diff --git a/.gitignore b/.gitignore
index a1f0fdfba78..88771b805d4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -11,7 +11,6 @@ Unreal/CarlaUE4/Plugins/Streetmap
 Unreal/CarlaUE4/Plugins/HoudiniEngine
 build/
 
-
 /ExportedMaps
 /Import/*
 !/Import/README.md
@@ -45,6 +44,7 @@ build/
 .tags*
 .vs
 .vscode
+.zed
 .cache
 __pycache__
 _benchmarks_results
@@ -55,4 +55,6 @@ core
 profiler.csv
 .env
 .venv
+Unreal/CarlaUE4/.ignore
 devcontainer.json
+compile_commands.json
diff --git a/Util/BuildTools/BuildOSM2ODR.sh b/Util/BuildTools/BuildOSM2ODR.sh
index 782991e781f..9c0b3e084df 100755
--- a/Util/BuildTools/BuildOSM2ODR.sh
+++ b/Util/BuildTools/BuildOSM2ODR.sh
@@ -95,6 +95,7 @@ if ${BUILD_OSM2ODR} ; then
   export CC="$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")/Ubuntu24Compat.sh
 
   cmake ${OSM2ODR_SOURCE_FOLDER} \
       -G "Eclipse CDT4 - Ninja" \
@@ -114,13 +115,14 @@ if ${BUILD_OSM2ODR} ; then
   LLVM_BASENAME=llvm-8.0
   LLVM_INCLUDE="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1"
   LLVM_LIBPATH="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu"
+  UNREAL_HOSTED_CFLAGS="--sysroot=$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/ -idirafter /usr/include -idirafter /usr/include/x86_64-linux-gnu"
 
   echo $LLVM_INCLUDE
   echo $LLVM_LIBPATH
 
   cmake ${OSM2ODR_SOURCE_FOLDER} \
       -G "Eclipse CDT4 - Ninja" \
-      -DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
+      -DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ ${UNREAL_HOSTED_CFLAGS} -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
       -DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_SERVER_FOLDER} \
       -DPROJ_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-install-server/include \
       -DPROJ_LIBRARY=${CARLA_BUILD_FOLDER}/proj-install-server/lib/libproj.a \
@@ -139,7 +141,7 @@ if ${BUILD_OSM2ODR} ; then
 
   cmake ${OSM2ODR_SOURCE_FOLDER} \
       -G "Eclipse CDT4 - Ninja" \
-      -DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
+      -DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ ${UNREAL_HOSTED_CFLAGS} -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
       -DCMAKE_INSTALL_PREFIX=${LIBCARLA_INSTALL_SERVER_FOLDER} \
       -DPROJ_INCLUDE_DIR=${CARLA_BUILD_FOLDER}/proj-install-server/include \
       -DPROJ_LIBRARY=${CARLA_BUILD_FOLDER}/proj-install-server/lib/libproj.a \
diff --git a/Util/BuildTools/BuildPythonAPI.sh b/Util/BuildTools/BuildPythonAPI.sh
index f3b88c87cf5..a488ec4e1b3 100755
--- a/Util/BuildTools/BuildPythonAPI.sh
+++ b/Util/BuildTools/BuildPythonAPI.sh
@@ -61,6 +61,7 @@ export CXX="$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17
 export PATH="$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
+source $(dirname "$0")/Ubuntu24Compat.sh
 
 if ! { ${REMOVE_INTERMEDIATE} || ${BUILD_PYTHONAPI} || ${BUILD_PYTHONAPI_WHEEL} ; }; then
   fatal_error "Nothing selected to be done."
@@ -98,18 +99,26 @@ fi
 if ${BUILD_PYTHONAPI} ; then
   # Add patchelf to the path. Auditwheel relies on patchelf to repair ELF files.
   export PATH="${LIBCARLA_INSTALL_CLIENT_FOLDER}/bin:${PATH}"
-  
+
   for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
     log "Building Python API wheel for Python ${PY_VERSION}."
-    
+
     # Building the RSS variant adds files to SOURCES.txt we do not want included in a normal build
-    rm -Rf source/carla.egg-info 
-   
+    rm -Rf source/carla.egg-info
+
    /usr/bin/env python${PY_VERSION} -m build --wheel --outdir dist/.tmp .
 
-    if ${INSTALL_PYTHONAPI} ; then
+    if ${INSTALL_PYTHONAPI} && ! ${_SKIP_PIP_INSTALL:-false} ; then
       log "Installing Python API for Python ${PY_VERSION}."
       /usr/bin/env python${PY_VERSION} -m pip install --force-reinstall dist/.tmp/$(ls dist/.tmp | grep .whl)
+    elif ${_SKIP_PIP_INSTALL:-false} ; then
+      _WHEEL_FILE=$(ls dist/.tmp | grep .whl)
+      log "Python API wheel built: PythonAPI/carla/dist/${_WHEEL_FILE}"
+      log "System Python is externally managed (PEP 668) — install the wheel manually:"
+      log "  pip install --break-system-packages PythonAPI/carla/dist/${_WHEEL_FILE}"
+      log "  uv pip install PythonAPI/carla/dist/${_WHEEL_FILE}"
+      log "  conda run -n <env> pip install PythonAPI/carla/dist/${_WHEEL_FILE}"
+      log "  pyenv exec pip install PythonAPI/carla/dist/${_WHEEL_FILE}"
     fi
 
     if [[ -z ${TARGET_WHEEL_PLATFORM} ]] ; then
diff --git a/Util/BuildTools/Setup.sh b/Util/BuildTools/Setup.sh
index 918ca8288e3..676b2e578db 100755
--- a/Util/BuildTools/Setup.sh
+++ b/Util/BuildTools/Setup.sh
@@ -64,9 +64,11 @@ IFS="," read -r -a PY_VERSION_LIST <<< "${PY_VERSION_LIST}"
 mkdir -p ${CARLA_BUILD_FOLDER}
 pushd ${CARLA_BUILD_FOLDER} >/dev/null
 
+source $(dirname "$0")/Ubuntu24Compat.sh
+
 LLVM_INCLUDE="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1"
 LLVM_LIBPATH="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu"
-UNREAL_HOSTED_CFLAGS="--sysroot=$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/"
+UNREAL_HOSTED_CFLAGS="--sysroot=$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/ -idirafter /usr/include -idirafter /usr/include/x86_64-linux-gnu"
 
 # ==============================================================================
 # -- Generate CMake toolchains -------------------------------------------------
@@ -171,7 +173,7 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
 
     pushd ${BOOST_BASENAME}-source >/dev/null
 
-    BOOST_TOOLSET="clang-10.0"
+    BOOST_TOOLSET="clang"
     BOOST_CFLAGS="-fPIC -std=c++14 -DBOOST_ERROR_CODE_HEADER_ONLY"
 
     py3="/usr/bin/env python${PY_VERSION}"
@@ -180,7 +182,7 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
     py3_lib=$(${py3} -c "from sysconfig import get_paths as gp; print(gp()['stdlib'])")
     pyv=`$py3 -c "import sys;x='{v[0]}.{v[1]}'.format(v=list(sys.version_info[:2]));sys.stdout.write(x)";`
     ./bootstrap.sh \
-        --with-toolset=clang \
+        --with-toolset=gcc \
         --prefix=../boost-install \
         --with-libraries=python,filesystem,system,program_options \
         --with-python=${py3} --with-python-root=${py3_root}
@@ -192,9 +194,16 @@ for PY_VERSION in ${PY_VERSION_LIST[@]} ; do
         echo "using python : ${pyv} : ${py3_root}/bin/python${PY_VERSION} : \
         ${py3_include} : ${py3_lib} ;" > project-config.jam
     fi
+    if ${_NEED_LLD:-false}; then
+        echo "using clang : : \"${_CXX_REAL}\" : <linkflags>-fuse-ld=lld ;" >> project-config.jam
+        _B2_LINK_EXTRA="linkflags=-fuse-ld=lld"
+    else
+        echo "using clang : : \"${CXX}\" ;" >> project-config.jam
+        _B2_LINK_EXTRA=""
+    fi
 
-    ./b2 toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" --prefix="../${BOOST_BASENAME}-install" -j ${CARLA_BUILD_CONCURRENCY} stage release
-    ./b2 toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" --prefix="../${BOOST_BASENAME}-install" -j ${CARLA_BUILD_CONCURRENCY} install
+    ./b2 toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" ${_B2_LINK_EXTRA} --prefix="../${BOOST_BASENAME}-install" -j ${CARLA_BUILD_CONCURRENCY} stage release
+    ./b2 toolset="${BOOST_TOOLSET}" cxxflags="${BOOST_CFLAGS}" ${_B2_LINK_EXTRA} --prefix="../${BOOST_BASENAME}-install" -j ${CARLA_BUILD_CONCURRENCY} install
 
     popd >/dev/null
 
@@ -499,6 +508,7 @@ else
   echo "Elapsed Time Extracting xerces-c: $(($end-$start)) seconds"
 
   mv ${XERCESC_BASENAME} ${XERCESC_SRC_DIR}
+
   mkdir -p ${XERCESC_INSTALL_DIR}
   mkdir -p ${XERCESC_SRC_DIR}/build
 
@@ -522,7 +532,7 @@ else
   pushd ${XERCESC_SRC_DIR}/build >/dev/null
 
   cmake -G "Ninja" \
-      -DCMAKE_CXX_FLAGS="-std=c++14 -stdlib=libc++ -fPIC -w -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
+      -DCMAKE_CXX_FLAGS="-std=c++14 -stdlib=libc++ -fPIC -w ${UNREAL_HOSTED_CFLAGS} -I${LLVM_INCLUDE} -L${LLVM_LIBPATH}" \
       -DCMAKE_INSTALL_PREFIX="../../${XERCESC_INSTALL_SERVER_DIR}" \
       -DCMAKE_BUILD_TYPE=Release \
       -DBUILD_SHARED_LIBS=OFF \
@@ -735,7 +745,7 @@ else
   pushd ${PROJ_SRC_DIR}/build >/dev/null
 
   cmake -G "Ninja" .. \
-      -DCMAKE_CXX_FLAGS="-std=c++14 -fPIC" \
+      -DCMAKE_CXX_FLAGS="-std=c++14 -fPIC -include cstdint" \
       -DSQLITE3_INCLUDE_DIR=${SQLITE_INCLUDE_DIR} -DSQLITE3_LIBRARY=${SQLITE_LIB} \
       -DEXE_SQLITE3=${SQLITE_EXE} \
       -DENABLE_TIFF=OFF -DENABLE_CURL=OFF -DBUILD_SHARED_LIBS=OFF -DBUILD_PROJSYNC=OFF \
@@ -753,7 +763,7 @@ else
   pushd ${PROJ_SRC_DIR}/build >/dev/null
 
   cmake -G "Ninja" .. \
-      -DCMAKE_CXX_FLAGS="-std=c++14 -fPIC -stdlib=libc++ -I${LLVM_INCLUDE} -Wl,-L${LLVM_LIBPATH}"  \
+      -DCMAKE_CXX_FLAGS="-std=c++14 -fPIC -include cstdint -stdlib=libc++ ${UNREAL_HOSTED_CFLAGS} -I${LLVM_INCLUDE} -Wl,-L${LLVM_LIBPATH}"  \
       -DSQLITE3_INCLUDE_DIR=${SQLITE_INCLUDE_DIR} -DSQLITE3_LIBRARY=${SQLITE_LIB} \
       -DEXE_SQLITE3=${SQLITE_EXE} \
       -DENABLE_TIFF=OFF -DENABLE_CURL=OFF -DBUILD_SHARED_LIBS=OFF -DBUILD_PROJSYNC=OFF \
diff --git a/Util/BuildTools/Ubuntu24Compat.sh b/Util/BuildTools/Ubuntu24Compat.sh
new file mode 100644
index 00000000000..23988905787
--- /dev/null
+++ b/Util/BuildTools/Ubuntu24Compat.sh
@@ -0,0 +1,77 @@
+#!/bin/bash
+# Compatibility shim for building CARLA with the UE4 bundled clang on modern
+# Linux distributions.  Source this file AFTER exporting CC and CXX.
+#
+# Two independent issues are detected and patched at runtime so older distros
+# that don't have these problems are completely unaffected:
+#
+#   1. Bundled ld (2019) cannot read .relr.dyn sections present in glibc ≥ 2.36
+#      (Ubuntu 22.04+, Fedora 36+, Arch …).  Fix: wrap CC/CXX to use lld.
+#
+#   2. CMake ≥ 4.0 errors on cmake_minimum_required < 3.5 in third-party sources.
+#      Fix: wrap cmake to inject -DCMAKE_POLICY_VERSION_MINIMUM=3.5.
+#
+# Usage (after CC/CXX are exported):
+#   source "$(dirname "$0")/Ubuntu24Compat.sh"
+
+_WRAP_DIR="${CARLA_BUILD_FOLDER}"
+mkdir -p "${_WRAP_DIR}"
+
+# ---------------------------------------------------------------------------
+# 1. Bundled ld compatibility check
+# ---------------------------------------------------------------------------
+_NEED_LLD=false
+_LD_TEST_SRC="$(mktemp /tmp/ue4_ld_test_XXXXXX.c)"
+_LD_TEST_BIN="$(mktemp /tmp/ue4_ld_test_XXXXXX)"
+echo 'int main(void){return 0;}' > "${_LD_TEST_SRC}"
+if ! "${CC}" "${_LD_TEST_SRC}" -o "${_LD_TEST_BIN}" 2>/dev/null; then
+    _NEED_LLD=true
+fi
+rm -f "${_LD_TEST_SRC}" "${_LD_TEST_BIN}"
+
+if ${_NEED_LLD}; then
+    if ! which ld.lld >/dev/null 2>&1; then
+        echo "ERROR: The UE4 bundled linker cannot link on this system."
+        echo "       Install lld and try again:  sudo apt install lld"
+        exit 1
+    fi
+    _CC_REAL="${CC}"
+    _CXX_REAL="${CXX}"
+    CC="${_WRAP_DIR}/clang.sh"
+    CXX="${_WRAP_DIR}/clang++.sh"
+    # -Wno-unused-command-line-argument silences the warning that -fuse-ld=lld
+    # produces when clang is invoked for compilation only (not linking).
+    printf '#!/bin/bash\nexec "%s" -fuse-ld=lld -Wno-unused-command-line-argument "$@"\n' \
+        "${_CC_REAL}"  > "${CC}"
+    printf '#!/bin/bash\nexec "%s" -fuse-ld=lld -Wno-unused-command-line-argument "$@"\n' \
+        "${_CXX_REAL}" > "${CXX}"
+    chmod +x "${CC}" "${CXX}"
+    export CC CXX
+    export PATH="${_WRAP_DIR}:${PATH}"
+fi
+
+# ---------------------------------------------------------------------------
+# 2. System Python PEP 668 check (Ubuntu ≥ 24)
+# ---------------------------------------------------------------------------
+# Ubuntu 24+ ships Python as "externally managed" (PEP 668), so a bare
+# `pip install` into the system environment is blocked.  The wheel is still
+# built and placed in PythonAPI/carla/dist/ for manual installation.
+_OS_MAJOR=$(. /etc/os-release 2>/dev/null && printf '%s' "${VERSION_ID}" | cut -d. -f1)
+if [ "${_OS_MAJOR:-0}" -ge 24 ] 2>/dev/null; then
+    export _SKIP_PIP_INSTALL=true
+fi
+
+# ---------------------------------------------------------------------------
+# 3. CMake 4.x compatibility check
+# ---------------------------------------------------------------------------
+_CMAKE_MAJOR=$(cmake --version 2>/dev/null | grep -oP '(?<=cmake version )\d+' | head -1)
+if [ "${_CMAKE_MAJOR:-0}" -ge 4 ]; then
+    printf '#!/bin/bash\nexec /usr/bin/cmake -DCMAKE_POLICY_VERSION_MINIMUM=3.5 "$@"\n' \
+        > "${_WRAP_DIR}/cmake"
+    chmod +x "${_WRAP_DIR}/cmake"
+    # Only prepend to PATH if not already there (avoid duplicates on re-source)
+    case ":${PATH}:" in
+        *":${_WRAP_DIR}:"*) ;;
+        *) export PATH="${_WRAP_DIR}:${PATH}" ;;
+    esac
+fi