diff --git a/CMake/CarlaOptions.cmake b/CMake/CarlaOptions.cmake
index a001426f8..6bb5ed422 100644
--- a/CMake/CarlaOptions.cmake
+++ b/CMake/CarlaOptions.cmake
@@ -257,11 +257,11 @@ carla_string_option (
 carla_string_option (
   CARLA_STREETMAP_VERSION
   "Target StreetMap version."
-  UE5Native
+  ue5.3
 )
 
 carla_string_option (
   CARLA_STREETMAP_TAG
   "Target StreetMap git tag."
-  ${CARLA_LIBOSMSCOUT_VERSION}
+  ${CARLA_STREETMAP_VERSION}
 )
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 36c9e7f12..1815701af 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -114,13 +114,3 @@ endif ()
 if (BUILD_CARLA_UE)
   add_subdirectory (Unreal)
 endif ()
-
-carla_two_step_configure_file (
-  ${CARLA_WORKSPACE_PATH}/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Carla.Build.cs
-  ${CARLA_WORKSPACE_PATH}/Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Carla.Build.cs.in
-)
-
-carla_two_step_configure_file (
-  ${CARLA_WORKSPACE_PATH}/Unreal/CarlaUnreal/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs
-  ${CARLA_WORKSPACE_PATH}/Unreal/CarlaUnreal/Plugins/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs.in
-)
diff --git a/Makefile b/Makefile
index 2a20f7365..789e9446b 100644
--- a/Makefile
+++ b/Makefile
@@ -1,4 +1,4 @@
-launch PythonAPI LibCarla CarlaUE4Editor CarlaUnrealEditor launch-only:
+launch PythonAPI LibCarla CarlaUnrealEditor CarlaUnrealEditor launch-only:
 	@echo "MakeFile build is currently disabled."
 
 # include Util/BuildTools/Vars.mk
diff --git a/PythonAPI/CMakeLists.txt b/PythonAPI/CMakeLists.txt
index b2bf4bca6..8012af050 100644
--- a/PythonAPI/CMakeLists.txt
+++ b/PythonAPI/CMakeLists.txt
@@ -81,7 +81,6 @@ target_compile_definitions (
   ${CARLA_COMMON_DEFINITIONS}
   ${CARLA_RTTI_DEFINITIONS}
   BOOST_ALL_NO_LIB
-  BOOST_PYTHON_STATIC_LINK
   LIBCARLA_WITH_PYTHON_SUPPORT
 )
 
@@ -101,6 +100,8 @@ endif ()
 add_custom_target (
   carla-python-api-symlink
   ALL
+  COMMENT
+    "Creating CARLA PythonAPI .PYD/.SO symlink..."
   COMMAND
     ${CMAKE_COMMAND} -E create_symlink $<TARGET_FILE:carla-python-api> ${PYTHON_API_PATH}/examples/carla${PYD_EXT}
 )
diff --git a/Unreal/CMakeLists.txt b/Unreal/CMakeLists.txt
index 0be649fd9..3e1d8a472 100644
--- a/Unreal/CMakeLists.txt
+++ b/Unreal/CMakeLists.txt
@@ -19,34 +19,55 @@ set (
   ${CARLA_WORKSPACE_PATH}/Unreal/CarlaUnreal
 )
 
+set (
+  CARLA_UE_PLUGINS_PATH
+  ${CARLA_UE_PATH}/Plugins
+)
+
 set (
   CARLA_UE_PROJECT_PATH
   ${CARLA_UE_PATH}/CarlaUnreal.uproject
 )
 
-execute_process (
+carla_two_step_configure_file (
+  ${CARLA_UE_PLUGINS_PATH}/Carla/Source/Carla/Carla.Build.cs
+  ${CARLA_UE_PLUGINS_PATH}/Carla/Source/Carla/Carla.Build.cs.in
+)
+
+carla_two_step_configure_file (
+  ${CARLA_UE_PLUGINS_PATH}/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs
+  ${CARLA_UE_PLUGINS_PATH}/CarlaTools/Source/CarlaTools/CarlaTools.Build.cs.in
+)
+
+add_custom_target (
+  carla-ue-generate-project-files
+  ALL
+  COMMENT
+    "Generating UE project files for CARLA..."
   COMMAND
     ${CARLA_UE_GENERATE_PROJECT_SCRIPT}
     -project=${CARLA_UE_PROJECT_PATH}
     -game
     -engine
-    -makefiles
-  RESULT_VARIABLE
-    GENERATE_RPJECT_FILES_RESULT
+    -CMakefile
 )
 
-if (NOT ${GENERATE_RPJECT_FILES_RESULT})
-  message (
-    FATAL_ERROR
-    "Could not generate Unreal Engine project files."
-  )
-endif ()
+add_custom_target (
+  carla-ue-build
+  ALL
+  DEPENDS
+    carla-ue-generate-project-files
+  COMMENT
+    "Building CARLA UE..."
+  COMMAND
+    ${CMAKE_COMMAND}
+      -S ${CARLA_UE_PATH}
+      -B ${CMAKE_CURRENT_BINARY_DIR}
+      -G ${CMAKE_GENERATOR}
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+)
 
 file (
   MAKE_DIRECTORY
   ${CARLA_UE_PATH}/Content/Carla/ExportedMaps
-)
-
-add_subdirectory (
-  CarlaUnreal
 )
\ No newline at end of file
diff --git a/Unreal/CarlaUnreal/.gitignore b/Unreal/CarlaUnreal/.gitignore
index c89859c25..84318b7a7 100644
--- a/Unreal/CarlaUnreal/.gitignore
+++ b/Unreal/CarlaUnreal/.gitignore
@@ -21,5 +21,6 @@ Config/CarSimConfig.ini
 *.code-workspace
 .idea
 .vscode
+.ignore
 CMakeLists.txt
 Makefile
diff --git a/Unreal/CarlaUnreal/CarlaUE4.png b/Unreal/CarlaUnreal/CarlaUnreal.png
similarity index 100%
rename from Unreal/CarlaUnreal/CarlaUE4.png
rename to Unreal/CarlaUnreal/CarlaUnreal.png
diff --git a/Unreal/CarlaUnreal/CarlaUE4.uproject b/Unreal/CarlaUnreal/CarlaUnreal.uproject
similarity index 100%
rename from Unreal/CarlaUnreal/CarlaUE4.uproject
rename to Unreal/CarlaUnreal/CarlaUnreal.uproject
diff --git a/Unreal/CarlaUnreal/Plugins/CarlaTools/Content/Python/generate_tile.py b/Unreal/CarlaUnreal/Plugins/CarlaTools/Content/Python/generate_tile.py
index e68a03b11..e24c77534 100644
--- a/Unreal/CarlaUnreal/Plugins/CarlaTools/Content/Python/generate_tile.py
+++ b/Unreal/CarlaUnreal/Plugins/CarlaTools/Content/Python/generate_tile.py
@@ -8,7 +8,7 @@ import subprocess
 
 """Generic function for running a commandlet with its arguments."""
 ue4_path = os.environ["UE4_ROOT"]
-uproject_path = unreal.Paths.project_dir() + ("CarlaUE4.uproject")
+uproject_path = unreal.Paths.project_dir() + ("CarlaUnreal.uproject")
 run = "-run=%s" % ("GenerateTileCommandlet")
 
 print("Before any Commandlet:")
diff --git a/Unreal/CarlaUnreal/Source/CarlaUnreal.Target.cs b/Unreal/CarlaUnreal/Source/CarlaUnreal.Target.cs
index 7d88f0427..e7687e1f9 100644
--- a/Unreal/CarlaUnreal/Source/CarlaUnreal.Target.cs
+++ b/Unreal/CarlaUnreal/Source/CarlaUnreal.Target.cs
@@ -4,7 +4,7 @@ using UnrealBuildTool;
 using System;
 using EpicGames.Core;
 
-public class CarlaUE4Target : TargetRules
+public class CarlaUnrealTarget : TargetRules
 {
     [CommandLine("-unity-build")]
     bool EnableUnityBuild = true;
@@ -15,7 +15,7 @@ public class CarlaUE4Target : TargetRules
         Console.WriteLine(string.Format("{0} is {1}.", name, state));
     }
 
-    public CarlaUE4Target(TargetInfo Target) :
+    public CarlaUnrealTarget(TargetInfo Target) :
         base(Target)
     {
         DefaultBuildSettings = BuildSettingsVersion.Latest;
diff --git a/Unreal/CarlaUnreal/Source/CarlaUnreal/CarlaUE4.Build.cs b/Unreal/CarlaUnreal/Source/CarlaUnreal/CarlaUnreal.Build.cs
similarity index 100%
rename from Unreal/CarlaUnreal/Source/CarlaUnreal/CarlaUE4.Build.cs
rename to Unreal/CarlaUnreal/Source/CarlaUnreal/CarlaUnreal.Build.cs
diff --git a/Unreal/CarlaUnreal/Source/CarlaUnreal/CarlaUE4.cpp b/Unreal/CarlaUnreal/Source/CarlaUnreal/CarlaUnreal.cpp
similarity index 100%
rename from Unreal/CarlaUnreal/Source/CarlaUnreal/CarlaUE4.cpp
rename to Unreal/CarlaUnreal/Source/CarlaUnreal/CarlaUnreal.cpp
diff --git a/Unreal/CarlaUnreal/Source/CarlaUnreal/CarlaUE4.h b/Unreal/CarlaUnreal/Source/CarlaUnreal/CarlaUnreal.h
similarity index 100%
rename from Unreal/CarlaUnreal/Source/CarlaUnreal/CarlaUE4.h
rename to Unreal/CarlaUnreal/Source/CarlaUnreal/CarlaUnreal.h
diff --git a/Unreal/CarlaUnreal/Source/CarlaUnrealEditor.Target.cs b/Unreal/CarlaUnreal/Source/CarlaUnrealEditor.Target.cs
index 46dce32c5..9b8d7d1b1 100644
--- a/Unreal/CarlaUnreal/Source/CarlaUnrealEditor.Target.cs
+++ b/Unreal/CarlaUnreal/Source/CarlaUnrealEditor.Target.cs
@@ -4,7 +4,7 @@ using UnrealBuildTool;
 using System;
 using EpicGames.Core;
 
-public class CarlaUE4EditorTarget : TargetRules
+public class CarlaUnrealEditorTarget : TargetRules
 {
     [CommandLine("-unity-build")]
     bool EnableUnityBuild = true;
@@ -15,7 +15,7 @@ public class CarlaUE4EditorTarget : TargetRules
         Console.WriteLine(string.Format("{0} is {1}.", name, state));
     }
 
-    public CarlaUE4EditorTarget(TargetInfo Target) :
+    public CarlaUnrealEditorTarget(TargetInfo Target) :
         base(Target)
     {
         DefaultBuildSettings = BuildSettingsVersion.Latest;