diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Radar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Radar.cpp
index 584582458..811eb7ab1 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Radar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/Radar.cpp
@@ -10,8 +10,8 @@
 #include "Kismet/KismetMathLibrary.h"
 #include "Runtime/Core/Public/Async/ParallelFor.h"
 #include <compiler/disable-ue4-macros.h>
-#include "carla/geom/Math.h"
-#include "carla/ros2/ROS2.h"
+#include <carla/geom/Math.h>
+#include <carla/ros2/ROS2.h>
 #include <compiler/enable-ue4-macros.h>
 
 FActorDefinition ARadar::GetSensorDefinition()
@@ -135,9 +135,6 @@ void ARadar::SendLineTraces(float DeltaTime)
     Rays[i].Hitted = false;
   }
 
-#if 0 // @CARLAUE5
-  FCriticalSection Mutex;
-  GetWorld()->GetPhysicsScene()->GetPxScene()->lockRead();
   {
     TRACE_CPUPROFILER_EVENT_SCOPE(ParallelFor);
     ParallelFor(NumPoints, [&](int32 idx) {
@@ -155,7 +152,8 @@ void ARadar::SendLineTraces(float DeltaTime)
         MaxRy * Radius * Sin
       });
 
-      const bool Hitted = GetWorld()->ParallelLineTraceSingleByChannel(
+      // @CARLAUE5: WE CAN PROBABLY IMPROVE THE PERFORMANCE OF THIS:
+      const bool Hitted = GetWorld()->LineTraceSingleByChannel(
         OutHit,
         RadarLocation,
         EndLocation,
@@ -181,20 +179,21 @@ void ARadar::SendLineTraces(float DeltaTime)
       }
     });
   }
-  GetWorld()->GetPhysicsScene()->GetPxScene()->unlockRead();
 
   // Write the detections in the output structure
-  for (auto& ray : Rays) {
-    if (ray.Hitted) {
-      RadarData.WriteDetection({
-        ray.RelativeVelocity,
-        ray.AzimuthAndElevation.X,
-        ray.AzimuthAndElevation.Y,
-        ray.Distance
+  for (auto& ray : Rays)
+  {
+    if (ray.Hitted)
+    {
+      RadarData.WriteDetection(
+      {
+        (float)ray.RelativeVelocity,
+        (float)ray.AzimuthAndElevation.X,
+        (float)ray.AzimuthAndElevation.Y,
+        (float)ray.Distance
       });
     }
   }
-#endif
 }
 
 float ARadar::CalculateRelativeVelocity(const FHitResult& OutHit, const FVector& RadarLocation)
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.cpp
index 71d8e0092..1d02113e5 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/RayCastSemanticLidar.cpp
@@ -125,8 +125,6 @@ void ARayCastSemanticLidar::SimulateLidar(const float DeltaTime)
   ResetRecordedHits(ChannelCount, PointsToScanWithOneLaser);
   PreprocessRays(ChannelCount, PointsToScanWithOneLaser);
 
-#if 0 // @CARLAUE5
-  GetWorld()->GetPhysicsScene()->GetPxScene()->lockRead();
   {
     TRACE_CPUPROFILER_EVENT_SCOPE(ParallelFor);
     ParallelFor(ChannelCount, [&](int32 idxChannel) {
@@ -149,8 +147,6 @@ void ARayCastSemanticLidar::SimulateLidar(const float DeltaTime)
       };
     });
   }
-  GetWorld()->GetPhysicsScene()->GetPxScene()->unlockRead();
-#endif
 
   FTransform ActorTransf = GetTransform();
   ComputeAndSaveDetections(ActorTransf);
@@ -248,8 +244,8 @@ bool ARayCastSemanticLidar::ShootLaser(const float VerticalAngle, const float Ho
   const auto Range = Description.Range;
   FVector EndTrace = Range * UKismetMathLibrary::GetForwardVector(ResultRot) + LidarBodyLoc;
 
-#if 0 // @CARLAUE5
-  GetWorld()->ParallelLineTraceSingleByChannel(
+  // @CARLAUE5: WE CAN PROBABLY IMPROVE THIS
+  GetWorld()->LineTraceSingleByChannel(
     HitInfo,
     LidarBodyLoc,
     EndTrace,
@@ -257,7 +253,6 @@ bool ARayCastSemanticLidar::ShootLaser(const float VerticalAngle, const float Ho
     TraceParams,
     FCollisionResponseParams::DefaultResponseParam
   );
-#endif
 
   if (HitInfo.bBlockingHit) {
     HitResult = HitInfo;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettingsDelegate.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettingsDelegate.cpp
index 510c91f95..040e623b0 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettingsDelegate.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Settings/CarlaSettingsDelegate.cpp
@@ -16,6 +16,7 @@
 #include "Engine/LocalPlayer.h"
 #include "Engine/PostProcessVolume.h"
 #include "Engine/StaticMesh.h"
+#include "Engine/GameViewportClient.h"
 #include "GameFramework/HUD.h"
 #include "InstancedFoliageActor.h"
 #include "Kismet/GameplayStatics.h"
@@ -135,10 +136,7 @@ void UCarlaSettingsDelegate::ApplyQualityLevelPreRestart()
   {
     ULocalPlayer *player = playercontroller->GetLocalPlayer();
     if (player)
-    {
-        // @CARLAUE5
-      // player->ViewportClient->bDisableWorldRendering = CarlaSettings->bDisableRendering;
-    }
+      player->ViewportClient->bDisableWorldRendering = CarlaSettings->bDisableRendering;
     // if we already have a hud class:
     AHUD *hud = playercontroller->GetHUD();
     if (hud)