diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8b8385c06..a1af196f7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -58,12 +58,12 @@ option (
 option (
     ENABLE_RTTI
     "Enable C++ RTTI."
-    ON)
+    OFF)
 
 option (
     ENABLE_EXCEPTIONS
     "Enable C++ Exceptions."
-    ON)
+    OFF)
 
 set (CARLA_WORKSPACE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
 set (CARLA_BUILD_PATH ${CMAKE_CURRENT_BINARY_DIR})
@@ -190,6 +190,7 @@ if (BUILD_LIBCARLA_SERVER)
         ${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
         ${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
         ${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
+        ${LIBCARLA_SOURCE_PATH}/compiler/*.h
     )
 
     file (
@@ -224,7 +225,7 @@ if (BUILD_LIBCARLA_SERVER)
     )
 
     install (TARGETS carla-server DESTINATION lib)
-    
+
     foreach (HEADER ${LIBCARLA_SERVER_HEADERS})
         cmake_path (GET HEADER PARENT_PATH HEADER_PARENT)
         cmake_path (RELATIVE_PATH HEADER_PARENT BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH}/carla OUTPUT_VARIABLE HEADER_RELATIVE)
@@ -276,6 +277,7 @@ if (BUILD_LIBCARLA_CLIENT)
         ${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
         ${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
         ${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.h
+        ${LIBCARLA_SOURCE_PATH}/compiler/*.h
     )
 
     if (ENABLE_LIBCARLA_CLIENT_RSS)
diff --git a/Configure.py b/Configure.py
index b1f2c2766..05cbf1674 100644
--- a/Configure.py
+++ b/Configure.py
@@ -984,7 +984,8 @@ def BuildDependencies(task_graph : TaskGraph):
 		'-DBUILD_GEOD=OFF',
 		'-DBUILD_GIE=OFF',
 		'-DBUILD_PROJ=OFF',
-		'-DBUILD_TESTING=OFF'))
+		'-DBUILD_TESTING=OFF',
+		install_path = PROJ_INSTALL_PATH))
 	task_graph.Add(Task.CreateCMakeConfigureDefault(
 		'configure-recast',
 		[],
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
index add1fa491..5bb87ae1c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
@@ -22,6 +22,9 @@ public class Carla :
     [CommandLine("-ros2")]
     bool EnableRos2 = false;
 
+    [CommandLine("-unity")]
+    bool EnableUnityBuild = false;
+
     [CommandLine("-carla-install-path")]
     string CarlaInstallPath = null;
 
@@ -61,9 +64,26 @@ public class Carla :
         bEnableExceptions = bEnableExceptions || IsWindows;
 		PrivatePCHHeaderFile = "Carla.h";
 
-		if (EnableCarSim)
+		Action<string, bool> LogBuildFlagStatus = (name, enabled) =>
 		{
-			PublicDefinitions.Add("WITH_CARSIM");
+			Console.WriteLine(
+				string.Format(
+					"{0} is {1}.",
+					name,
+					enabled ? "enabled" : "disabled"));
+		};
+
+        LogBuildFlagStatus("CarSim support", EnableCarSim);
+        LogBuildFlagStatus("Chrono support", EnableChrono);
+        LogBuildFlagStatus("PyTorch support", EnablePytorch);
+        LogBuildFlagStatus("ROS2 support", EnableRos2);
+        LogBuildFlagStatus("Unity build", EnableUnityBuild);
+
+        bUseUnity = EnableUnityBuild;
+
+        if (EnableCarSim)
+		{
+            PublicDefinitions.Add("WITH_CARSIM");
 			PrivateDefinitions.Add("WITH_CARSIM");
 		}
 
@@ -80,15 +100,15 @@ public class Carla :
 		}
 
 		if (EnableRos2)
-		{
-			PublicDefinitions.Add("WITH_ROS2");
+        {
+            PublicDefinitions.Add("WITH_ROS2");
 			PrivateDefinitions.Add("WITH_ROS2");
 		}
 
-		// PublicIncludePaths.AddRange(new string[] { });
-		// PrivateIncludePaths.AddRange(new string[] { });
+        // PublicIncludePaths.AddRange(new string[] { });
+        // PrivateIncludePaths.AddRange(new string[] { });
 
-		PublicDependencyModuleNames.AddRange(new string[]
+        PublicDependencyModuleNames.AddRange(new string[]
 		{
 			"Core",
 			"RenderCore",
@@ -211,13 +231,10 @@ public class Carla :
         PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS");
         PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY");
 
-        if (!bEnableExceptions)
-        {
-            PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
-            PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
-            PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
-            PublicDefinitions.Add("PUGIXML_NO_EXCEPTIONS");
-        }
+        PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
+        PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
+        PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
+        PublicDefinitions.Add("PUGIXML_NO_EXCEPTIONS");
     }
 
 #if false
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleMovementComponentNW.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleMovementComponentNW.h
index c3f8f7612..cf32810be 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleMovementComponentNW.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/WheeledVehicleMovementComponentNW.h
@@ -118,15 +118,15 @@ class CARLA_API UWheeledVehicleMovementComponentNW : public UChaosWheeledVehicle
 
 		/** Engine */
 	UPROPERTY(EditAnywhere, Category = MechanicalSetup)
-	FVehicleNWEngineData EngineSetup;
+	FVehicleNWEngineData EngineSetupEXT;
 
 	/** Differential */
 	UPROPERTY(EditAnywhere, Category = MechanicalSetup)
-	TArray<FVehicleNWWheelDifferentialData> DifferentialSetup;
+	TArray<FVehicleNWWheelDifferentialData> DifferentialSetupEXT;
 
 	/** Transmission data */
 	UPROPERTY(EditAnywhere, Category = MechanicalSetup)
-	FVehicleNWTransmissionData TransmissionSetup;
+	FVehicleNWTransmissionData TransmissionSetupEXT;
 
 	/** Maximum steering versus forward speed (km/h) */
 	UPROPERTY(EditAnywhere, Category = SteeringSetup)
diff --git a/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs b/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs
index 5585c758d..239d527e5 100644
--- a/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs
+++ b/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs
@@ -16,6 +16,9 @@ public class CarlaTools :
     [CommandLine("-nv-omniverse")]
     bool EnableNVIDIAOmniverse = false;
 
+    [CommandLine("-unity")]
+    bool EnableUnityBuild = false;
+
     [CommandLine("-carla-install-path")]
     string CarlaInstallPath = null;
 
@@ -84,6 +87,21 @@ public class CarlaTools :
         PCHUsage = PCHUsageMode.UseExplicitOrSharedPCHs;
         // PrivatePCHHeaderFile = "Carla.h";
 
+        Action<string, bool> LogBuildFlagStatus = (name, enabled) =>
+        {
+            Console.WriteLine(
+                string.Format(
+                    "{0} is {1}.",
+                    name,
+                    enabled ? "enabled" : "disabled"));
+        };
+
+        LogBuildFlagStatus("Houdini support", EnableHoudini);
+        LogBuildFlagStatus("NVIDIA Omniverse support", EnableNVIDIAOmniverse);
+        LogBuildFlagStatus("Unity build", EnableUnityBuild);
+
+        bUseUnity = EnableUnityBuild;
+
         // PublicIncludePaths.AddRange(new string[] { });
         // PrivateIncludePaths.AddRange(new string[] { });
 
@@ -203,13 +221,10 @@ public class CarlaTools :
         PublicDefinitions.Add("BOOST_DISABLE_ABI_HEADERS");
         PublicDefinitions.Add("BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY");
 
-        if (!bEnableExceptions)
-        {
-            PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
-            PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
-            PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
-            PublicDefinitions.Add("PUGIXML_NO_EXCEPTIONS");
-        }
+        PublicDefinitions.Add("ASIO_NO_EXCEPTIONS");
+        PublicDefinitions.Add("BOOST_NO_EXCEPTIONS");
+        PublicDefinitions.Add("LIBCARLA_NO_EXCEPTIONS");
+        PublicDefinitions.Add("PUGIXML_NO_EXCEPTIONS");
 
         if (EnableHoudini)
             PublicDefinitions.Add("CARLA_HOUDINI_ENABLED");
diff --git a/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/HoudiniImportNodeWrapper.cpp b/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/HoudiniImportNodeWrapper.cpp
index a6d149051..08e34746e 100644
--- a/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/HoudiniImportNodeWrapper.cpp
+++ b/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Private/HoudiniImportNodeWrapper.cpp
@@ -4,7 +4,7 @@
 // This work is licensed under the terms of the MIT license.
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
-#ifdef CARLA_HOUDINI_ENABLED
+/*
 #include "HoudiniImportNodeWrapper.h"
 #include "HoudiniAsset.h"
 
@@ -84,4 +84,4 @@ void UHoudiniImportNodeWrapper::HandleFailed(
   }
   RemoveFromRoot();
 }
-#endif
\ No newline at end of file
+*/
\ No newline at end of file
diff --git a/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/HoudiniImportNodeWrapper.h b/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/HoudiniImportNodeWrapper.h
index b733bfa32..85aed32c3 100644
--- a/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/HoudiniImportNodeWrapper.h
+++ b/Unreal/CarlaUE4/Plugins/CarlaTools/Source/CarlaTools/Public/HoudiniImportNodeWrapper.h
@@ -5,7 +5,7 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#ifdef CARLA_HOUDINI_ENABLED
+/*
 #include "CoreMinimal.h"
 #include "Kismet/BlueprintAsyncActionBase.h"
 #include "HoudiniPublicAPIProcessHDANode.h"
@@ -61,4 +61,5 @@ private:
   UHoudiniPublicAPIProcessHDANode* HDANode;
 
 };
-#endif
\ No newline at end of file
+#endif
+*/
\ No newline at end of file