diff --git a/PythonAPI/carla/setup.py b/PythonAPI/carla/setup.py
index 968e44f22..717f0572a 100755
--- a/PythonAPI/carla/setup.py
+++ b/PythonAPI/carla/setup.py
@@ -61,7 +61,8 @@ def get_libcarla_extensions():
                 '-Wpessimizing-move', '-Wold-style-cast', '-Wnull-dereference',
                 '-Wduplicate-enum', '-Wnon-virtual-dtor', '-Wheader-hygiene',
                 '-Wconversion', '-Wfloat-overflow-conversion',
-                '-DBOOST_ERROR_CODE_HEADER_ONLY', '-DLIBCARLA_WITH_PYTHON_SUPPORT'
+                '-DBOOST_ERROR_CODE_HEADER_ONLY', '-DLIBCARLA_WITH_PYTHON_SUPPORT',
+                '-stdlib=libstdc++'
             ]
             if is_rss_variant_enabled():
                 extra_compile_args += ['-DLIBCARLA_RSS_ENABLED']
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
index 2f00b16c8..d7685bbe3 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
@@ -215,12 +215,6 @@ public class Carla : ModuleRules
       }
       if (UsingChrono)
       {
-        RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib", "libc++.so"));
-        RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib", "libc++.so.1"));
-        RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib", "libc++.so.1.0"));
-        RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib", "libc++abi.so"));
-        RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib", "libc++abi.so.1"));
-        RuntimeDependencies.Add(Path.Combine(LibCarlaInstallPath, "lib", "libc++abi.so.1.0"));
         AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine.so"));
         AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoEngine_vehicle.so"));
         AddDynamicLibrary(Path.Combine(LibCarlaInstallPath, "lib", "libChronoModels_vehicle.so"));
diff --git a/Util/BuildTools/BuildOSM2ODR.sh b/Util/BuildTools/BuildOSM2ODR.sh
index b7f8e9103..9e709a88d 100755
--- a/Util/BuildTools/BuildOSM2ODR.sh
+++ b/Util/BuildTools/BuildOSM2ODR.sh
@@ -89,19 +89,13 @@ if ${BUILD_OSM2ODR} ; then
   mkdir -p ${OSM2ODR_BUILD_FOLDER}
   cd ${OSM2ODR_BUILD_FOLDER}
 
-  CARLA_LLVM_VERSION_MAJOR=$(cut -d'.' -f1 <<<"$(clang --version | head -n 1 | sed -r 's/^([^.]+).*$/\1/; s/^[^0-9]*([0-9]+).*$/\1/')")
-  
-  if [ -z "$CARLA_LLVM_VERSION_MAJOR" ] ; then
-    fatal_error "Failed to retrieve the installed version of the clang compiler."
-  else
-    echo "Using clang-$CARLA_LLVM_VERSION_MAJOR as the CARLA compiler."
-  fi
-
-  export CC=/usr/bin/clang-$CARLA_LLVM_VERSION_MAJOR
-  export CXX=/usr/bin/clang++-$CARLA_LLVM_VERSION_MAJOR
+  export CC="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang"
+  export CXX="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang++"
+  export PATH="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin:$PATH"
 
   cmake ${OSM2ODR_SOURCE_FOLDER} \
       -G "Eclipse CDT4 - Ninja" \
+      -DCMAKE_CXX_FLAGS="-stdlib=libstdc++" \
       -DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_CLIENT_FOLDER} \
       -DPROJ_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-install/include \
       -DPROJ_LIBRARY=${CARLA_BUILD_FOLDER}/proj-install/lib/libproj.a \
diff --git a/Util/BuildTools/BuildPythonAPI.sh b/Util/BuildTools/BuildPythonAPI.sh
index 16e288ea2..8a46145de 100755
--- a/Util/BuildTools/BuildPythonAPI.sh
+++ b/Util/BuildTools/BuildPythonAPI.sh
@@ -48,23 +48,13 @@ while [[ $# -gt 0 ]]; do
   esac
 done
 
-CARLA_LLVM_VERSION_MAJOR=$(cut -d'.' -f1 <<<"$(clang --version | head -n 1 | sed -r 's/^([^.]+).*$/\1/; s/^[^0-9]*([0-9]+).*$/\1/')")
 
-if [ -z "$CARLA_LLVM_VERSION_MAJOR" ] ; then
-  fatal_error "Failed to retrieve the installed version of the clang compiler."
-else
-  echo "Using clang-$CARLA_LLVM_VERSION_MAJOR as the CARLA compiler."
-fi
+export CC="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang"
+export CXX="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang++"
+export PATH="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin:$PATH"
 
 source $(dirname "$0")/Environment.sh
 
-if [[ -z "${CARLA_LLVM_VERSION_MAJOR}" ]]; then
-  fatal_error "Missing clang version variable."
-fi
-
-export CC=clang-$CARLA_LLVM_VERSION_MAJOR
-export CXX=clang++-$CARLA_LLVM_VERSION_MAJOR
-
 if ! { ${REMOVE_INTERMEDIATE} || ${BUILD_PYTHONAPI} ; }; then
   fatal_error "Nothing selected to be done."
 fi
diff --git a/Util/BuildTools/Setup.sh b/Util/BuildTools/Setup.sh
index f7b481476..b464c52b5 100755
--- a/Util/BuildTools/Setup.sh
+++ b/Util/BuildTools/Setup.sh
@@ -41,24 +41,13 @@ done
 # -- Set up environment --------------------------------------------------------
 # ==============================================================================
 
-CARLA_LLVM_VERSION_MAJOR=$(cut -d'.' -f1 <<<"$(clang --version | head -n 1 | sed -r 's/^([^.]+).*$/\1/; s/^[^0-9]*([0-9]+).*$/\1/')")
-
-if [ -z "$CARLA_LLVM_VERSION_MAJOR" ] ; then
-  fatal_error "Failed to retrieve the installed version of the clang compiler."
-else
-  echo "Using clang-$CARLA_LLVM_VERSION_MAJOR as the CARLA compiler."
-fi
-
 source $(dirname "$0")/Environment.sh
 
-command -v /usr/bin/clang++-$CARLA_LLVM_VERSION_MAJOR >/dev/null 2>&1 || {
-  echo >&2 "clang-$CARLA_LLVM_VERSION_MAJOR is required, but it's not installed.";
-  exit 1;
-}
+export CC="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang"
+export CXX="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin/clang++"
+export PATH="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/bin:$PATH"
 
-CXX_TAG=c$CARLA_LLVM_VERSION_MAJOR
-export CC=/usr/bin/clang-$CARLA_LLVM_VERSION_MAJOR
-export CXX=/usr/bin/clang++-$CARLA_LLVM_VERSION_MAJOR
+CXX_TAG=c10
 
 # Convert comma-separated string to array of unique elements.
 IFS="," read -r -a PY_VERSION_LIST <<< "${PY_VERSION_LIST}"
@@ -66,53 +55,8 @@ IFS="," read -r -a PY_VERSION_LIST <<< "${PY_VERSION_LIST}"
 mkdir -p ${CARLA_BUILD_FOLDER}
 pushd ${CARLA_BUILD_FOLDER} >/dev/null
 
-# ==============================================================================
-# -- Get and compile libc++ ----------------------------------------------------
-# ==============================================================================
-
-LLVM_BASENAME=llvm-8.0
-
-LLVM_INCLUDE=${PWD}/${LLVM_BASENAME}-install/include/c++/v1
-LLVM_LIBPATH=${PWD}/${LLVM_BASENAME}-install/lib
-
-if [[ -d "${LLVM_BASENAME}-install" ]] ; then
-  log "${LLVM_BASENAME} already installed."
-else
-  rm -Rf ${LLVM_BASENAME}-source ${LLVM_BASENAME}-build
-
-  log "Retrieving libc++."
-
-  # TODO URGENT: These links are out of date! LLVM has moved to https://github.com/llvm/llvm-project.
-  git clone --depth=1 -b release_80  https://github.com/llvm-mirror/llvm.git ${LLVM_BASENAME}-source
-  git clone --depth=1 -b release_80  https://github.com/llvm-mirror/libcxx.git ${LLVM_BASENAME}-source/projects/libcxx
-  git clone --depth=1 -b release_80  https://github.com/llvm-mirror/libcxxabi.git ${LLVM_BASENAME}-source/projects/libcxxabi
-
-  log "Compiling libc++."
-
-  mkdir -p ${LLVM_BASENAME}-build
-
-  pushd ${LLVM_BASENAME}-build >/dev/null
-
-  cmake -G "Ninja" \
-      -DLIBCXX_ENABLE_EXPERIMENTAL_LIBRARY=OFF \
-      -DLIBCXX_INSTALL_EXPERIMENTAL_LIBRARY=OFF \
-      -DLLVM_ENABLE_EH=OFF \
-      -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX="../${LLVM_BASENAME}-install" \
-      ../${LLVM_BASENAME}-source
-
-  ninja cxx
-
-  ninja install-libcxx
-
-  ninja install-libcxxabi
-
-  popd >/dev/null
-
-  rm -Rf ${LLVM_BASENAME}-source ${LLVM_BASENAME}-build
-
-fi
-
-unset LLVM_BASENAME
+LLVM_INCLUDE="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1"
+LLVM_LIBPATH="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu"
 
 # ==============================================================================
 # -- Get boost includes --------------------------------------------------------
@@ -125,11 +69,10 @@ BOOST_INCLUDE=${PWD}/${BOOST_BASENAME}-install/include
 BOOST_LIBPATH=${PWD}/${BOOST_BASENAME}-install/lib
 
 for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
-
   SHOULD_BUILD_BOOST=true
   PYTHON_VERSION=$(/usr/bin/env python${PY_VERSION} -V 2>&1)
-  LIB_NAME=${PYTHON_VERSION:7:3}
-  LIB_NAME=${LIB_NAME//.}
+  LIB_NAME=$(cut -d . -f 1,2 <<< "$PYTHON_VERSION" | tr -d .)
+  LIB_NAME=${LIB_NAME:7}
   if [[ -d "${BOOST_BASENAME}-install" ]] ; then
     if [ -f "${BOOST_BASENAME}-install/lib/libboost_python${LIB_NAME}.a" ] ; then
       SHOULD_BUILD_BOOST=false
@@ -157,7 +100,7 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
 
     pushd ${BOOST_BASENAME}-source >/dev/null
 
-    BOOST_TOOLSET="clang-$CARLA_LLVM_VERSION_MAJOR.0"
+    BOOST_TOOLSET="clang-10.0"
     BOOST_CFLAGS="-fPIC -std=c++14 -DBOOST_ERROR_CODE_HEADER_ONLY"
 
     py3="/usr/bin/env python${PY_VERSION}"