diff --git a/LibCarla/cmake/client/CMakeLists.txt b/LibCarla/cmake/client/CMakeLists.txt
index b4ecce487..6c085f6b3 100644
--- a/LibCarla/cmake/client/CMakeLists.txt
+++ b/LibCarla/cmake/client/CMakeLists.txt
@@ -21,6 +21,14 @@ if (BUILD_RSS_VARIANT)
   install(FILES ${spdlog_file} DESTINATION lib)
   list(APPEND ADRSS_LIBS ${spdlog_file})
 
+  set(proj_include_dir ${ADRSS_INSTALL_DIR}/../../proj-install/include)
+  set(proj_lib ${ADRSS_INSTALL_DIR}/../../proj-install/lib/libproj.a)
+  install(DIRECTORY ${proj_include_dir} DESTINATION include/system)
+  list(APPEND ADRSS_INCLUDE_DIRS ${proj_include_dir})
+  install(FILES ${proj_lib} DESTINATION lib)
+  list(APPEND ADRSS_LIBS ${proj_lib})
+
+
   foreach(ad_lib ad_physics ad_rss ad_map_access ad_map_opendrive_reader ad_rss_map_integration)
     set(${ad_lib}_file ${ADRSS_INSTALL_DIR}/${ad_lib}/lib/lib${ad_lib}.a)
     install(FILES ${${ad_lib}_file} DESTINATION lib)
diff --git a/Util/BuildTools/Ad-rss.sh b/Util/BuildTools/Ad-rss.sh
index 9c6bfecd1..d05f69a49 100755
--- a/Util/BuildTools/Ad-rss.sh
+++ b/Util/BuildTools/Ad-rss.sh
@@ -29,7 +29,7 @@ IFS="," read -r -a PY_VERSION_LIST <<< "${PY_VERSION_LIST}"
 # -- Get ad-rss -------------------------------------------
 # ==============================================================================
 
-ADRSS_VERSION=4.4.3
+ADRSS_VERSION=4.5.3
 ADRSS_BASENAME=ad-rss-${ADRSS_VERSION}
 ADRSS_COLCON_WORKSPACE="${CARLA_BUILD_FOLDER}/${ADRSS_BASENAME}"
 ADRSS_SRC_DIR="${ADRSS_COLCON_WORKSPACE}/src"
@@ -40,10 +40,12 @@ if [[ ! -d "${ADRSS_SRC_DIR}" ]]; then
 
   mkdir -p "${ADRSS_SRC_DIR}"
 
+  # clone ad-rss with all submodules, but remove proj, as CARLA already uses it
   pushd "${ADRSS_SRC_DIR}" >/dev/null
-  git clone --depth=1 -b v1.7.0 https://github.com/gabime/spdlog.git
-  git clone --depth=1 -b v2.4.5_hotfix https://github.com/carla-simulator/map.git
-  git clone --depth=1 -b v${ADRSS_VERSION} https://github.com/intel/ad-rss-lib.git
+  git clone -b v${ADRSS_VERSION} https://github.com/intel/ad-rss-lib.git && cd ad-rss-lib && git submodule update --init --recursive && rm -rf dependencies/map/dependencies/PROJ4 && cd ..
+
+  # ADRSS_VERSION is designed for older boost, update datatype from boost::array to std::array
+  grep -rl "boost::array" | xargs sed -i 's/boost::array/std::array/g'
   popd
 
   cat >"${ADRSS_COLCON_WORKSPACE}/colcon.meta" <<EOL
@@ -56,7 +58,8 @@ if [[ ! -d "${ADRSS_SRC_DIR}" ]]; then
             "cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
         },
         "ad_map_opendrive_reader": {
-            "cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
+            "cmake-args": ["-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"],
+            "dependencies": ["odrSpiral"]
         },
         "ad_rss": {
             "cmake-args": ["-DBUILD_PYTHON_BINDING=ON", "-DCMAKE_POSITION_INDEPENDENT_CODE=ON", "-DBUILD_SHARED_LIBS=OFF", "-DDISABLE_WARNINGS_AS_ERRORS=ON"]
@@ -99,15 +102,11 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
     log "Building ${ADRSS_BASENAME} for python${PY_VERSION}"
 
     pushd "${ADRSS_COLCON_WORKSPACE}" >/dev/null
-    if [ "${CMAKE_PREFIX_PATH}" == "" ]; then
-      CMAKE_PREFIX_PATH="${CARLA_BUILD_FOLDER}/boost-1.72.0-c$CARLA_LLVM_VERSION_MAJOR-install;${CARLA_BUILD_FOLDER}/proj-install"
-    else
-      CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH};${CARLA_BUILD_FOLDER}/boost-1.72.0-c$CARLA_LLVM_VERSION_MAJOR-install;${CARLA_BUILD_FOLDER}/proj-install"
-    fi
+    CMAKE_PREFIX_PATH="${CMAKE_PREFIX_PATH};${CARLA_BUILD_FOLDER}/boost-1.80.0-c$CARLA_LLVM_VERSION_MAJOR-install;${CARLA_BUILD_FOLDER}/proj-install"
 
     # get the python version of the binding to be built
-    PYTHON_VERSION=$(/usr/bin/env python${PY_VERSION} -V 2>&1)
-    PYTHON_BINDING_VERSIONS=${PYTHON_VERSION:7:3}
+    PYTHON_VERSION=3
+    PYTHON_BINDING_VERSIONS=${PYTHON_VERSION:8}
     echo "PYTHON_BINDING_VERSIONS=${PYTHON_BINDING_VERSIONS}"
 
     # enforce sequential executor to reduce the required memory for compilation
diff --git a/Util/BuildTools/BuildLibCarla.sh b/Util/BuildTools/BuildLibCarla.sh
index 783ed594e..891d35853 100755
--- a/Util/BuildTools/BuildLibCarla.sh
+++ b/Util/BuildTools/BuildLibCarla.sh
@@ -146,7 +146,7 @@ function build_libcarla {
     M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
     M_BUILD_FOLDER=${LIBCARLA_BUILD_CLIENT_FOLDER}.rss.$(echo "$2" | tr '[:upper:]' '[:lower:]')
     M_INSTALL_FOLDER=${LIBCARLA_INSTALL_CLIENT_FOLDER}
-    CMAKE_EXTRA_OPTIONS="${CMAKE_EXTRA_OPTIONS:+${CMAKE_EXTRA_OPTIONS} }-DBUILD_RSS_VARIANT=ON -DADRSS_INSTALL_DIR=${CARLA_BUILD_FOLDER}/ad-rss-4.4.3/install"
+    CMAKE_EXTRA_OPTIONS="${CMAKE_EXTRA_OPTIONS:+${CMAKE_EXTRA_OPTIONS} }-DBUILD_RSS_VARIANT=ON -DADRSS_INSTALL_DIR=${CARLA_BUILD_FOLDER}/ad-rss-4.5.3/install"
   else
     fatal_error "Invalid build configuration \"$1\""
   fi