diff --git a/CMake/Common.cmake b/CMake/Common.cmake
index e441de9f6..f8f72642c 100644
--- a/CMake/Common.cmake
+++ b/CMake/Common.cmake
@@ -39,9 +39,9 @@ endif ()
 
 if (WIN32)
   add_compile_definitions (_CRT_SECURE_NO_WARNINGS)
-
-  check_cxx_compiler_flag(/utf-8 HAS_MSVC_UTF8)
+  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 (/utf-8)
   endif ()
 endif ()
@@ -49,7 +49,7 @@ endif ()
 set (CARLA_COMMON_DEFINITIONS)
 
 foreach (FORMAT ${LIBCARLA_IMAGE_SUPPORTED_FORMATS})
-  carla_message ("Enabling CARLA image support for \"${FORMAT}\".")
+  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 ()
@@ -61,6 +61,19 @@ if (WIN32)
   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
 # ================================
diff --git a/CMake/Dependencies.cmake b/CMake/Dependencies.cmake
index 6a4ae60cd..2b4352318 100644
--- a/CMake/Dependencies.cmake
+++ b/CMake/Dependencies.cmake
@@ -94,8 +94,9 @@ target_link_libraries (
   libsqlite3
 )
 
-# ==== ZLIB ====
 
+
+# ==== ZLIB ====
 carla_dependency_option (ZLIB_BUILD_EXAMPLES OFF)
 carla_dependency_add (
   zlib
@@ -117,8 +118,9 @@ endif ()
 carla_dependency_option (ZLIB_INCLUDE_DIRS ${zlib_SOURCE_DIR} ${zlib_BINARY_DIR})
 carla_dependency_option (ZLIB_LIBRARIES ${ZLIB_LIBRARY})
 
-# ==== LIBPNG ====
 
+
+# ==== LIBPNG ====
 carla_dependency_option (PNG_SHARED OFF)
 carla_dependency_option (PNG_STATIC ON)
 if (APPLE)
@@ -143,11 +145,6 @@ include_directories (
 
 
 # ==== BOOST ====
-
-carla_dependency_option (BOOST_ENABLE_PYTHON ${BUILD_PYTHON_API})
-carla_dependency_option (BOOST_ENABLE_MPI OFF)
-carla_dependency_option (BOOST_LOCALE_WITH_ICU OFF)
-carla_dependency_option (BOOST_LOCALE_WITH_ICONV OFF)
 set (
   BOOST_INCLUDED_PROJECTS
   asio
@@ -155,11 +152,22 @@ set (
   python
   date_time
   geometry
-  gil
   container
   variant2
+  gil
+)
+set (
+  BOOST_EXCLUDED_PROJECTS
+  # filesystem # <- Boost.GIL links with Boost.filesystem, so we can't remove the dependency yet.
 )
 carla_dependency_option (BOOST_INCLUDE_LIBRARIES "${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_MPI OFF)
+carla_dependency_option (BOOST_LOCALE_WITH_ICU OFF)
+carla_dependency_option (BOOST_LOCALE_WITH_ICONV OFF)
+carla_dependency_option (BOOST_GIL_BUILD_EXAMPLES OFF)
+carla_dependency_option (BOOST_GIL_BUILD_HEADER_TESTS OFF)
 carla_dependency_add(
   boost
   ${CARLA_BOOST_TAG}
@@ -167,8 +175,9 @@ carla_dependency_add(
   https://github.com/boostorg/boost.git
 )
 
-# ==== EIGEN ====
 
+
+# ==== EIGEN ====
 carla_dependency_option (EIGEN_BUILD_PKGCONFIG OFF)
 carla_dependency_option (BUILD_TESTING OFF)
 carla_dependency_option (EIGEN_BUILD_DOC OFF)
@@ -179,8 +188,9 @@ carla_dependency_add (
   https://gitlab.com/libeigen/eigen.git
 )
 
-# ==== RPCLIB ====
 
+
+# ==== RPCLIB ====
 carla_dependency_add (
   rpclib
   ${CARLA_RPCLIB_TAG}
@@ -188,8 +198,9 @@ carla_dependency_add (
   https://github.com/carla-simulator/rpclib.git
 )
 
-# ==== RECAST ====
 
+
+# ==== RECAST ====
 carla_dependency_option (RECASTNAVIGATION_BUILDER ON)
 carla_dependency_add (
   recastnavigation
@@ -198,9 +209,10 @@ carla_dependency_add (
   https://github.com/carla-simulator/recastnavigation.git
 )
 
-# ==== PROJ ====
+
 
 if (ENABLE_OSM2ODR)
+  # ==== PROJ ====
   carla_dependency_option (BUILD_TESTING OFF)
   carla_dependency_option (ENABLE_TIFF OFF)
   carla_dependency_option (ENABLE_CURL OFF)
@@ -212,9 +224,10 @@ if (ENABLE_OSM2ODR)
   )
 endif ()
 
-# ==== XERCESC ====
+
 
 if (ENABLE_OSM2ODR)
+  # ==== XERCESC ====
   carla_dependency_add (
     xercesc
     ${CARLA_XERCESC_TAG}
@@ -223,20 +236,18 @@ if (ENABLE_OSM2ODR)
   )
 endif ()
 
-# ==== LUNASVG ====
+
 
 if (BUILD_OSM_WORLD_RENDERER)
+  # ==== LUNASVG ====
   carla_dependency_add (
     lunasvg
     ${CARLA_LUNASVG_TAG}
     https://github.com/sammycage/lunasvg/archive/refs/tags/${CARLA_LUNASVG_TAG}.zip
     https://github.com/sammycage/lunasvg.git
   )
-endif ()
 
-# ==== LIBOSMSCOUT ====
-
-if (BUILD_OSM_WORLD_RENDERER)
+  # ==== LIBOSMSCOUT ====
   carla_dependency_add (
     libosmscout
     ${CARLA_LIBOSMSCOUT_TAG}
@@ -245,9 +256,10 @@ if (BUILD_OSM_WORLD_RENDERER)
   )
 endif ()
 
-# ==== STREETMAP ====
+
 
 if (BUILD_CARLA_UNREAL)
+  # ==== STREETMAP ====
   carla_dependency_add (
     StreetMap
     ${CARLA_STREETMAP_TAG}
diff --git a/CMake/Options.cmake b/CMake/Options.cmake
index 0c22be476..3d5a1f9c6 100644
--- a/CMake/Options.cmake
+++ b/CMake/Options.cmake
@@ -104,12 +104,6 @@ carla_option (
   OFF
 )
 
-carla_option (
-  BUILD_PYTHON_API_WHEEL_PACKAGE
-  "Whether to build the CARLA python API wheel package."
-  ON
-)
-
 carla_option (
   ENABLE_PEP517
   "Whether to use PEP 517."
@@ -146,6 +140,12 @@ carla_string_option (
   /usr/bin/gcc-12
 )
 
+carla_option (
+  VERBOSE_CONFIGURE
+  "Whether to emit extra messages during CMake configure."
+  OFF
+)
+
 
 
 # ================================
@@ -198,18 +198,14 @@ carla_string_option (
   "${CARLA_UNREAL_RHI_DEFAULT}"
 )
 
-if (${BUILD_CARLA_UNREAL})
-if (${CARLA_HAS_UNREAL_ENGINE_PATH})
-  carla_message (
-    "Carla UE project successfully added to build. (UE path: ${CARLA_UNREAL_ENGINE_PATH})"
-  )
-else ()
-  carla_error (
-    "Could not add UE project to build since the carla_option CARLA_UNREAL_ENGINE_PATH "
-    "is not set to a valid path (\"${CARLA_UNREAL_ENGINE_PATH}\")."
-    "Please set it to point to the root path of your CARLA Unreal Engine installation."
-  )
-endif ()
+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_string_option (
@@ -380,7 +376,6 @@ carla_string_option (
   ${CARLA_LIBOSMSCOUT_VERSION}
 )
 
-
 # ==== STREETMAP ====
 
 carla_string_option (
@@ -394,3 +389,45 @@ carla_string_option (
   "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."
+  ${CARLA_FASTDDS_VERSION}
+)
+
+# ==== FASTCDR ====
+
+carla_string_option (
+  CARLA_FASTCDR_VERSION
+  "Target Fast-CDR version."
+  2.2.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/Util.cmake b/CMake/Util.cmake
index 3d2c71735..bc8ad99d6 100644
--- a/CMake/Util.cmake
+++ b/CMake/Util.cmake
@@ -1,20 +1,15 @@
-# 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 ("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 ()
-
-
-
 # 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.
@@ -39,7 +34,7 @@ endfunction ()
 
 macro (carla_option NAME DESCRIPTION VALUE)
   option (${NAME} ${DESCRIPTION} ${VALUE})
-  carla_message ("(option) ${NAME} : ${${NAME}}")
+  carla_message_verbose ("(option) ${NAME} : ${${NAME}}")
   get_property (DOCS GLOBAL PROPERTY CARLA_OPTION_DOCS)
   string (
     APPEND
@@ -55,7 +50,7 @@ endmacro ()
 
 macro (carla_string_option NAME DESCRIPTION VALUE)
   set (${NAME} "${VALUE}")
-  carla_message ("(option) ${NAME} : \"${${NAME}}\"")
+  carla_message_verbose ("(option) ${NAME} : \"${${NAME}}\"")
   get_property (DOCS GLOBAL PROPERTY CARLA_OPTION_DOCS)
   string (
     APPEND
@@ -69,6 +64,18 @@ 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)
@@ -139,6 +146,34 @@ 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
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 86f203546..c9ce579dd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,9 +8,14 @@
 
 ]]
 
+set (
+  CARLA_CMAKE_MINIMUM_REQUIRED_VERSION
+  3.27.2
+)
+
 cmake_minimum_required (
   VERSION
-  3.27.2
+  ${CARLA_CMAKE_MINIMUM_REQUIRED_VERSION}
 )
 
 cmake_policy (SET CMP0097 NEW)
diff --git a/LibCarla/CMakeLists.txt b/LibCarla/CMakeLists.txt
index 2dd46d352..473609cad 100644
--- a/LibCarla/CMakeLists.txt
+++ b/LibCarla/CMakeLists.txt
@@ -11,11 +11,6 @@ set (
   ${CARLA_WORKSPACE_PATH}/LibCarla/source
 )
 
-set (
-  LIBCARLA_THIRD_PARTY_SOURCE_PATH
-  ${LIBCARLA_SOURCE_PATH}/third-party
-)
-
 carla_two_step_configure_file (
   ${LIBCARLA_SOURCE_PATH}/carla/Version.h
   ${LIBCARLA_SOURCE_PATH}/carla/Version.h.in
@@ -59,9 +54,9 @@ if (BUILD_CARLA_SERVER)
   file (
     GLOB
     LIBCARLA_SERVER_SOURCES_THIRD_PARTY
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.cpp
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/odrSpiral/*.cpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/moodycamel/*.cpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.cpp
   )
 
   file (
@@ -107,9 +102,9 @@ if (BUILD_CARLA_SERVER)
   file (
     GLOB
     LIBCARLA_SERVER_HEADERS_THIRD_PARTY
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/odrSpiral/*.h
+    ${LIBCARLA_SOURCE_PATH}/third-party/moodycamel/*.h
+    ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.hpp
   )
 
   carla_add_library (
@@ -206,10 +201,10 @@ if (BUILD_CARLA_CLIENT)
   file (
     GLOB
     LIBCARLA_CLIENT_HEADERS_THIRD_PARTY
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.h
+    ${LIBCARLA_SOURCE_PATH}/third-party/odrSpiral/*.h
+    ${LIBCARLA_SOURCE_PATH}/third-party/moodycamel/*.h
+    ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.hpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.h
   )
 
   file (
@@ -257,8 +252,8 @@ if (BUILD_CARLA_CLIENT)
   file (
     GLOB
     LIBCARLA_CLIENT_SOURCES_THIRD_PARTY
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
-    ${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/odrSpiral/*.cpp
+    ${LIBCARLA_SOURCE_PATH}/third-party/pugixml/*.cpp
   )
 
   carla_add_library (
diff --git a/PythonAPI/CMakeLists.txt b/PythonAPI/CMakeLists.txt
index 1cbc22b5e..9a1907aa9 100644
--- a/PythonAPI/CMakeLists.txt
+++ b/PythonAPI/CMakeLists.txt
@@ -23,13 +23,47 @@ set (
   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)
-get_target_property (RecastNavigation_DetourCrowd_TARGET_NAME RecastNavigation::DetourCrowd ALIASED_TARGET)
+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
+)
+
+get_target_property (
+  RecastNavigation_DetourCrowd_TARGET_NAME
+  RecastNavigation::DetourCrowd
+  ALIASED_TARGET
+)
 
 set (
   CARLA_PYTHON_API_CARLA_PATH
diff --git a/PythonAPI/carla/CMakeLists.txt.in b/PythonAPI/carla/CMakeLists.txt.in
index da0dee5b3..d79c0654b 100644
--- a/PythonAPI/carla/CMakeLists.txt.in
+++ b/PythonAPI/carla/CMakeLists.txt.in
@@ -1,6 +1,6 @@
 cmake_minimum_required (
   VERSION
-  @CMAKE_MAJOR_VERSION@.@CMAKE_MINOR_VERSION@.@CMAKE_PATCH_VERSION@
+  @CARLA_CMAKE_MINIMUM_REQUIRED_VERSION@
 )
 
 project (
@@ -47,7 +47,7 @@ set (
   ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
-carla_message (
+carla_message_verbose (
   "Selected Python executable: ${Python3_EXECUTABLE} (Interpreter ID: ${Python3_INTERPRETER_ID})"
 )
 
diff --git a/Ros2Native/CMakeLists.txt b/Ros2Native/CMakeLists.txt
index f8dd9b6b8..31d8a92dd 100644
--- a/Ros2Native/CMakeLists.txt
+++ b/Ros2Native/CMakeLists.txt
@@ -1,10 +1,14 @@
-cmake_minimum_required (VERSION 3.28.0)
+cmake_minimum_required (
+  VERSION
+  ${CARLA_CMAKE_MINIMUM_REQUIRED_VERSION}
+)
 
 project (carla-ros2-native-project)
 
 include (ExternalProject)
 
 set (PROJECT_INSTALL_PATH ${CMAKE_CURRENT_BINARY_DIR}/install)
+
 set (PROJECT_CMAKE_FLAGS
     -DCMAKE_CXX_COMPILER=${GXX_COMPILER}
     -DCMAKE_C_COMPILER=${GCC_COMPILER}
@@ -15,13 +19,13 @@ set (PROJECT_CMAKE_FLAGS
 
 ExternalProject_add (
   foonathan_memory
-  URL https://github.com/eProsima/foonathan_memory_vendor/archive/refs/heads/master.zip
+  URL https://github.com/eProsima/foonathan_memory_vendor/archive/refs/heads/${CARLA_FOONATHAN_MEMORY_VENDOR_TAG}.zip
   CMAKE_ARGS ${PROJECT_CMAKE_FLAGS} -DBUILD_SHARED_LIBS=ON -DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON
 )
 
 ExternalProject_add (
   fastcdr
-  URL https://github.com/eProsima/Fast-CDR/archive/refs/heads/1.1.x.zip
+  URL https://github.com/eProsima/Fast-CDR/archive/refs/heads/${CARLA_FASTCDR_TAG}.zip
   CMAKE_ARGS ${PROJECT_CMAKE_FLAGS}
 )
 
@@ -30,7 +34,7 @@ ExternalProject_add (
 ExternalProject_add (
   fastdds
   GIT_REPOSITORY https://github.com/eProsima/Fast-DDS.git
-  GIT_TAG 2.11.2
+  GIT_TAG ${CARLA_FASTDDS_TAG}
   CMAKE_ARGS ${PROJECT_CMAKE_FLAGS} -DTHIRDPARTY_Asio=FORCE -DTHIRDPARTY_TinyXML2=FORCE -DCOMPILE_TOOLS=OFF
   DEPENDS foonathan_memory fastcdr
 )
diff --git a/Ros2Native/LibCarlaRos2Native/CMakeLists.txt b/Ros2Native/LibCarlaRos2Native/CMakeLists.txt
index 86d0061a6..cdd293597 100644
--- a/Ros2Native/LibCarlaRos2Native/CMakeLists.txt
+++ b/Ros2Native/LibCarlaRos2Native/CMakeLists.txt
@@ -1,44 +1,63 @@
-cmake_minimum_required (VERSION 3.28.0)
+cmake_minimum_required (
+  VERSION
+  3.27.2
+)
 
-project(carla-ros2-native)
+project (
+  carla-ros2-native
+)
 
-set (LIBCARLA_SOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../../LibCarla/source)
-
-file (
-    GLOB
-    LIBCARLA_ROS2_SOURCES
-    ${LIBCARLA_SOURCE_PATH}/carla/ros2/publishers/*.cpp
-    ${LIBCARLA_SOURCE_PATH}/carla/ros2/subscribers/*.cpp
-    ${LIBCARLA_SOURCE_PATH}/carla/ros2/listeners/*.cpp
-    ${LIBCARLA_SOURCE_PATH}/carla/ros2/types/*.cpp
+set (
+  LIBCARLA_SOURCE_PATH
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../LibCarla/source
 )
 
 file (
-    GLOB
-    LIBCARLA_ROS2_HEADERS
-    ${LIBCARLA_SOURCE_PATH}/carla/ros2/publishers/*.h
-    ${LIBCARLA_SOURCE_PATH}/carla/ros2/subscribers/*.h
-    ${LIBCARLA_SOURCE_PATH}/carla/ros2/listeners/*.h
-    ${LIBCARLA_SOURCE_PATH}/carla/ros2/types/*.h
+  GLOB
+  LIBCARLA_ROS2_SOURCES
+  ${LIBCARLA_SOURCE_PATH}/carla/ros2/publishers/*.cpp
+  ${LIBCARLA_SOURCE_PATH}/carla/ros2/subscribers/*.cpp
+  ${LIBCARLA_SOURCE_PATH}/carla/ros2/listeners/*.cpp
+  ${LIBCARLA_SOURCE_PATH}/carla/ros2/types/*.cpp
+)
+
+file (
+  GLOB
+  LIBCARLA_ROS2_HEADERS
+  ${LIBCARLA_SOURCE_PATH}/carla/ros2/publishers/*.h
+  ${LIBCARLA_SOURCE_PATH}/carla/ros2/subscribers/*.h
+  ${LIBCARLA_SOURCE_PATH}/carla/ros2/listeners/*.h
+  ${LIBCARLA_SOURCE_PATH}/carla/ros2/types/*.h
 )
 
 add_library (
-    carla-ros2-native
-    SHARED
-    ${LIBCARLA_ROS2_HEADERS}
-    ${LIBCARLA_ROS2_SOURCES}
+  carla-ros2-native
+  SHARED
+  ${LIBCARLA_ROS2_HEADERS}
+  ${LIBCARLA_ROS2_SOURCES}
 )
 
-target_include_directories (carla-ros2-native SYSTEM PRIVATE
-    ${LIBCARLA_SOURCE_PATH}
-    ${CMAKE_INSTALL_PREFIX}/include
+target_include_directories (
+  carla-ros2-native
+  SYSTEM PRIVATE
+  ${LIBCARLA_SOURCE_PATH}
+  ${CMAKE_INSTALL_PREFIX}/include
 )
 
-target_compile_definitions (carla-ros2-native PUBLIC
-    BOOST_ASIO_ENABLE_BUFFER_DEBUGGING
+target_compile_definitions (
+  carla-ros2-native
+  PUBLIC
+  BOOST_ASIO_ENABLE_BUFFER_DEBUGGING
 )
 
-target_link_libraries(carla-ros2-native
-  ${CMAKE_INSTALL_PREFIX}/lib/libfastrtps.so)
+target_link_libraries (
+  carla-ros2-native
+  ${CMAKE_INSTALL_PREFIX}/lib/libfastrtps.so
+)
 
-install (TARGETS carla-ros2-native DESTINATION lib)
+install (
+  TARGETS
+  carla-ros2-native
+  DESTINATION
+  lib
+)
diff --git a/Unreal/CMakeLists.txt b/Unreal/CMakeLists.txt
index 1d71637f7..fab494261 100644
--- a/Unreal/CMakeLists.txt
+++ b/Unreal/CMakeLists.txt
@@ -66,19 +66,6 @@ if (ENABLE_ROS2_DEMO)
   set (LAUNCH_ARGS ${LAUNCH_ARGS} --ros2-demo)
 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 ()
-
 set (
   UNREAL_EDITOR_PATH
   ${CARLA_UNREAL_ENGINE_PATH}/Engine/Binaries/${UE_SYSTEM_NAME}/UnrealEditor${EXE_EXT}
@@ -86,9 +73,8 @@ set (
 
 set (CARLA_UE_CONTENT_CHECK_PATH ${CARLA_UE_PATH}/Content/Carla/Blueprints)
 if (IS_DIRECTORY ${CARLA_UE_CONTENT_CHECK_PATH})
-  carla_message ("CARLA Unreal Content - FOUND")
+  carla_message_verbose ("CARLA Unreal Content - FOUND")
 else ()
-  carla_message ("CARLA Unreal Content - MISSING")
   carla_warning ("Could not find CARLA Content, download it or running the editor will result in a crash.")
 endif ()
 
@@ -380,8 +366,11 @@ function (
     set (PACKAGE_CONFIGURATION "default (shipping)")
   endif ()
 
+  set (TARGET_NAME_SHORT package${TARGET_NAME_SUFFIX})
+  set (TARGET_NAME carla-unreal-${TARGET_NAME_SHORT})
+
   carla_add_custom_target (
-    carla-unreal-package${TARGET_NAME_SUFFIX}
+    ${TARGET_NAME}
     "Create a CARLA package in ${PACKAGE_CONFIGURATION} mode."
     COMMAND
       ${CARLA_UE_BUILD_COMMAND_PREFIX}
@@ -413,9 +402,9 @@ function (
       USES_TERMINAL
       VERBATIM
     )
-
+  
   add_custom_command (
-    TARGET carla-unreal-package${TARGET_NAME_SUFFIX}
+    TARGET ${TARGET_NAME}
     POST_BUILD
     COMMAND ${CMAKE_COMMAND} -E echo "********** PACKAGE CREATING VERSION FILE UNREAL PACKAGE EXTRA FILES STARTED **********"
     COMMAND ${CMAKE_COMMAND}
@@ -449,21 +438,24 @@ function (
   )
 
   add_dependencies (
-    carla-unreal-package${TARGET_NAME_SUFFIX}
+    ${TARGET_NAME}
     carla-unreal-editor
   )
 
   carla_add_custom_target (
-    package${TARGET_NAME_SUFFIX}
+    ${TARGET_NAME_SHORT}
     "Create a CARLA package in ${PACKAGE_CONFIGURATION} mode."
   )
 
   add_dependencies (
-    package${TARGET_NAME_SUFFIX}
-    carla-unreal-package${TARGET_NAME_SUFFIX}
+    ${TARGET_NAME_SHORT}
+    ${TARGET_NAME}
   )
+
 endfunction()
 
+
+
 # Docs for UE5 build configurations:
 # https://docs.unrealengine.com/4.27/en-US/ProductionPipelines/DevelopmentSetup/BuildConfigurations/
 add_carla_ue_package_target("" Shipping)
@@ -488,12 +480,6 @@ set (
   VERBATIM
 )
 
-carla_add_custom_target (
-  launch
-  "Build and open CARLA in the Unreal Editor."
-  ${CARLA_LAUNCH_TARGET_OPTIONS}
-)
-
 if (WIN32)
   set (
     PRELAUNCH_CONTENT_CHECK_COMMAND
@@ -517,12 +503,6 @@ carla_add_custom_target (
   VERBATIM
 )
 
-add_dependencies (
-  launch
-  carla-unreal-editor
-  check-unreal-content
-)
-
 carla_add_custom_target (
   launch-only
   "Open CARLA in the Unreal Editor. This will not rebuild outdated targets."
@@ -534,6 +514,18 @@ add_dependencies (
   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"