include (${CMAKE_CURRENT_LIST_DIR}/CMake/SuperBuild/LibCarla.cmake)
+
+if (BUILD_PYTHON_API)
+  include (${CMAKE_CURRENT_LIST_DIR}/CMake/SuperBuild/PythonAPI.cmake)
 endif ()
 
-if (BUILD_EXAMPLES)
-  add_subdirectory (Examples)
+# if (BUILD_CARLA_UNREAL)
+#   add_subdirectory (Unreal)
+# endif ()
+
+if (BUILD_OSM_WORLD_RENDERER)
+  add_subdirectory (osm-world-renderer)
 endif ()
 
-carla_add_custom_target (
-  carla-help
-  "Display this message."
-  COMMAND ${CMAKE_COMMAND} -E cat "${CMAKE_CURRENT_BINARY_DIR}/Help.md"
-)
+if (ENABLE_ROS2)
+  add_subdirectory (Ros2Native)
+endif()
 
-carla_get_option_docs (CARLA_OPTION_DOCS)
-carla_get_target_docs (CARLA_TARGET_DOCS)
-set (CARLA_CMAKE_HELP_MESSAGE)
-string (
-  APPEND 
-  CARLA_CMAKE_HELP_MESSAGE
-  "# CARLA - CMake Help\n"
-  "## CMake Targets\n"
-  "${CARLA_TARGET_DOCS}\n"
-  "## CMake Options\n"
-  "${CARLA_OPTION_DOCS}\n"
+file (
+  WRITE
+  ${CMAKE_CURRENT_BINARY_DIR}/targets.txt
+  ${CARLA_TARGETS_HELPER_TEXT}
 )
 
+if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/targets.txt)
+  file (REMOVE ${CMAKE_CURRENT_SOURCE_DIR}/targets.txt)
+endif ()
+
 file (
-  WRITE
-  ${CMAKE_CURRENT_BINARY_DIR}/Help.md
-  ${CARLA_CMAKE_HELP_MESSAGE}
+  CREATE_LINK
+    ${CMAKE_CURRENT_BINARY_DIR}/targets.txt
+    ${CMAKE_CURRENT_SOURCE_DIR}/targets.txt
 )
 
 if (CMAKE_EXPORT_COMPILE_COMMANDS)
   configure_file (
-    ${CARLA_WORKSPACE_PATH}/.clangd.in
-    ${CARLA_WORKSPACE_PATH}/.clangd
+    ${CARLA_ROOT}/.clangd.in
+    ${CARLA_ROOT}/.clangd
   )
 endif ()
diff --git a/CMakePresets.json b/CMakePresets.json
index 8fd5880aae7..5e11ec1645c 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -15,7 +15,8 @@
       "installDir": "${sourceDir}/Install/${presetName}",
       "cacheVariables":
       {
-        "CMAKE_TOOLCHAIN_FILE": "${sourceDir}/CMake/Toolchain.cmake"
+        "CMAKE_TOOLCHAIN_FILE": "${sourceDir}/CMake/Toolchain.cmake",
+        "CMAKE_EXPORT_COMPILE_COMMANDS" : true
       },
       "hidden": true
     },
@@ -24,8 +25,7 @@
       "inherits": "Common",
       "cacheVariables":
       {
-        "CMAKE_BUILD_TYPE": "RelWithDebInfo",
-        "CMAKE_EXPORT_COMPILE_COMMANDS" : true
+        "CMAKE_BUILD_TYPE": "RelWithDebInfo"
       }
     },
     {
@@ -41,8 +41,7 @@
       "inherits": "Common",
       "cacheVariables":
       {
-        "CMAKE_BUILD_TYPE": "Debug",
-        "CMAKE_EXPORT_COMPILE_COMMANDS" : true
+        "CMAKE_BUILD_TYPE": "Debug"
       }
     }
   ]
diff --git a/LibCarla/CMake/LibCarlaConfig.cmake.in b/LibCarla/CMake/LibCarlaConfig.cmake.in
new file mode 100644
index 00000000000..dda405b72f3
--- /dev/null
+++ b/LibCarla/CMake/LibCarlaConfig.cmake.in
@@ -0,0 +1,3 @@
+@PACKAGE_INIT@
+
+include (${CMAKE_CURRENT_LIST_DIR}/LibCarlaTargets.cmake)
\ No newline at end of file
diff --git a/LibCarla/CMakeLists.txt b/LibCarla/CMakeLists.txt
index b9fbd925fb4..10350826127 100644
--- a/LibCarla/CMakeLists.txt
+++ b/LibCarla/CMakeLists.txt
@@ -1,43 +1,97 @@
+cmake_minimum_required (
+  VERSION
+  3.28
+)
+
+if (CARLA_CONFIG_FILEPATH)
+  include (${CARLA_CONFIG_FILEPATH})
+else ()
+  message (WARNING "Missing \"CARLA_CONFIG_FILEPATH\"")
+endif ()
+
 project (
-  libcarla
+  LibCarla
   LANGUAGES
-    CXX
+    C CXX
   VERSION
     ${CARLA_VERSION}
 )
 
+option (BUILD_SERVER "Build the CARLA server." ON)
+option (BUILD_CLIENT "Build the CARLA client." ON)
+option (ENABLE_RSS "Enable RSS components (ad-rss-lib)" OFF)
+option (ENABLE_ROS2 "Enable ROS2." OFF)
+option (ENABLE_ROS2_DEMO "Enable ROS2 demo." OFF)
+
+find_package (
+  Boost ${BOOST_VERSION} EXACT REQUIRED
+  COMPONENTS
+    asio geometry algorithm assert gil
+)
+
+find_package (
+  RecastNavigation REQUIRED
+  COMPONENTS
+    Recast Detour DetourCrowd
+)
+
+find_package (Eigen3 ${EIGEN_VERSION} EXACT REQUIRED)
+find_package (ZLIB ${ZLIB_VERSION} EXACT REQUIRED)
+find_package (RPCLib REQUIRED)
+find_package (PNG ${PNG_VERSION} EXACT REQUIRED)
+
+set (CMAKE_C_STANDARD 11)
+set (CMAKE_C_STANDARD_REQUIRED ON)
+
+set (CMAKE_CXX_STANDARD 20)
+set (CMAKE_CXX_STANDARD_REQUIRED ON)
+
+if (BUILD_SHARED_LIBS)
+  set (CMAKE_POSITION_INDEPENDENT_CODE ON)
+endif ()
+
 set (
   LIBCARLA_SOURCE_PATH
-  ${CARLA_WORKSPACE_PATH}/LibCarla/source
+  ${CMAKE_CURRENT_SOURCE_DIR}/Source
 )
 
-carla_two_step_configure_file (
-  ${LIBCARLA_SOURCE_PATH}/carla/Version.h
-  ${LIBCARLA_SOURCE_PATH}/carla/Version.h.in
+set (LIBCARLA_IMAGE_SUPPORTED_FORMATS_DEFAULT)
+if (TARGET PNG::PNG)
+  list (APPEND LIBCARLA_IMAGE_SUPPORTED_FORMATS_DEFAULT "png")
+endif ()
+
+set (
+  LIBCARLA_IMAGE_SUPPORTED_FORMATS
+  "${LIBCARLA_IMAGE_SUPPORTED_FORMATS_DEFAULT}"
+  CACHE STRING
+  "Semicolon-separated list of supported image formats by LibCarla. Available formats: png, jpeg, tiff."
 )
 
+set (CARLA_COMMON_DEFINITIONS)
+
+foreach (FORMAT ${LIBCARLA_IMAGE_SUPPORTED_FORMATS})
+  message (STATUS "Enabling CARLA image support for \"${FORMAT}\".")
+  string (TOUPPER "${FORMAT}" FORMAT_UPPERCASE)
+  list (APPEND CARLA_COMMON_DEFINITIONS LIBCARLA_IMAGE_SUPPORT_${FORMAT_UPPERCASE}=1)
+  set (LIBCARLA_IMAGE_SUPPORT_${FORMAT_UPPERCASE} TRUE CACHE BOOL "")
+endforeach ()
+
 if (WIN32)
+  # Documentation: https://learn.microsoft.com/en-us/cpp/porting/modifying-winver-and-win32-winnt?view=msvc-170
+  list (APPEND CARLA_COMMON_DEFINITIONS _WIN32_WINNT=0x0601) # <- Windows 10
+  list (APPEND CARLA_COMMON_DEFINITIONS HAVE_SNPRINTF)
+  list (APPEND CARLA_COMMON_DEFINITIONS _USE_MATH_DEFINES)
+endif ()
 
-  set (
-    WINNT_MACRO_PATH
-    ${LIBCARLA_SOURCE_PATH}/util/winnt-macros.txt
-  )
 
-  file (
-    STRINGS
-    ${WINNT_MACRO_PATH}
-    WINDOWS_MACRO_LIST
-  )
 
-  set (
-    GUARD_BEGIN_FILE_TEXT
-    ""
-  )
+if (WIN32)
 
-  set (
-    GUARD_END_FILE_TEXT
-    ""
-  )
+  set (WINNT_MACRO_PATH ${LIBCARLA_SOURCE_PATH}/util/winnt-macros.txt)
+  file (STRINGS ${WINNT_MACRO_PATH} WINDOWS_MACRO_LIST)
+
+  set (GUARD_BEGIN_FILE_TEXT "")
+  set (GUARD_END_FILE_TEXT "")
 
   foreach (WINDOWS_MACRO ${WINDOWS_MACRO_LIST})
     string (
@@ -53,49 +107,37 @@ if (WIN32)
     )
   endforeach ()
 
-  file (
-    WRITE
-    ${LIBCARLA_SOURCE_PATH}/util/ue-header-guard-begin.h
-    ${GUARD_BEGIN_FILE_TEXT}
-  )
-
-  file (
-    WRITE
-    ${LIBCARLA_SOURCE_PATH}/util/ue-header-guard-end.h
-    ${GUARD_END_FILE_TEXT}
-  )
-
-  set_directory_properties(
-    PROPERTIES
-    CMAKE_CONFIGURE_DEPENDS
-    ${WINNT_MACRO_PATH}
-  )
+  file (WRITE ${CMAKE_CURRENT_BINARY_DIR}/ue-header-guard-begin.h ${GUARD_BEGIN_FILE_TEXT})
+  file (WRITE ${CMAKE_CURRENT_BINARY_DIR}/ue-header-guard-end.h ${GUARD_END_FILE_TEXT})
 
 else ()
 
-  file (
-    WRITE
-    ${LIBCARLA_SOURCE_PATH}/util/ue-header-guard-begin.h
-    ""
-  )
-
-  file (
-    WRITE
-    ${LIBCARLA_SOURCE_PATH}/util/ue-header-guard-end.h
-    ""
-  )
+  file (WRITE ${CMAKE_CURRENT_BINARY_DIR}/ue-header-guard-begin.h "")
+  file (WRITE ${CMAKE_CURRENT_BINARY_DIR}/ue-header-guard-end.h "")
 
 endif ()
 
+configure_file (
+  ${LIBCARLA_SOURCE_PATH}/carla/Version.h.in
+  ${CMAKE_CURRENT_BINARY_DIR}/carla/Version.h
+)
+
+configure_file (
+  ${LIBCARLA_SOURCE_PATH}/carla/Config.h.in
+  ${CMAKE_CURRENT_BINARY_DIR}/carla/Config.h
+)
 
+set (
+  LIBCARLA_GENERATED_HEADERS
+  ${CMAKE_CURRENT_BINARY_DIR}/carla/Version.h
+  ${CMAKE_CURRENT_BINARY_DIR}/carla/Config.h
+)
 
-if (BUILD_CARLA_SERVER)
+if (BUILD_SERVER)
 
   file (
     GLOB
     LIBCARLA_SERVER_SOURCES
-    ${LIBCARLA_SOURCE_PATH}/carla/Buffer.cpp
-    ${LIBCARLA_SOURCE_PATH}/carla/Exception.cpp
     ${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
     ${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp
     ${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.cpp
@@ -105,25 +147,24 @@ if (BUILD_CARLA_SERVER)
     ${LIBCARLA_SOURCE_PATH}/carla/road/object/*.cpp
     ${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp
     ${LIBCARLA_SOURCE_PATH}/carla/rpc/*.cpp
-    ${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/SensorHeaderSerializer.cpp
     ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
     ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
     ${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
   )
-
+  
+  list (
+    APPEND
+    LIBCARLA_SERVER_SOURCES
+    ${LIBCARLA_SOURCE_PATH}/carla/Buffer.cpp
+    # ${LIBCARLA_SOURCE_PATH}/carla/Exception.cpp
+    ${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/SensorHeaderSerializer.cpp
+  )
+  
   if (ENABLE_ROS2)
-    file (
-      GLOB
-      LIBCARLA_SERVER_SOURCES_ROS2
-      ${LIBCARLA_SOURCE_PATH}/carla/ros2/*.cpp
-    )
-    list (
-      APPEND
-      LIBCARLA_SERVER_SOURCES
-      ${LIBCARLA_SERVER_SOURCES_ROS2}
-    )
+    file (GLOB LIBCARLA_SERVER_SOURCES_ROS2 ${LIBCARLA_SOURCE_PATH}/carla/ros2/*.cpp)
+    list (APPEND LIBCARLA_SERVER_SOURCES ${LIBCARLA_SERVER_SOURCES_ROS2})
   endif ()
-
+  
   file (
     GLOB
     LIBCARLA_SERVER_SOURCES_THIRD_PARTY
@@ -131,7 +172,7 @@ if (BUILD_CARLA_SERVER)
     ${LIBCARLA_SOURCE_PATH}/third-party/moodycamel/*.cpp
     ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.cpp
   )
-
+  
   file (
     GLOB
     LIBCARLA_SERVER_HEADERS
@@ -157,27 +198,23 @@ if (BUILD_CARLA_SERVER)
   list (
     APPEND
     LIBCARLA_SERVER_HEADERS
-    ${LIBCARLA_SOURCE_PATH}/util/winnt-macros.txt
+    ${LIBCARLA_GENERATED_HEADERS}
+    ${CMAKE_CURRENT_BINARY_DIR}/ue-header-guard-begin.h
+    ${CMAKE_CURRENT_BINARY_DIR}/ue-header-guard-end.h
   )
+  
+  set (CARLA_ROS2_DEFINITIONS)
 
   if (ENABLE_ROS2)
-    file (
-      GLOB
-      LIBCARLA_SERVER_HEADERS_ROS2
-      ${LIBCARLA_SOURCE_PATH}/carla/ros2/*.h
-    )
-    list (
-      APPEND
-      LIBCARLA_SERVER_HEADERS
-      ${LIBCARLA_SERVER_HEADERS_ROS2}
-    )
-    set (CARLA_ROS2_DEFINITIONS WITH_ROS2)
+    file (GLOB LIBCARLA_SERVER_HEADERS_ROS2 ${LIBCARLA_SOURCE_PATH}/carla/ros2/*.h)
+    list (APPEND LIBCARLA_SERVER_HEADERS ${LIBCARLA_SERVER_HEADERS_ROS2})
+    list (APPEND CARLA_ROS2_DEFINITIONS WITH_ROS2)
   endif ()
-
+  
   if (ENABLE_ROS2_DEMO)
-    set (CARLA_ROS2_DEFINITIONS ${CARLA_ROS2_DEFINITIONS} WITH_ROS2_DEMO)
+    list (APPEND CARLA_ROS2_DEFINITIONS WITH_ROS2_DEMO)
   endif ()
-
+  
   file (
     GLOB
     LIBCARLA_SERVER_HEADERS_THIRD_PARTY
@@ -185,18 +222,19 @@ if (BUILD_CARLA_SERVER)
     ${LIBCARLA_SOURCE_PATH}/third-party/moodycamel/*.h
     ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.hpp
   )
-
-  carla_add_library (
-    carla-server
-    "Build the CARLA server."
+  
+  add_library (
+    Server
     ${LIBCARLA_SERVER_HEADERS}
     ${LIBCARLA_SERVER_SOURCES}
     ${LIBCARLA_SERVER_HEADERS_THIRD_PARTY}
     ${LIBCARLA_SERVER_SOURCES_THIRD_PARTY}
   )
 
+  add_library (LibCarla::Server ALIAS Server)
+  
   target_link_libraries (
-    carla-server PUBLIC SYSTEM
+    Server PUBLIC
     Boost::asio
     Boost::geometry
     Boost::algorithm
@@ -205,34 +243,61 @@ if (BUILD_CARLA_SERVER)
     RecastNavigation::Recast
     RecastNavigation::Detour
     RecastNavigation::DetourCrowd
-    png_static
-    zlibstatic
-    rpc
+    ZLIB::ZLIB
+    rpclib::rpc
   )
+
+  if (TARGET PNG::PNG)
+    target_link_libraries (Server PUBLIC PNG::PNG)
+  endif ()
   
   target_include_directories (
-    carla-server PUBLIC
-    ${LIBCARLA_SOURCE_PATH}
+    Server PUBLIC
+    $<BUILD_INTERFACE:${LIBCARLA_SOURCE_PATH}>
+    $<INSTALL_INTERFACE:include>
   )
-
+  
+  target_include_directories (
+    Server PRIVATE
+    ${CMAKE_CURRENT_BINARY_DIR}
+  )
+  
   target_compile_definitions (
-    carla-server PUBLIC
+    Server PUBLIC
     ${CARLA_COMMON_DEFINITIONS}
     ${CARLA_EXCEPTION_DEFINITIONS}
     ${CARLA_RTTI_DEFINITIONS}
     ${CARLA_ROS2_DEFINITIONS}
   )
-
-  if (ENABLE_ROS2)
-    add_dependencies (carla-server carla-ros2-native)
-  endif ()
+  
+  foreach (HEADER ${LIBCARLA_SERVER_HEADERS})
+    cmake_path (
+      GET
+        HEADER
+      PARENT_PATH
+        HEADER_PARENT
+    )
+    cmake_path (
+      RELATIVE_PATH
+        HEADER_PARENT
+      BASE_DIRECTORY
+        ${LIBCARLA_SOURCE_PATH}
+      OUTPUT_VARIABLE
+        HEADER_PARENT_RELATIVE
+    )
+    install (
+      FILES
+        ${HEADER}
+      DESTINATION
+        include/${HEADER_PARENT_RELATIVE}
+    )
+  endforeach ()
 
 endif ()
 
 
 
-if (BUILD_CARLA_CLIENT)
-
+if (BUILD_CLIENT)
   file (
     GLOB
     LIBCARLA_CLIENT_HEADERS
@@ -263,26 +328,20 @@ if (BUILD_CARLA_CLIENT)
     ${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.h
     ${LIBCARLA_SOURCE_PATH}/util/*.h
   )
-
+  
   list (
     APPEND
     LIBCARLA_CLIENT_HEADERS
-    ${LIBCARLA_SOURCE_PATH}/util/winnt-macros.txt
+    ${LIBCARLA_GENERATED_HEADERS}
+    ${CMAKE_CURRENT_BINARY_DIR}/ue-header-guard-begin.h
+    ${CMAKE_CURRENT_BINARY_DIR}/ue-header-guard-end.h
   )
-
+  
   if (ENABLE_RSS)
-    file (
-      GLOB
-      LIBCARLA_CLIENT_HEADERS_RSS
-      ${LIBCARLA_SOURCE_PATH}/carla/rss/*.h
-    )
-    list (
-      APPEND
-      LIBCARLA_CLIENT_HEADERS
-      ${LIBCARLA_CLIENT_HEADERS_RSS}
-    )
+    file (GLOB LIBCARLA_CLIENT_HEADERS_RSS ${LIBCARLA_SOURCE_PATH}/carla/rss/*.h)
+    list (APPEND LIBCARLA_CLIENT_HEADERS ${LIBCARLA_CLIENT_HEADERS_RSS})
   endif ()
-
+  
   file (
     GLOB
     LIBCARLA_CLIENT_HEADERS_THIRD_PARTY
@@ -291,7 +350,7 @@ if (BUILD_CARLA_CLIENT)
     ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.hpp
     ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.h
   )
-
+  
   file (
     GLOB
     LIBCARLA_CLIENT_SOURCES
@@ -320,62 +379,156 @@ if (BUILD_CARLA_CLIENT)
     ${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
     ${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.cpp
   )
-
+  
   if (ENABLE_RSS)
-    file (
-      GLOB
-      LIBCARLA_CLIENT_SOURCES_RSS
-      ${LIBCARLA_SOURCE_PATH}/carla/rss/*.cpp
-    )
-    list (
-      APPEND
-      LIBCARLA_CLIENT_SOURCES
-      ${LIBCARLA_CLIENT_SOURCES_RSS}
-    )
+    file (GLOB LIBCARLA_CLIENT_SOURCES_RSS ${LIBCARLA_SOURCE_PATH}/carla/rss/*.cpp)
+    list (APPEND LIBCARLA_CLIENT_SOURCES ${LIBCARLA_CLIENT_SOURCES_RSS})
   endif ()
-
+  
   file (
     GLOB
     LIBCARLA_CLIENT_SOURCES_THIRD_PARTY
     ${LIBCARLA_SOURCE_PATH}/third-party/odrSpiral/*.cpp
     ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.cpp
   )
-
-  carla_add_library (
-    carla-client
-    "Build the CARLA client."
+  
+  add_library (
+    Client
     ${LIBCARLA_CLIENT_HEADERS}
     ${LIBCARLA_CLIENT_SOURCES}
     ${LIBCARLA_CLIENT_HEADERS_THIRD_PARTY}
     ${LIBCARLA_CLIENT_SOURCES_THIRD_PARTY}
   )
+  
+  add_library (LibCarla::Client ALIAS Client)
 
   target_link_libraries (
-    carla-client PUBLIC
+    Client PUBLIC
     Boost::asio
-    Boost::python
-    Boost::algorithm
     Boost::geometry
+    Boost::algorithm
     Boost::assert
     Boost::gil
     RecastNavigation::Recast
     RecastNavigation::Detour
     RecastNavigation::DetourCrowd
-    png_static
-    zlibstatic
-    rpc
+    ZLIB::ZLIB
+    rpclib::rpc
+  )
+  
+  if (TARGET PNG::PNG)
+    target_link_libraries (Client PUBLIC PNG::PNG)
+  endif ()
+
+  target_include_directories (
+    Client PUBLIC
+    $<BUILD_INTERFACE:${LIBCARLA_SOURCE_PATH}>
+    $<INSTALL_INTERFACE:include>
   )
   
   target_include_directories (
-    carla-client PUBLIC
-    ${LIBCARLA_SOURCE_PATH}
+    Client PRIVATE
+    ${CMAKE_CURRENT_BINARY_DIR}
   )
-
+  
   target_compile_definitions (
-    carla-client PUBLIC
+    Client PUBLIC
     ${CARLA_COMMON_DEFINITIONS}
     ${CARLA_EXCEPTION_DEFINITIONS}
     ${CARLA_RTTI_DEFINITIONS}
   )
 
+  foreach (HEADER ${LIBCARLA_CLIENT_HEADERS})
+    cmake_path (
+      GET
+        HEADER
+      PARENT_PATH
+        HEADER_PARENT
+    )
+    cmake_path (IS_PREFIX LIBCARLA_SOURCE_PATH ${HEADER} FROM_SOURCE)
+    cmake_path (IS_PREFIX CMAKE_CURRENT_BINARY_DIR ${HEADER} FROM_BINARY)
+    if (FROM_SOURCE)
+      set (PARENT_PATH ${LIBCARLA_SOURCE_PATH})
+    elseif (FROM_BINARY)
+      set (PARENT_PATH ${CMAKE_CURRENT_BINARY_DIR})
+    else ()
+      message (FATAL_ERROR "Could not determine where to install ${HEADER}.")
+    endif ()
+    cmake_path (
+      RELATIVE_PATH
+        HEADER_PARENT
+      BASE_DIRECTORY
+        ${PARENT_PATH}
+      OUTPUT_VARIABLE
+        HEADER_PARENT_RELATIVE
+    )
+    install (
+      FILES
+        ${HEADER}
+      DESTINATION
+        include/${HEADER_PARENT_RELATIVE}
+    )
+  endforeach ()
+
+endif ()
+
+set (LIBCARLA_TARGETS)
+
+if (BUILD_CLIENT)
+  list (APPEND LIBCARLA_TARGETS Client)
+endif ()
+
+if (BUILD_SERVER)
+  list (APPEND LIBCARLA_TARGETS Server)
+endif ()
+
+install (
+  TARGETS
+    ${LIBCARLA_TARGETS}
+  EXPORT LibCarlaTargets
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install (
+  EXPORT LibCarlaTargets
+  FILE LibCarlaTargets.cmake
+  NAMESPACE LibCarla::
+  DESTINATION lib/cmake/LibCarla
+)
+
+include (CMakePackageConfigHelpers)
+
+configure_package_config_file (
+  ${CMAKE_CURRENT_LIST_DIR}/Cmake/LibCarlaConfig.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/LibCarlaConfig.cmake
+  INSTALL_DESTINATION lib/cmake/LibCarla
+)
+
+install (
+  FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/LibCarlaConfig.cmake
+  DESTINATION
+    lib/cmake/LibCarla
+)
+
+write_basic_package_version_file (
+  ${CMAKE_CURRENT_BINARY_DIR}/LibCarlaConfigVersion.cmake
+  VERSION
+    ${CARLA_VERSION}
+  COMPATIBILITY
+    SameMajorVersion
+)
+
+install(
+  FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/LibCarlaConfigVersion.cmake
+  DESTINATION
+    lib/cmake/LibCarla
+)
+
+if (BUILD_EXAMPLES)
+  add_subdirectory (Examples)
 endif ()
diff --git a/Examples/CMakeLists.txt b/LibCarla/examples/CMakeLists.txt
similarity index 83%
rename from Examples/CMakeLists.txt
rename to LibCarla/examples/CMakeLists.txt
index 7705edf1f12..781170f9420 100644
--- a/Examples/CMakeLists.txt
+++ b/LibCarla/examples/CMakeLists.txt
@@ -1,9 +1,9 @@
 set (
   CARLA_EXAMPLE_CPP_CLIENT_SOURCE_PATH
-  ${CARLA_WORKSPACE_PATH}/Examples/CppClient
+  ${CARLA_ROOT}/Examples/CppClient
 )
 
-carla_message ("CARLA Building C++ EXAMPLE CLIENT")
+message (STATUS "CARLA Building C++ EXAMPLE CLIENT")
 
 project (
   carla-example-cpp-client
@@ -27,7 +27,7 @@ file (
   ${CARLA_EXAMPLE_CPP_CLIENT_SOURCE_PATH}/*.h
 )
 
-carla_add_executable (
+add_executable (
   carla-example-client
   "Build the CARLA C++ client example."
   ${CARLA_EXAMPLE_CPP_SOURCES}
diff --git a/Examples/CppClient/main.cpp b/LibCarla/examples/CppClient/main.cpp
similarity index 100%
rename from Examples/CppClient/main.cpp
rename to LibCarla/examples/CppClient/main.cpp
diff --git a/LibCarla/source/carla/.gitignore b/LibCarla/source/carla/.gitignore
deleted file mode 100644
index 38ba24e29ea..00000000000
--- a/LibCarla/source/carla/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-Version.h
diff --git a/LibCarla/source/carla/Config.h.in b/LibCarla/source/carla/Config.h.in
new file mode 100644
index 00000000000..1dc371ad075
--- /dev/null
+++ b/LibCarla/source/carla/Config.h.in
@@ -0,0 +1,9 @@
+// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#cmakedefine LIBCARLA_IMAGE_SUPPORT_PNG
+#cmakedefine LIBCARLA_IMAGE_SUPPORT_JPEG
+#cmakedefine LIBCARLA_IMAGE_SUPPORT_TIFF
diff --git a/LibCarla/source/carla/image/ImageIOConfig.h b/LibCarla/source/carla/image/ImageIOConfig.h
index 74aca5e30f1..755b1751bf3 100644
--- a/LibCarla/source/carla/image/ImageIOConfig.h
+++ b/LibCarla/source/carla/image/ImageIOConfig.h
@@ -10,52 +10,14 @@
 #include "carla/Logging.h"
 #include "carla/StringUtil.h"
 #include "carla/image/BoostGil.h"
+#include "carla/Config.h"
 
-#ifndef LIBCARLA_IMAGE_SUPPORT_PNG
-  #define LIBCARLA_IMAGE_SUPPORT_PNG false
+#ifdef LIBCARLA_IMAGE_SUPPORT_JPEG
+#include <boost/gil/extension/io/jpeg.hpp>
 #endif
 
-#ifndef LIBCARLA_IMAGE_SUPPORT_JPEG
-  #define LIBCARLA_IMAGE_SUPPORT_JPEG false
-#endif
-
-#ifndef LIBCARLA_IMAGE_SUPPORT_TIFF
-  #define LIBCARLA_IMAGE_SUPPORT_TIFF false
-#endif
-
-#if defined(__clang__)
-#  pragma clang diagnostic push
-#  pragma clang diagnostic ignored "-Wunused-parameter"
-#endif
-
-#if LIBCARLA_IMAGE_SUPPORT_PNG
-#  ifndef png_infopp_NULL
-#    define png_infopp_NULL (png_infopp)NULL
-#  endif // png_infopp_NULL
-#  ifndef int_p_NULL
-#    define int_p_NULL (int*)NULL
-#  endif // int_p_NULL
-#  if defined(__clang__)
-#    pragma clang diagnostic push
-#    pragma clang diagnostic ignored "-Wignored-qualifiers"
-#    pragma clang diagnostic ignored "-Wparentheses"
-#  endif
-#    include <boost/gil/extension/io/png.hpp>
-#  if defined(__clang__)
-#    pragma clang diagnostic pop
-#  endif
-#endif
-
-#if LIBCARLA_IMAGE_WITH_JPEG_SUPPORT
-#  include <boost/gil/extension/io/jpeg.hpp>
-#endif
-
-#if LIBCARLA_IMAGE_WITH_TIFF_SUPPORT
-#  include <boost/gil/extension/io/tiff.hpp>
-#endif
-
-#if defined(__clang__)
-#  pragma clang diagnostic pop
+#ifdef LIBCARLA_IMAGE_SUPPORT_TIFF
+#include <boost/gil/extension/io/tiff.hpp>
 #endif
 
 namespace carla {
@@ -63,15 +25,27 @@ namespace image {
 namespace io {
 
   constexpr bool has_png_support() {
-    return LIBCARLA_IMAGE_SUPPORT_PNG;
+#ifdef LIBCARLA_IMAGE_SUPPORT_PNG
+    return true;
+#else
+    return false;
+#endif
   }
 
   constexpr bool has_jpeg_support() {
-    return LIBCARLA_IMAGE_SUPPORT_JPEG;
+#ifdef LIBCARLA_IMAGE_SUPPORT_JPEG
+    return true;
+#else
+    return false;
+#endif
   }
 
   constexpr bool has_tiff_support() {
-    return LIBCARLA_IMAGE_SUPPORT_TIFF;
+#ifdef LIBCARLA_IMAGE_SUPPORT_TIFF
+    return true;
+#else
+    return false;
+#endif
   }
 
   static_assert(
@@ -92,7 +66,7 @@ namespace detail {
 
     static constexpr bool is_supported = has_png_support();
 
-#if LIBCARLA_IMAGE_SUPPORT_PNG
+#ifdef LIBCARLA_IMAGE_SUPPORT_PNG
 
     static constexpr const char *get_default_extension() {
       return "png";
@@ -120,7 +94,7 @@ namespace detail {
 
     static constexpr bool is_supported = has_jpeg_support();
 
-#if LIBCARLA_IMAGE_WITH_JPEG_SUPPORT
+#ifdef LIBCARLA_IMAGE_WITH_JPEG_SUPPORT
 
     static constexpr const char *get_default_extension() {
       return "jpeg";
@@ -159,7 +133,7 @@ namespace detail {
 
     static constexpr bool is_supported = has_tiff_support();
 
-#if LIBCARLA_IMAGE_SUPPORT_TIFF
+#ifdef LIBCARLA_IMAGE_SUPPORT_TIFF
 
     static constexpr const char *get_default_extension() {
       return "tiff";
@@ -312,11 +286,11 @@ namespace detail {
 
   struct tiff : detail::io_impl<detail::io_tiff> {};
 
-#if LIBCARLA_IMAGE_SUPPORT_PNG
+#ifdef LIBCARLA_IMAGE_SUPPORT_PNG
 
   struct any : detail::io_any<detail::io_png, detail::io_tiff, detail::io_jpeg> {};
 
-#elif LIBCARLA_IMAGE_SUPPORT_TIFF
+#elif defined(LIBCARLA_IMAGE_SUPPORT_TIFF)
 
   struct any : detail::io_any<detail::io_tiff, detail::io_jpeg> {};
 
diff --git a/LibCarla/source/carla/sensor/RawData.h b/LibCarla/source/carla/sensor/RawData.h
index 53106f7803e..b0d99831ebb 100644
--- a/LibCarla/source/carla/sensor/RawData.h
+++ b/LibCarla/source/carla/sensor/RawData.h
@@ -8,7 +8,9 @@
 
 #include "carla/Buffer.h"
 #include "carla/sensor/s11n/SensorHeaderSerializer.h"
+#if __has_include("carla/ros2/ROS2.h")
 #include "carla/ros2/ROS2.h"
+#endif
 
 #include <cstdint>
 #include <iterator>
@@ -89,7 +91,10 @@ namespace sensor {
 
     template <typename... Items>
     friend class CompositeSerializer;
+
+#if __has_include("carla/ros2/ROS2.h")
     friend class carla::ros2::ROS2;
+#endif
 
     RawData(Buffer &&buffer) : _buffer(std::move(buffer)) {}
 
diff --git a/LibCarla/source/carla/sensor/data/ImageTmpl.h b/LibCarla/source/carla/sensor/data/ImageTmpl.h
index f55ac396c17..17c93dc287b 100644
--- a/LibCarla/source/carla/sensor/data/ImageTmpl.h
+++ b/LibCarla/source/carla/sensor/data/ImageTmpl.h
@@ -13,7 +13,9 @@
 #include "carla/sensor/s11n/GBufferUint8Serializer.h"
 #include "carla/sensor/s11n/GBufferFloatSerializer.h"
 #include "carla/sensor/s11n/NormalsImageSerializer.h"
+#if __has_include("carla/ros2/ROS2.h")
 #include "carla/ros2/ROS2.h"
+#endif
 
 namespace carla {
 namespace sensor {
@@ -22,8 +24,13 @@ namespace data {
   /// Templated image for any type of pixel.
   template <typename PixelT>
   class ImageTmpl : public Array<PixelT> {
+    
     using Super = Array<PixelT>;
+
+#if __has_include("carla/ros2/ROS2.h")
     friend class carla::ros2::ROS2;
+#endif
+
   protected:
 
     using Serializer = s11n::ImageSerializer;
diff --git a/PythonAPI/CMakeLists.txt b/PythonAPI/CMakeLists.txt
index c0cf4eed61b..ab6810c935f 100644
--- a/PythonAPI/CMakeLists.txt
+++ b/PythonAPI/CMakeLists.txt
@@ -1,3 +1,24 @@
+cmake_minimum_required (
+  VERSION
+  3.28
+)
+
+if (CARLA_CONFIG_FILEPATH)
+  include (${CARLA_CONFIG_FILEPATH})
+else ()
+  message (WARNING "Missing \"CARLA_CONFIG_FILEPATH\"")
+endif ()
+
+project (
+  PythonAPI
+  LANGUAGES
+    CXX
+  VERSION
+    ${CARLA_VERSION}
+)
+
+option (ENABLE_PEP517 "Whether to use PEP 517." ON)
+
 find_package (
   Python3
   COMPONENTS
@@ -8,6 +29,7 @@ find_package (
   REQUIRED
 )
 
+#[[
 # -- Temporary check for numpy 2 presence, which breaks our current version of Boost.Python.
 execute_process (
   COMMAND
@@ -21,106 +43,25 @@ execute_process (
     NUMPY_VERSION_QUERY_RESULT
 )
 if (NUMPY_VERSION_QUERY_RESULT)
-  carla_warning ("Failed to query numpy version.")
+  message (WARNING "Failed to query numpy version.")
 endif ()
-carla_message ("Found Numpy ${NUMPY_VERSION_STRING} for Python ${Python3_VERSION} (${Python3_EXECUTABLE}).")
+message (STATUS "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.")
+  message (FATAL_ERROR "Unsupported Numpy version, please downgrade to a version prior to numpy 2.")
 endif ()
 # --
+]]
 
-set (
-  PYTHON_API_DEPENDENCIES
-  carla-client
-  rpc
-  png_static
-  zlibstatic
-  Boost::asio
-  Boost::python
-  Boost::geometry
-  Boost::gil
-  RecastNavigation::Recast
-  RecastNavigation::Detour
-  RecastNavigation::DetourCrowd
-)
-
-get_target_property (
-  Boost_asio_TARGET_NAME
-  Boost::asio
-  ALIASED_TARGET
-)
-
-get_target_property (
-  Boost_python_TARGET_NAME
-  Boost::python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}
-  ALIASED_TARGET
-)
-
-get_target_property (
-  Boost_geometry_TARGET_NAME
-  Boost::geometry
-  ALIASED_TARGET
-)
-
-get_target_property (
-  Boost_gil_TARGET_NAME
-  Boost::gil
-  ALIASED_TARGET
-)
-
-get_target_property (
-  RecastNavigation_Recast_TARGET_NAME
-  RecastNavigation::Recast
-  ALIASED_TARGET
-)
-
-get_target_property (
-  RecastNavigation_Detour_TARGET_NAME
-  RecastNavigation::Detour
-  ALIASED_TARGET
+configure_file (
+  ${CMAKE_CURRENT_SOURCE_DIR}/carla/pyproject.toml.in
+  ${CMAKE_CURRENT_SOURCE_DIR}/carla/pyproject.toml
+  @ONLY
 )
 
-get_target_property (
-  RecastNavigation_DetourCrowd_TARGET_NAME
-  RecastNavigation::DetourCrowd
-  ALIASED_TARGET
-)
-
-set (
-  CARLA_PYTHON_API_CARLA_PATH
-  ${CMAKE_CURRENT_SOURCE_DIR}/carla
-)
-
-set (
-  CARLA_PYTHON_API_CMAKE_ARGS
-  "\t'-G${CMAKE_GENERATOR}'"
-)
-
-set (
-  CARLA_PYTHON_API_CMAKE_ARGS
-  "${CARLA_PYTHON_API_CMAKE_ARGS},\n\t'-DCMAKE_C_COMPILER=${CMAKE_C_COMPILER}'"
-)
-
-set (
-  CARLA_PYTHON_API_CMAKE_ARGS
-  "${CARLA_PYTHON_API_CMAKE_ARGS},\n\t'-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}'"
-)
-
-if (CMAKE_TOOLCHAIN_FILE)
-  set (
-    CARLA_PYTHON_API_CMAKE_ARGS
-    "${CARLA_PYTHON_API_CMAKE_ARGS},\n\t\'--toolchain=${CMAKE_TOOLCHAIN_FILE}\'"
-  )
-endif ()
-
-carla_two_step_configure_file (
-  ${CARLA_PYTHON_API_CARLA_PATH}/pyproject.toml
-  ${CARLA_PYTHON_API_CARLA_PATH}/pyproject.toml.in
-)
-
-carla_two_step_configure_file (
-  ${CARLA_PYTHON_API_CARLA_PATH}/CMakeLists.txt
-  ${CARLA_PYTHON_API_CARLA_PATH}/CMakeLists.txt.in
+configure_file (
+  ${CMAKE_CURRENT_SOURCE_DIR}/carla/CMakeLists.txt.in
+  ${CMAKE_CURRENT_SOURCE_DIR}/carla/CMakeLists.txt
+  @ONLY
 )
 
 set (
@@ -128,12 +69,6 @@ set (
   ${CMAKE_CURRENT_BINARY_DIR}/dist
 )
 
-file (
-  COPY
-  ${CARLA_WORKSPACE_PATH}/LICENSE
-  DESTINATION ${CARLA_PYTHON_API_CARLA_PATH}
-)
-
 if (ENABLE_PEP517)
   set (
     CARLA_PYTHON_API_BUILD_COMMAND
@@ -145,7 +80,7 @@ if (ENABLE_PEP517)
 else ()
   file (
     WRITE
-    ${CARLA_PYTHON_API_CARLA_PATH}/setup.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/carla/setup.py
     "from setuptools import setup\n"
     "setup()\n"
   )
@@ -158,41 +93,12 @@ else ()
   )
 endif ()
 
-carla_add_custom_target (
-  carla-python-api
-  "Build the CARLA Python API."
-  COMMAND
-    ${CMAKE_COMMAND}
-      -E copy
-      ${CARLA_WORKSPACE_PATH}/LICENSE
-      ${CARLA_PYTHON_API_CARLA_PATH}/LICENSE
+add_custom_target (
+  python-api ALL
   COMMAND
     ${CARLA_PYTHON_API_BUILD_COMMAND}
   WORKING_DIRECTORY
-    ${CARLA_PYTHON_API_CARLA_PATH}
+    ${CMAKE_CURRENT_SOURCE_DIR}/carla
   VERBATIM
   USES_TERMINAL
 )
-
-carla_add_custom_target (
-  carla-python-api-install
-  "Build & install the CARLA Python API"
-  COMMAND
-    ${Python3_EXECUTABLE}
-      -m pip install
-      -e ${CARLA_PYTHON_API_CARLA_PATH}
-  WORKING_DIRECTORY
-    ${CARLA_PYTHON_API_CARLA_PATH}
-  VERBATIM
-  USES_TERMINAL
-)
-
-add_dependencies (
-  carla-python-api
-  ${PYTHON_API_DEPENDENCIES}
-)
-
-add_dependencies (
-  carla-python-api-install
-  carla-python-api
-)
diff --git a/PythonAPI/carla/CMakeLists.txt.in b/PythonAPI/carla/CMakeLists.txt.in
index 32cdd79b4d8..19244fe1016 100644
--- a/PythonAPI/carla/CMakeLists.txt.in
+++ b/PythonAPI/carla/CMakeLists.txt.in
@@ -1,6 +1,6 @@
 cmake_minimum_required (
   VERSION
-  @CARLA_CMAKE_MINIMUM_REQUIRED_VERSION@
+  3.30
 )
 
 project (
@@ -18,7 +18,28 @@ if (${CMAKE_MINOR_VERSION} GREATER_EQUAL 24)
   cmake_policy (SET CMP0135 NEW)
 endif ()
 
-include (@CARLA_WORKSPACE_PATH@/CMake/Util.cmake)
+find_package (
+  Boost ${BOOST_VERSION} EXACT REQUIRED
+  COMPONENTS
+    asio geometry algorithm assert gil python
+)
+
+find_package (
+  RecastNavigation REQUIRED
+  COMPONENTS
+    Recast Detour DetourCrowd
+)
+
+find_package (Eigen3 @EIGEN_VERSION@ EXACT REQUIRED)
+find_package (ZLIB @ZLIB_VERSION@ EXACT REQUIRED)
+find_package (RPCLib REQUIRED)
+find_package (PNG @PNG_VERSION@ EXACT REQUIRED)
+
+find_package (
+  LibCarla @CARLA_VERSION@ EXACT REQUIRED
+  COMPONENTS
+    Client
+)
 
 set (CMAKE_CXX_STANDARD 20)
 set (CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -36,34 +57,13 @@ find_package (
   REQUIRED
 )
 
-if (WIN32)
-  set (PYTHON_MODULE_EXT .pyd)
-else ()
-  set (PYTHON_MODULE_EXT .so)
-endif ()
-
-set (
-  CARLA_PYTHON_API_CARLA_PATH
-  ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-carla_message_verbose (
+message (
+  STATUS
   "Selected Python executable: ${Python3_EXECUTABLE} (Interpreter ID: ${Python3_INTERPRETER_ID})"
 )
 
-set (
-  CARLA_PYTHON_API_DEPENDENCIES
-)
-
-set (
-  CARLA_PYTHON_API_INCLUDE_PATH
-  ${CARLA_PYTHON_API_CARLA_PATH}/include
-)
-
-set (
-  CARLA_PYTHON_API_SOURCE_PATH
-  ${CARLA_PYTHON_API_CARLA_PATH}/src
-)
+set (CARLA_PYTHON_API_INCLUDE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/include)
+set (CARLA_PYTHON_API_SOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/src)
 
 set (
   PYTHON_API_HEADERS
@@ -91,19 +91,11 @@ set (
 )
 
 if (ENABLE_OSM2ODR)
-  list (
-    APPEND
-    PYTHON_API_SOURCES
-    ${CARLA_PYTHON_API_SOURCE_PATH}/OSM2ODR.cpp
-  )
+  list (APPEND PYTHON_API_SOURCES ${CARLA_PYTHON_API_SOURCE_PATH}/OSM2ODR.cpp)
 endif ()
 
 if (ENABLE_RSS)
-  list (
-    APPEND
-    PYTHON_API_SOURCES
-    ${CARLA_PYTHON_API_SOURCE_PATH}/AdRss.cpp
-  )
+  list (APPEND PYTHON_API_SOURCES ${CARLA_PYTHON_API_SOURCE_PATH}/AdRss.cpp)
 endif ()
 
 set (
@@ -116,68 +108,33 @@ set (
 )
 
 if (USE_LIMITED_API)
-  list (
-    APPEND
-    PYTHON_API_ADD_LIBRARY_ARGS
-    USE_SABI ${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}
-  )
+  list (APPEND PYTHON_API_ADD_LIBRARY_ARGS USE_SABI ${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR})
 endif ()
 
-list (
-  APPEND
-  PYTHON_API_ADD_LIBRARY_ARGS
-  WITH_SOABI
-)
+list (APPEND PYTHON_API_ADD_LIBRARY_ARGS WITH_SOABI)
 
 Python3_add_library (
   ${SKBUILD_PROJECT_NAME}
   MODULE
-  ${PYTHON_API_ADD_LIBRARY_ARGS}
-  ${PYTHON_API_HEADERS}
-  ${PYTHON_API_SOURCES}
+    ${PYTHON_API_ADD_LIBRARY_ARGS}
+    ${PYTHON_API_HEADERS}
+    ${PYTHON_API_SOURCES}
 )
 
-install (
-  TARGETS ${SKBUILD_PROJECT_NAME}
-  DESTINATION .
+target_link_libraries (
+  ${SKBUILD_PROJECT_NAME} PRIVATE
+  LibCarla::Client
+  Boost::python
 )
 
 target_include_directories (
-  ${SKBUILD_PROJECT_NAME} SYSTEM PRIVATE
+  ${SKBUILD_PROJECT_NAME} PUBLIC
   ${CARLA_PYTHON_API_INCLUDE_PATH}
-  $<TARGET_PROPERTY:carla-client,INTERFACE_INCLUDE_DIRECTORIES>
-  $<TARGET_PROPERTY:@Boost_asio_TARGET_NAME@,INTERFACE_INCLUDE_DIRECTORIES>
-  $<TARGET_PROPERTY:@Boost_python_TARGET_NAME@,INTERFACE_INCLUDE_DIRECTORIES>
-  $<TARGET_PROPERTY:@Boost_geometry_TARGET_NAME@,INTERFACE_INCLUDE_DIRECTORIES>
-  $<TARGET_PROPERTY:@Boost_gil_TARGET_NAME@,INTERFACE_INCLUDE_DIRECTORIES>
-  $<TARGET_PROPERTY:@RecastNavigation_Recast_TARGET_NAME@,INTERFACE_INCLUDE_DIRECTORIES>
-  $<TARGET_PROPERTY:@RecastNavigation_Detour_TARGET_NAME@,INTERFACE_INCLUDE_DIRECTORIES>
-  $<TARGET_PROPERTY:@RecastNavigation_DetourCrowd_TARGET_NAME@,INTERFACE_INCLUDE_DIRECTORIES>
-  $<TARGET_PROPERTY:png_static,INTERFACE_INCLUDE_DIRECTORIES>
-  $<TARGET_PROPERTY:zlibstatic,INTERFACE_INCLUDE_DIRECTORIES>
-  $<TARGET_PROPERTY:rpc,INTERFACE_INCLUDE_DIRECTORIES>
-  @libpng_SOURCE_DIR@ @libpng_BINARY_DIR@
-  @zlib_SOURCE_DIR@ @zlib_BINARY_DIR@
 )
 
-set (
-  PYTHON_API_BUILD_DEFINITIONS
-  BOOST_ALL_NO_LIB
-  LIBCARLA_WITH_PYTHON_SUPPORT
-  @CARLA_COMMON_DEFINITIONS@
-  @CARLA_EXCEPTION_DEFINITIONS@
-  @CARLA_RTTI_DEFINITIONS@
-  $<TARGET_PROPERTY:carla-client,INTERFACE_INCLUDE_COMPILE_DEFINITIONS>
-  $<TARGET_PROPERTY:@Boost_asio_TARGET_NAME@,INTERFACE_INCLUDE_COMPILE_DEFINITIONS>
-  $<TARGET_PROPERTY:@Boost_python_TARGET_NAME@,INTERFACE_INCLUDE_COMPILE_DEFINITIONS>
-  $<TARGET_PROPERTY:@Boost_geometry_TARGET_NAME@,INTERFACE_INCLUDE_COMPILE_DEFINITIONS>
-  $<TARGET_PROPERTY:@Boost_gil_TARGET_NAME@,INTERFACE_INCLUDE_COMPILE_DEFINITIONS>
-  $<TARGET_PROPERTY:@RecastNavigation_Recast_TARGET_NAME@,INTERFACE_INCLUDE_COMPILE_DEFINITIONS>
-  $<TARGET_PROPERTY:@RecastNavigation_Detour_TARGET_NAME@,INTERFACE_INCLUDE_COMPILE_DEFINITIONS>
-  $<TARGET_PROPERTY:@RecastNavigation_DetourCrowd_TARGET_NAME@,INTERFACE_INCLUDE_COMPILE_DEFINITIONS>
-  $<TARGET_PROPERTY:png_static,INTERFACE_INCLUDE_COMPILE_DEFINITIONS>
-  $<TARGET_PROPERTY:zlibstatic,INTERFACE_INCLUDE_COMPILE_DEFINITIONS>
-  $<TARGET_PROPERTY:rpc,INTERFACE_INCLUDE_COMPILE_DEFINITIONS>
+install (
+  TARGETS ${SKBUILD_PROJECT_NAME}
+  DESTINATION .
 )
 
 if (WIN32)
@@ -192,15 +149,3 @@ target_compile_definitions (
   ${SKBUILD_PROJECT_NAME} PRIVATE
   ${PYTHON_API_BUILD_DEFINITIONS}
 )
-
-target_link_libraries (
-  ${SKBUILD_PROJECT_NAME} PUBLIC
-  $<TARGET_FILE:carla-client>
-  $<TARGET_FILE:@Boost_python_TARGET_NAME@>
-  $<TARGET_FILE:@RecastNavigation_Recast_TARGET_NAME@>
-  $<TARGET_FILE:@RecastNavigation_Detour_TARGET_NAME@>
-  $<TARGET_FILE:@RecastNavigation_DetourCrowd_TARGET_NAME@>
-  $<TARGET_FILE:png_static>
-  $<TARGET_FILE:zlibstatic>
-  $<TARGET_FILE:rpc>
-)
diff --git a/PythonAPI/carla/include/PythonAPI.h b/PythonAPI/carla/include/PythonAPI.h
index 353f4b45039..d2ced60e5a4 100644
--- a/PythonAPI/carla/include/PythonAPI.h
+++ b/PythonAPI/carla/include/PythonAPI.h
@@ -77,6 +77,8 @@
 #include <carla/image/ImageIO.h>
 #include <carla/image/ImageView.h>
 
+#include <boost/python/object.hpp>
+
 #include <cstdio>
 #include <ostream>
 #include <iostream>
diff --git a/PythonAPI/carla/pyproject.toml.in b/PythonAPI/carla/pyproject.toml.in
index bac626edb27..270d5d581df 100644
--- a/PythonAPI/carla/pyproject.toml.in
+++ b/PythonAPI/carla/pyproject.toml.in
@@ -7,7 +7,9 @@ wheel.packages = ['carla']
 cmake.version = '>=@CMAKE_MAJOR_VERSION@.@CMAKE_MINOR_VERSION@'
 cmake.build-type = '@CMAKE_BUILD_TYPE@'
 cmake.args = [
-  @CARLA_PYTHON_API_CMAKE_ARGS@
+	"-G@CMAKE_GENERATOR@",
+	"-DCMAKE_PREFIX_PATH=@CMAKE_PREFIX_PATH@",
+	"--toolchain=@CMAKE_TOOLCHAIN_FILE@"
 ]
 ninja.version=">=1.10"
 ninja.make-fallback=true
diff --git a/Ros2Native/CMakeLists.txt b/Ros2Native/CMakeLists.txt
index 18b8d61a454..5d062ddc375 100644
--- a/Ros2Native/CMakeLists.txt
+++ b/Ros2Native/CMakeLists.txt
@@ -1,9 +1,9 @@
 cmake_minimum_required (
   VERSION
-  ${CARLA_CMAKE_MINIMUM_REQUIRED_VERSION}
+  3.30
 )
 
-project (carla-ros2-native-project)
+project (carla-ros2-native_project)
 
 include (ExternalProject)
 
@@ -16,7 +16,7 @@ ExternalProject_add (
     -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
     -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
     -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
-    -DBUILD_SHARED_LIBS=ON
+    # -DBUILD_SHARED_LIBS=ON
     -DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON
 )
 
@@ -25,7 +25,7 @@ ExternalProject_add (
 ExternalProject_add (
   fastdds
   GIT_REPOSITORY https://github.com/eProsima/Fast-DDS.git
-  GIT_TAG ${CARLA_FASTDDS_TAG}
+  GIT_TAG ${CARLA_FAST_DDS_TAG}
   CMAKE_ARGS
     -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
     -DCMAKE_INSTALL_PREFIX=${PROJECT_INSTALL_PATH}
@@ -68,7 +68,7 @@ add_custom_command (
     ${CARLA_PLUGIN_BINARY_PATH}
 )
 
-carla_add_custom_target (
+add_custom_target (
   carla-ros2-native
   "Build the ROS2-Native CARLA subproject."
   DEPENDS carla-ros2-native-lib
diff --git a/Unreal/CMakeLists.txt b/Unreal/CMakeLists.txt
index 01d2c9e4383..972fdf7cd12 100644
--- a/Unreal/CMakeLists.txt
+++ b/Unreal/CMakeLists.txt
@@ -8,15 +8,20 @@ project (
     "Open-source simulator for autonomous driving research."
 )
 
-carla_option (
+option (
   ENABLE_DIRECTORY_CLEAN
   "Enable ADDITIONAL_CLEAN_FILES on directory level"
   ON
 )
 
+set (
+  CARLA_PACKAGE_PATH
+  ${CMAKE_BINARY_DIR}/Package
+)
+
 set (
   CARLA_UE_PATH
-  ${CARLA_WORKSPACE_PATH}/Unreal/CarlaUnreal
+  ${CARLA_ROOT}/Unreal/CarlaUnreal
 )
 
 set (
@@ -49,52 +54,198 @@ set (
   ${CARLA_UE_PATH}/Content/Carla
 )
 
-if (NOT EXISTS ${CARLA_UE_CONTENT_PATH}/.git)
-  carla_error ("Missing CARLA content.")
+set (
+  CARLA_UE_CONTENT_ORIGIN_URL
+  https://bitbucket.org/carla-simulator/carla-content.git
+)
+
+cmake_path (
+  CONVERT
+    "$ENV{CARLA_UNREAL_ENGINE_PATH}"
+  TO_CMAKE_PATH_LIST
+    CARLA_UNREAL_ENGINE_PATH_INFERRED
+  NORMALIZE
+)
+
+set (
+  CARLA_UNREAL_ENGINE_PATH
+  "${CARLA_UNREAL_ENGINE_PATH_INFERRED}"
+  CACHE FILEPATH
+  "Path to the CARLA fork of Unreal Engine."
+)
+
+message (STATUS "Using ${CARLA_UNREAL_ENGINE_PATH} as Unreal Engine root path.")
+
+if (EXISTS ${CARLA_UNREAL_ENGINE_PATH})
+  set (CARLA_HAS_UNREAL_ENGINE_PATH ON)
+else ()
+  set (CARLA_HAS_UNREAL_ENGINE_PATH OFF)
+endif ()
+
+option (BUILD_CARLA_UNREAL "Build the Carla Unreal Engine project." ${CARLA_HAS_UNREAL_ENGINE_PATH})
+if (WIN32)
+  set (CARLA_UNREAL_RHI_DEFAULT d3d12)
+elseif (LINUX)
+  set (CARLA_UNREAL_RHI_DEFAULT vulkan)
 endif ()
 
 set (
-  UNREAL_EDITOR_PATH
-  ${CARLA_UNREAL_ENGINE_PATH}/Engine/Binaries/${UE_SYSTEM_NAME}/UnrealEditor${EXE_EXT}
+  CARLA_UNREAL_RHI
+  "${CARLA_UNREAL_RHI_DEFAULT}"
+  CACHE STRING
+  "Target CARLA Unreal Engine RHI."
+)
+
+if (BUILD_CARLA_UNREAL)
+  if (NOT ${CARLA_HAS_UNREAL_ENGINE_PATH})
+    message (FATAL_ERROR 
+      "Could not add UE project to build since the option CARLA_UNREAL_ENGINE_PATH "
+      "is not set to a valid path (\"${CARLA_UNREAL_ENGINE_PATH}\")."
+      "Please set it to point to the root path of your CARLA Unreal Engine installation."
+    )
+  endif ()
+endif ()
+
+# Docs for UE5 build configurations:
+# https://docs.unrealengine.com/4.27/en-US/ProductionPipelines/DevelopmentSetup/BuildConfigurations/
+
+if (${CMAKE_BUILD_TYPE} STREQUAL "Debug")
+  set (CARLA_UNREAL_BUILD_TYPE Debug)
+elseif (${CMAKE_BUILD_TYPE} STREQUAL "RelWithDebInfo")
+  set (CARLA_UNREAL_BUILD_TYPE Development)
+elseif (${CMAKE_BUILD_TYPE} STREQUAL "Release")
+  set (CARLA_UNREAL_BUILD_TYPE Shipping)
+else ()
+  message (WARNING "Unexpected CMAKE_BUILD_TYPE \"${CMAKE_BUILD_TYPE}\". Unreal packages will default to Development. Manually override DEFAULT_PACKAGE_CONFIGURATION if this behavior is not desired.")
+  set (CARLA_UNREAL_BUILD_TYPE Development)
+endif ()
+
+set (
+  CARLA_UNREAL_BUILD_TYPE
+  "${CARLA_UNREAL_BUILD_TYPE}"
+  CACHE STRING
+  "Override the CARLA Unreal build configuration."
 )
 
-set (CARLA_UE_CONTENT_CHECK_PATH ${CARLA_UE_PATH}/Content/Carla/Blueprints)
-if (IS_DIRECTORY ${CARLA_UE_CONTENT_CHECK_PATH})
-  carla_message_verbose ("CARLA Unreal Content - FOUND")
+set (CARLA_UNREAL_PACKAGE_NO_COMPRESSION_DEFAULT OFF)
+if ("${CARLA_UNREAL_BUILD_TYPE}" STREQUAL "Shipping")
+  set (CARLA_UNREAL_PACKAGE_NO_COMPRESSION_DEFAULT ON)
+endif ()
+
+option (CARLA_UNREAL_PACKAGE_NO_COMPRESSION "Whether to skip the package compression step." ${CARLA_UNREAL_PACKAGE_NO_COMPRESSION_DEFAULT})
+
+set (
+  CARLA_ADDITIONAL_CONTENT_SEARCH_PATHS
+  ""
+  CACHE STRING
+  "Comma-separated list of additional paths to look for a cloned CARLA Unreal Engine Content repo."
+)
+
+set (CARLA_HAS_CONTENT FALSE)
+set (ASSUME_CONTENT_IS_GIT_REPO TRUE) # TODO VERIFY USING HASH IF RAW DOWNLOAD.
+if (ASSUME_CONTENT_IS_GIT_REPO)
+
+  # Assume CARLA Content has been downloaded using git.
+  # Therefore, we can use git commands to test the validity of the repo.
+
+  function (carla_test_is_valid_content_directory RETURN_VALUE PATH)
+    if (IS_DIRECTORY "${PATH}")
+      message (STATUS "Searching CARLA Content in ${PATH}")
+      execute_process (
+        COMMAND
+          git -C ${PATH} config --get remote.origin.url
+        OUTPUT_VARIABLE
+          GIT_ORIGIN_URL
+        RESULT_VARIABLE
+          GIT_ORIGIN_URL_RESULT
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+      )
+      if (NOT ${GIT_ORIGIN_URL_RESULT})
+        if ("${GIT_ORIGIN_URL}" STREQUAL "${CARLA_UE_CONTENT_ORIGIN_URL}")
+          set (${RETURN_VALUE} TRUE PARENT_SCOPE)
+          return ()
+        endif ()
+      endif ()
+    endif ()
+    set (${RETURN_VALUE} FALSE PARENT_SCOPE)
+  endfunction ()
+
+  carla_test_is_valid_content_directory (CARLA_HAS_CONTENT "${CARLA_UE_CONTENT_PATH}")
+
+  if (NOT ${CARLA_HAS_CONTENT})
+    foreach (ADDITIONAL_CONTENT_SEARCH_PATH ${CARLA_ADDITIONAL_CONTENT_SEARCH_PATHS})
+      carla_test_is_valid_content_directory (CARLA_HAS_CONTENT "${ADDITIONAL_CONTENT_SEARCH_PATH}")
+      if (${CARLA_HAS_CONTENT})
+        message (STATUS "Found CARLA Content in \"${ADDITIONAL_CONTENT_SEARCH_PATH}\", creating symlink.")
+        file (
+          CREATE_LINK
+            "${CARLA_UE_CONTENT_PATH}"
+            "${ADDITIONAL_CONTENT_SEARCH_PATH}"
+        )
+      endif ()
+    endforeach ()
+  endif ()
+
+else ()
+
+  # Assume CARLA Content has been downloaded directly, without using git.
+  # In this case use a simple directory existence check.
+
+  if (IS_DIRECTORY ${CARLA_UE_CONTENT_PATH})
+    set (CARLA_HAS_CONTENT TRUE)
+  endif ()
+
+endif ()
+
+if (NOT ${CARLA_HAS_CONTENT})
+  message (FATAL_ERROR 
+    "Could not find CARLA Content. Either clone it from ${CARLA_UE_CONTENT_ORIGIN_URL} or, if you already downloaded it somewhere else in your system, add its path to CARLA_ADDITIONAL_CONTENT_SEARCH_PATHS.")
 else ()
-  carla_warning ("Could not find CARLA Content, download it or running the editor will result in a crash.")
+  message (STATUS 
+    "Found CARLA Content."
+  )
 endif ()
 
+if (WIN32)
+  set (UE_SYSTEM_NAME Win64)
+  set (UE_PLATFORM_NAME Windows)
+else ()
+  if (LINUX)
+    set (UE_SYSTEM_NAME Linux)
+  elseif (APPLE)
+    set (UE_SYSTEM_NAME Mac)
+  else ()
+    message (FATAL_ERROR "Unknown target system.")
+  endif ()
+  set (UE_PLATFORM_NAME ${UE_SYSTEM_NAME})
+endif ()
 
+set (
+  UNREAL_EDITOR_PATH
+  ${CARLA_UNREAL_ENGINE_PATH}/Engine/Binaries/${UE_SYSTEM_NAME}/UnrealEditor${EXE_EXT}
+)
 
 set (
   UE_DEPENDENCIES
   carla-server
-  libsqlite3
+  SQLite::SQLite3
   Boost::asio
   Boost::python
   Boost::geometry
   Boost::gil
   Eigen3::Eigen
-  zlibstatic
-  png_static
-  rpc
+  ZLIB::ZLIB
+  PNG::PNG
+  RPC::RPC
 )
 
-set (UE_DEPENDENCIES_ORDER_ONLY ${UE_DEPENDENCIES})
-
-if (BUILD_CARLA_CLIENT)
-  list (APPEND UE_DEPENDENCIES_ORDER_ONLY carla-client)
-endif ()
-
-list (
-  APPEND
+set (
   UE_DEPENDENCIES_ORDER_ONLY
+  ${UE_DEPENDENCIES}
+  carla-client
   RecastBuilder
 )
 
-
-
 set (
   CARLA_UNREAL_INCLUDE_PATHS_FILE_NAME
   Includes.def
@@ -135,11 +286,6 @@ set (
   ${CMAKE_CURRENT_BINARY_DIR}/${CARLA_UNREAL_DEFINITIONS_FILE_NAME}
 )
 
-set (
-  CARLA_UNREAL_INCLUDE_PATHS
-  ${sqlite3_SOURCE_DIR}
-)
-
 foreach (UE_DEP ${UE_DEPENDENCIES})
   list (
     APPEND
@@ -148,9 +294,11 @@ foreach (UE_DEP ${UE_DEPENDENCIES})
   )
 endforeach ()
 
+#[[ @TODO
+
 set (
   CARLA_UNREAL_LIBRARIES
-  $<TARGET_FILE:libsqlite3>
+  $<TARGET_FILE:SQLite::SQLite3>
 )
 
 foreach (UE_DEP ${UE_DEPENDENCIES})
@@ -168,6 +316,7 @@ set (
   CARLA_UNREAL_DEFINITIONS
   RECASTBUILDER_PATH="$<TARGET_FILE:RecastBuilder>"
 )
+]]
 
 set (CARLA_UNREAL_OPTIONS)
 
@@ -322,12 +471,34 @@ list (
 
 file (
   MAKE_DIRECTORY
-  ${CARLA_UE_PATH}/Content/Carla/ExportedMaps
+  ${CARLA_UE_CONTENT_PATH}/ExportedMaps
 )
 
 
 
-carla_add_custom_target (
+add_custom_target (
+  ue-compile-shaders
+  "Compile all CARLA Unreal Engine Shaders."
+  COMMAND
+    ${CARLA_UNREAL_ENGINE_PATH}/Engine/Binaries/${UE_SYSTEM_NAME}/UnrealEditor-Cmd${EXE_EXT}
+    ${CARLA_UE_PROJECT_PATH}
+    -run=DerivedDataCache
+    -fill
+)
+
+add_custom_target (
+  ue-cook-content
+  "Compile all CARLA Unreal Engine Shaders."
+  COMMAND
+    ${CARLA_UNREAL_ENGINE_PATH}/Engine/Binaries/${UE_SYSTEM_NAME}/UnrealEditor-Cmd${EXE_EXT}
+    ${CARLA_UE_PROJECT_PATH}
+    -run=Cook
+    -TargetPlatform=${UE_SYSTEM_NAME}
+    -unattended
+    -nop4
+)
+
+add_custom_target (
   carla-unreal
   "Build the CarlaUnreal subproject."
   COMMAND
@@ -335,27 +506,22 @@ carla_add_custom_target (
     CarlaUnreal
     ${UE_SYSTEM_NAME}
     ${CARLA_UNREAL_BUILD_TYPE}
-    -project=${CARLA_UE_PROJECT_PATH}
+    _project=${CARLA_UE_PROJECT_PATH}
     -game
     -buildscw
   USES_TERMINAL
   VERBATIM
 )
 
-add_dependencies (
-  carla-unreal
-  ${UE_DEPENDENCIES_ORDER_ONLY}
-)
-
-carla_add_custom_target (
-  carla-unreal-editor
+add_custom_target (
+  ue-editor
   "Build the CarlaUnrealEditor subproject."
   COMMAND
     ${CARLA_UE_BUILD_COMMAND_PREFIX}
     CarlaUnrealEditor
     ${UE_SYSTEM_NAME}
     ${CARLA_UNREAL_BUILD_TYPE}
-    -project=${CARLA_UE_PROJECT_PATH}
+    _project=${CARLA_UE_PROJECT_PATH}
     -game
     -buildscw
   DEPENDS
@@ -364,10 +530,10 @@ carla_add_custom_target (
   VERBATIM
 )
 
-add_dependencies (
+add_custom_target (
   carla-unreal-editor
-  carla-unreal
-  ${UE_DEPENDENCIES_ORDER_ONLY}
+  DEPENDS
+    ue-editor
 )
 
 
@@ -410,9 +576,10 @@ function (
   endif ()
 
   set (TARGET_NAME_SHORT package${TARGET_NAME_SUFFIX})
-  set (TARGET_NAME carla-unreal-${TARGET_NAME_SHORT})
+  set (TARGET_NAME ue-${TARGET_NAME_SHORT})
+  set (TARGET_NAME_LONG carla-${TARGET_NAME})
 
-  carla_add_custom_target (
+  add_custom_target (
     ${TARGET_NAME}
     "Create a CARLA package in ${PACKAGE_CONFIGURATION} mode."
     COMMAND
@@ -420,16 +587,16 @@ function (
       CarlaUnreal
       ${UE_SYSTEM_NAME}
       ${UE_BUILD_CONFIGURATION}
-      -project=${CARLA_UE_PROJECT_PATH}
+      _project=${CARLA_UE_PROJECT_PATH}
       -game
       -buildscw
     COMMAND
       ${CARLA_UE_UAT_COMMAND_PREFIX}
       BuildCookRun
-      -project=${CARLA_UE_PROJECT_PATH}
+      _project=${CARLA_UE_PROJECT_PATH}
       -nocompileeditor
       -nop4
-      -cook
+      -cookonthefly
       -stage
       -archive
       -package
@@ -445,11 +612,14 @@ function (
     VERBATIM
   )
   
+  add_custom_target (${TARGET_NAME_SHORT} DEPENDS ${TARGET_NAME})
+  add_custom_target (${TARGET_NAME_LONG} DEPENDS ${TARGET_NAME})
+
   set (
     PACKAGE_POST_BUILD_COMMANDS
     COMMAND ${CMAKE_COMMAND} -E echo "********** PACKAGE CREATING VERSION FILE UNREAL PACKAGE EXTRA FILES STARTED **********"
     COMMAND ${CMAKE_COMMAND}
-      -DCARLA_WORKSPACE_PATH=${CARLA_WORKSPACE_PATH}
+      -DCARLA_ROOT_PATH=${CARLA_ROOT}
       -DCARLA_UNREAL_ENGINE_PATH=${CARLA_UNREAL_ENGINE_PATH}
       -DCARLA_PACKAGE_VERSION_FILE=${CARLA_PACKAGE_ARCHIVE_PATH}/VERSION
       -P${CMAKE_CURRENT_SOURCE_DIR}/Package/CreateCarlaVersionFile.cmake
@@ -463,8 +633,8 @@ function (
 
     COMMAND ${CMAKE_COMMAND} -E echo "********** PACKAGE COPYING CARLA ADDITIONAL FILES STARTED **********"
     COMMAND ${CMAKE_COMMAND}
-      -DCARLA_BUILD_PATH=${CARLA_BUILD_PATH}
-      -DCARLA_WORKSPACE_PATH=${CARLA_WORKSPACE_PATH}
+      -DCARLA_BUILD_PATH=${CMAKE_BINARY_DIR}
+      -DCARLA_ROOT_PATH=${CARLA_ROOT}
       -DCARLA_PACKAGE_ARCHIVE_PATH=${CARLA_PACKAGE_ARCHIVE_PATH}
       -P${CMAKE_CURRENT_SOURCE_DIR}/Package/CopyCarlaAdditionalFiles.cmake
     COMMAND ${CMAKE_COMMAND} -E echo "********** PACKAGE COPYING CARLA ADDITIONAL FILES COMPLETED **********"
@@ -492,22 +662,6 @@ function (
     VERBATIM
   )
 
-  add_dependencies (
-    ${TARGET_NAME}
-    carla-python-api
-    carla-unreal-editor
-  )
-
-  carla_add_custom_target (
-    ${TARGET_NAME_SHORT}
-    "Create a CARLA package in ${PACKAGE_CONFIGURATION} mode."
-  )
-
-  add_dependencies (
-    ${TARGET_NAME_SHORT}
-    ${TARGET_NAME}
-  )
-
 endfunction()
 
 
@@ -515,84 +669,13 @@ endfunction()
 # Docs for UE5 build configurations:
 # https://docs.unrealengine.com/4.27/en-US/ProductionPipelines/DevelopmentSetup/BuildConfigurations/
 
-add_carla_ue_package_target("" ${CARLA_UNREAL_PACKAGE_BUILD_TYPE})
+add_carla_ue_package_target("" ${CARLA_UNREAL_BUILD_TYPE})
 add_carla_ue_package_target(Shipping Shipping)
 add_carla_ue_package_target(Debug Debug)
 add_carla_ue_package_target(DebugGame DebugGame)
 add_carla_ue_package_target(Development Development)
 add_carla_ue_package_target(Test Test)
 
-
-
-set (LAUNCH_ARGS ${CARLA_LAUNCH_ARGS})
-
-if (ENABLE_ROS2)
-  list (APPEND LAUNCH_ARGS --ros2)
-endif()
-
-if (ENABLE_ROS2_DEMO)
-  list (APPEND LAUNCH_ARGS --ros2-demo)
-endif()
-
-set (
-  CARLA_LAUNCH_TARGET_OPTIONS
-  COMMENT
-    "Launching Carla Unreal..."
-  COMMAND
-    ${UNREAL_EDITOR_PATH}
-      ${CARLA_UE_PROJECT_PATH}
-      -${CARLA_UNREAL_RHI}
-      ${LAUNCH_ARGS}
-  USES_TERMINAL
-  VERBATIM
-)
-
-if (WIN32)
-  set (
-    PRELAUNCH_CONTENT_CHECK_COMMAND
-    if exist ${CARLA_UE_CONTENT_CHECK_PATH} (exit 0) else (exit 1)
-  )
-else ()
-  set (
-    PRELAUNCH_CONTENT_CHECK_COMMAND
-    test -d ${CARLA_UE_CONTENT_CHECK_PATH}
-  )
-endif ()
-
-carla_add_custom_target (
-  check-unreal-content
-  "Perform some basic checks to ensure that the CARLA Unreal Editor will not open without its assets."
-  COMMAND
-    ${PRELAUNCH_CONTENT_CHECK_COMMAND}
-  COMMENT
-    "Performing prelaunch check for CARLA Content presence."
-  USES_TERMINAL
-  VERBATIM
-)
-
-carla_add_custom_target (
-  launch-only
-  "Open CARLA in the Unreal Editor. This will not rebuild outdated targets."
-  ${CARLA_LAUNCH_TARGET_OPTIONS}
-)
-
-add_dependencies (
-  launch-only
-  check-unreal-content
-)
-
-carla_add_custom_target (
-  launch
-  "Build and open CARLA in the Unreal Editor."
-  ${CARLA_LAUNCH_TARGET_OPTIONS}
-)
-
-add_dependencies (
-  launch
-  carla-unreal-editor
-  check-unreal-content
-)
-
 set_property (
   DIRECTORY APPEND PROPERTY ADDITIONAL_CLEAN_FILES
   "${CARLA_UE_PATH}/Binaries"
@@ -609,9 +692,13 @@ set_property (
   "${CARLA_UE_CARLA_PATH}/Binaries"
   "${CARLA_UE_CARLA_PATH}/Intermediate"
   "${CARLA_UE_CARLA_PATH}/Saved"
-  "${CARLA_UE_PLUGINS_PATH}/StreetMap/Binaries"
-  "${CARLA_UE_PLUGINS_PATH}/StreetMap/Intermediate"
-  "${CARLA_UE_PLUGINS_PATH}/StreetMap/Saved"
-  "${CARLA_BUILD_PATH}/Package"
-  "${CARLA_BUILD_PATH}/PythonAPI/dist"
 )
+
+if (ENABLE_STREETMAP)
+  set_property (
+    DIRECTORY APPEND PROPERTY ADDITIONAL_CLEAN_FILES
+    "${CARLA_UE_PLUGINS_PATH}/StreetMap/Binaries"
+    "${CARLA_UE_PLUGINS_PATH}/StreetMap/Intermediate"
+    "${CARLA_UE_PLUGINS_PATH}/StreetMap/Saved"
+  )
+endif ()
\ No newline at end of file
diff --git a/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaEngine.h b/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaEngine.h
index b344478bd8d..5dd56edc541 100644
--- a/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaEngine.h
+++ b/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaEngine.h
@@ -18,8 +18,8 @@
 #include <carla/multigpu/primaryCommands.h>
 #include <carla/multigpu/secondary.h>
 #include <carla/multigpu/secondaryCommands.h>
-#if WITH_ROS2
-    #include <carla/ros2/ROS2.h>
+#if __has_include(<carla/ros2/ROS2.h>)
+#include <carla/ros2/ROS2.h>
 #endif
 #include <util/enable-ue4-macros.h>
 
diff --git a/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h b/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
index 0960039f9ab..d009c13fe70 100644
--- a/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
+++ b/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Game/CarlaEpisode.h
@@ -19,8 +19,8 @@
 #include <util/disable-ue4-macros.h>
 #include <carla/geom/BoundingBox.h>
 #include <carla/geom/GeoLocation.h>
-#if WITH_ROS2
-    #include <carla/ros2/ROS2.h>
+#if __has_include(<carla/ros2/ROS2.h>)
+#include <carla/ros2/ROS2.h>
 #endif
 #include <carla/rpc/Actor.h>
 #include <carla/rpc/ActorDescription.h>
diff --git a/Unreal/Package/CopyCarlaAdditionalFiles.cmake b/Unreal/Package/CopyCarlaAdditionalFiles.cmake
index 00b0cf6f5e6..f78177828b5 100644
--- a/Unreal/Package/CopyCarlaAdditionalFiles.cmake
+++ b/Unreal/Package/CopyCarlaAdditionalFiles.cmake
@@ -1,7 +1,7 @@
 
-file (COPY_FILE ${CARLA_WORKSPACE_PATH}/LICENSE ${CARLA_PACKAGE_ARCHIVE_PATH}/LICENSE)
-file (COPY_FILE ${CARLA_WORKSPACE_PATH}/CHANGELOG.md ${CARLA_PACKAGE_ARCHIVE_PATH}/CHANGELOG)
-file (COPY_FILE ${CARLA_WORKSPACE_PATH}/Docs/release_readme.md ${CARLA_PACKAGE_ARCHIVE_PATH}/README)
+file (COPY_FILE ${CARLA_ROOT}/LICENSE ${CARLA_PACKAGE_ARCHIVE_PATH}/LICENSE)
+file (COPY_FILE ${CARLA_ROOT}/CHANGELOG.md ${CARLA_PACKAGE_ARCHIVE_PATH}/CHANGELOG)
+file (COPY_FILE ${CARLA_ROOT}/Docs/release_readme.md ${CARLA_PACKAGE_ARCHIVE_PATH}/README)
 if (WIN32)
     set (EXE_EXT .exe)
 else ()
@@ -14,35 +14,35 @@ file (COPY_FILE ${CARLA_BUILD_PATH}/_deps/recastnavigation-build/RecastBuilder/R
 make_directory (${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/carla/dist)
 file (GLOB PYTHON_WHL_FILES ${CARLA_BUILD_PATH}/PythonAPI/dist/carla-*.whl)
 file (COPY ${PYTHON_WHL_FILES} DESTINATION ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/carla/dist/)
-file (COPY_FILE ${CARLA_WORKSPACE_PATH}/Docs/python_api.md ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/python_api.md)
-file (COPY ${CARLA_WORKSPACE_PATH}/PythonAPI/carla/agents/ DESTINATION ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/carla/agents/)
-file (COPY_FILE ${CARLA_WORKSPACE_PATH}/PythonAPI/carla/scene_layout.py ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/carla/scene_layout.py)
-file (COPY_FILE ${CARLA_WORKSPACE_PATH}/PythonAPI/carla/requirements.txt ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/carla/requirements.txt)
+file (COPY_FILE ${CARLA_ROOT}/Docs/python_api.md ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/python_api.md)
+file (COPY ${CARLA_ROOT}/PythonAPI/carla/agents/ DESTINATION ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/carla/agents/)
+file (COPY_FILE ${CARLA_ROOT}/PythonAPI/carla/scene_layout.py ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/carla/scene_layout.py)
+file (COPY_FILE ${CARLA_ROOT}/PythonAPI/carla/requirements.txt ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/carla/requirements.txt)
 
 make_directory (${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/examples/)
-file (GLOB PYTHON_EXAMPLE_FILES ${CARLA_WORKSPACE_PATH}/PythonAPI/examples/*.py ${CARLA_WORKSPACE_PATH}/PythonAPI/examples/*.xml)
+file (GLOB PYTHON_EXAMPLE_FILES ${CARLA_ROOT}/PythonAPI/examples/*.py ${CARLA_ROOT}/PythonAPI/examples/*.xml)
 file (COPY ${PYTHON_EXAMPLE_FILES} DESTINATION ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/examples/)
 # make_directory (${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/examples/rss/)
-# file (GLOB PYTHON_EXAMPLE_RSS_FILES ${CARLA_WORKSPACE_PATH}/PythonAPI/examples/rss/*.py)
+# file (GLOB PYTHON_EXAMPLE_RSS_FILES ${CARLA_ROOT}/PythonAPI/examples/rss/*.py)
 # file (COPY ${PYTHON_EXAMPLE_RSS_FILES} DESTINATION ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/examples/rss/)
-file (COPY_FILE ${CARLA_WORKSPACE_PATH}/PythonAPI/examples/requirements.txt ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/examples/requirements.txt)
+file (COPY_FILE ${CARLA_ROOT}/PythonAPI/examples/requirements.txt ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/examples/requirements.txt)
 
 make_directory (${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/examples/ros2)
-file (GLOB PYTHON_EXAMPLE_ROS2_FILES ${CARLA_WORKSPACE_PATH}/PythonAPI/examples/ros2/*)
+file (GLOB PYTHON_EXAMPLE_ROS2_FILES ${CARLA_ROOT}/PythonAPI/examples/ros2/*)
 file (COPY ${PYTHON_EXAMPLE_ROS2_FILES} DESTINATION ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/examples/ros2)
 make_directory (${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/examples/ros2/config)
-file (GLOB PYTHON_EXAMPLE_CONFIG_ROS2_FILES ${CARLA_WORKSPACE_PATH}/PythonAPI/examples/ros2/config/*)
+file (GLOB PYTHON_EXAMPLE_CONFIG_ROS2_FILES ${CARLA_ROOT}/PythonAPI/examples/ros2/config/*)
 file (COPY ${PYTHON_EXAMPLE_CONFIG_ROS2_FILES} DESTINATION ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/examples/ros2/config)
 
 make_directory (${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/util/)
-file (GLOB PYTHON_UTIL_FILES ${CARLA_WORKSPACE_PATH}/PythonAPI/util/*.py)
+file (GLOB PYTHON_UTIL_FILES ${CARLA_ROOT}/PythonAPI/util/*.py)
 file (COPY ${PYTHON_UTIL_FILES} DESTINATION ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/util/)
-file (COPY_FILE ${CARLA_WORKSPACE_PATH}/PythonAPI/util/requirements.txt ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/util/requirements.txt)
-file (COPY ${CARLA_WORKSPACE_PATH}/PythonAPI/util/opendrive/ DESTINATION ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/util/opendrive/)
+file (COPY_FILE ${CARLA_ROOT}/PythonAPI/util/requirements.txt ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/util/requirements.txt)
+file (COPY ${CARLA_ROOT}/PythonAPI/util/opendrive/ DESTINATION ${CARLA_PACKAGE_ARCHIVE_PATH}/PythonAPI/util/opendrive/)
 
-# file (COPY ${CARLA_WORKSPACE_PATH}/Co-Simulation/ DESTINATION ${CARLA_PACKAGE_ARCHIVE_PATH}/Co-Simulation/)
+# file (COPY ${CARLA_ROOT}/Co-Simulation/ DESTINATION ${CARLA_PACKAGE_ARCHIVE_PATH}/Co-Simulation/)
 
 # make_directory (${CARLA_PACKAGE_ARCHIVE_PATH}/HDMaps/)
-# file (GLOB PYTHON_HDMAP_FILES ${CARLA_WORKSPACE_PATH}/Unreal/CarlaUnreal/Content/Carla/HDMaps/*.pcd)
+# file (GLOB PYTHON_HDMAP_FILES ${CARLA_ROOT}/Unreal/CarlaUnreal/Content/Carla/HDMaps/*.pcd)
 # file (COPY ${PYTHON_HDMAP_FILES} DESTINATION ${CARLA_PACKAGE_ARCHIVE_PATH}/HDMaps/)
-# file (COPY_FILE ${CARLA_WORKSPACE_PATH}/Unreal/CarlaUnreal/Content/Carla/HDMaps/Readme.md ${CARLA_PACKAGE_ARCHIVE_PATH}/HDMaps/README)
+# file (COPY_FILE ${CARLA_ROOT}/Unreal/CarlaUnreal/Content/Carla/HDMaps/Readme.md ${CARLA_PACKAGE_ARCHIVE_PATH}/HDMaps/README)
diff --git a/Unreal/Package/CreateCarlaVersionFile.cmake b/Unreal/Package/CreateCarlaVersionFile.cmake
index e5c97c1d5c8..0f13c45af52 100644
--- a/Unreal/Package/CreateCarlaVersionFile.cmake
+++ b/Unreal/Package/CreateCarlaVersionFile.cmake
@@ -2,7 +2,7 @@ execute_process(
   COMMAND
     git log -1 --format=%H
   WORKING_DIRECTORY
-    ${CARLA_WORKSPACE_PATH}
+    ${CARLA_ROOT}
   OUTPUT_VARIABLE
     CARLA_GIT_HASH
   OUTPUT_STRIP_TRAILING_WHITESPACE
@@ -12,7 +12,7 @@ execute_process(
   COMMAND
     git log -1 --format=%H
   WORKING_DIRECTORY
-    ${CARLA_WORKSPACE_PATH}/Unreal/CarlaUnreal/Content/Carla
+    ${CARLA_ROOT}/Unreal/CarlaUnreal/Content/Carla
   OUTPUT_VARIABLE
     CONTENT_GIT_HASH
   OUTPUT_STRIP_TRAILING_WHITESPACE
diff --git a/carlacmd.bat b/carlacmd.bat
new file mode 100644
index 00000000000..81806d8a817
--- /dev/null
+++ b/carlacmd.bat
@@ -0,0 +1,2 @@
+@echo off
+python carlacmd.py %*
diff --git a/carlacmd.py b/carlacmd.py
new file mode 100644
index 00000000000..4b0fda4f2ce
--- /dev/null
+++ b/carlacmd.py
@@ -0,0 +1,69 @@
+import subprocess
+
+def run_command(command : list):
+    subprocess.run(command).check_returncode()
+
+def main():
+    from argparse import ArgumentParser
+    from pathlib import Path
+    import glob, os
+    from concurrent.futures import ProcessPoolExecutor, as_completed
+
+    CARLA_ROOT = Path(__file__).parent
+    BUILD_ROOT_SELECTOR = CARLA_ROOT / 'targets.txt'
+
+    main_parser = ArgumentParser()
+    subparser = main_parser.add_subparsers(
+        dest='primary_command',
+        required=True,
+        help='Primary command')
+    configure_parser = subparser.add_parser(
+        'configure',
+        help='Configure CARLA\'s build.')
+    
+    target_map = {}
+    if BUILD_ROOT_SELECTOR.exists():
+        with open(BUILD_ROOT_SELECTOR, 'r') as file:
+            for line in file.readlines():
+                key, command = line.split('::')
+                target_map[key] = command.strip().split(' ')
+                _ = subparser.add_parser(
+                    key,
+                    help=f'Build CMake target "{key}"'
+                )
+    
+    configure_parser.add_argument(
+        'build_config',
+        choices=['debug','development','release']
+    )
+    main_parser.add_argument('-j', '--jobs', type=int, default=0, help='Max job count.')
+    
+    ARGV = main_parser.parse_args()
+    
+    match ARGV.primary_command:
+        case 'configure':
+            config = str(ARGV.build_config).capitalize()
+            run_command(f'cmake --preset {config} -DCMAKE_POLICY_VERSION_MINIMUM=3.5'.split(' '))
+            pass
+        case _:
+            jobs = None if ARGV.jobs == 0 else ARGV.jobs
+            if jobs != 0:
+                with ProcessPoolExecutor(max_workers=jobs) as pool:
+                    futures = []
+                    futures.append(
+                        pool.submit(
+                            run_command,
+                            target_map[ARGV.primary_command]))
+                    for f in futures:
+                        f.result()
+            else:
+                if ARGV.primary_command in target_map:
+                    run_command(target_map[ARGV.primary_command])
+
+if __name__ == '__main__':
+    try:
+        main()
+    except Exception as e:
+        print(e)
+    finally:
+        pass
diff --git a/carlacmd.sh b/carlacmd.sh
new file mode 100644
index 00000000000..7c7a54090f3
--- /dev/null
+++ b/carlacmd.sh
@@ -0,0 +1 @@
+python3 carlacmd.py "$@"
diff --git a/targets.txt b/targets.txt
new file mode 100644
index 00000000000..e69de29bb2d