diff --git a/CMakeLists.txt b/CMakeLists.txt
index 69bb87d1f..9c46afc55 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,8 +40,8 @@ option(UAGENT_SECURITY_PROFILE "Build security profile." OFF)
 option(UAGENT_BUILD_EXECUTABLE "Build Micro XRCE-DDS Agent provided executable." ON)
 option(UAGENT_BUILD_USAGE_EXAMPLES "Build Micro XRCE-DDS Agent built-in usage examples" OFF)
 
-set(UAGENT_P2P_CLIENT_VERSION 2.4.0 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
-set(UAGENT_P2P_CLIENT_TAG v2.4.0 CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
+set(UAGENT_P2P_CLIENT_VERSION 2.4.1 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
+set(UAGENT_P2P_CLIENT_TAG v2.4.1 CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
 
 option(UAGENT_BUILD_CI_TESTS "Build CI test cases.")
 if(UAGENT_BUILD_CI_TESTS)
@@ -80,8 +80,8 @@ set(_deps "")
 if(UAGENT_USE_SYSTEM_FASTCDR)
     set(_fastcdr_version 1)
 else()
-    set(_fastcdr_version 1.0.27)
-    set(_fastcdr_tag v1.0.27)
+    set(_fastcdr_version 1.1.0)
+    set(_fastcdr_tag v1.1.0)
 endif()
 list(APPEND _deps "fastcdr\;${_fastcdr_version}")
 
@@ -95,8 +95,8 @@ if(UAGENT_FAST_PROFILE)
     if(UAGENT_USE_SYSTEM_FASTDDS)
         set(_fastdds_version 2)
     else()
-        set(_fastdds_version 2.10)
-        set(_fastdds_tag 2.10.x)
+        set(_fastdds_version 2.11)
+        set(_fastdds_tag 2.11.x)
         set(_foonathan_memory_tag v0.7-3) # This tag should be updated every time it gets updated in foonathan_memory_vendor eProsima's package
     endif()
     list(APPEND _deps "fastrtps\;${_fastdds_version}")
@@ -117,7 +117,7 @@ endif()
 ###############################################################################
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
 if(NOT UAGENT_SUPERBUILD)
-    project(microxrcedds_agent VERSION "2.4.0" LANGUAGES C CXX)
+    project(microxrcedds_agent VERSION "2.4.1" LANGUAGES C CXX)
 else()
     project(uagent_superbuild NONE)
     include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
diff --git a/include/uxr/agent/middleware/Middleware.hpp b/include/uxr/agent/middleware/Middleware.hpp
index b6e800250..d3b89786e 100644
--- a/include/uxr/agent/middleware/Middleware.hpp
+++ b/include/uxr/agent/middleware/Middleware.hpp
@@ -25,6 +25,9 @@
 #include <functional>
 #include <chrono>
 
+#define UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF (255)
+#define UXR_CLIENT_DOMAIN_ID_TO_OVERRIDE_WITH_ENV (255)
+
 namespace eprosima {
 namespace uxr {
 
@@ -296,7 +299,7 @@ class Middleware
 /**********************************************************************************************************************
  * Members.
  **********************************************************************************************************************/
-protected: 
+protected:
     bool intraprocess_enabled_;
 };
 
diff --git a/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp b/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp
index a1ae2f497..e69519378 100644
--- a/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp
+++ b/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp
@@ -284,6 +284,9 @@ class FastDDSMiddleware : public Middleware
         std::shared_ptr<FastDDSParticipant>& participant,
         const fastrtps::ReplierAttributes& attrs);
 
+    int16_t get_domain_id_from_env();
+
+    int16_t agent_domain_id_ = 0;
     std::unordered_map<uint16_t, std::shared_ptr<FastDDSParticipant>> participants_;
     std::unordered_map<uint16_t, std::shared_ptr<FastDDSTopic>> topics_;
     std::unordered_map<uint16_t, std::shared_ptr<FastDDSPublisher>> publishers_;
diff --git a/src/cpp/middleware/fast/FastMiddleware.cpp b/src/cpp/middleware/fast/FastMiddleware.cpp
index d80ac4b7b..e8c4afd0a 100644
--- a/src/cpp/middleware/fast/FastMiddleware.cpp
+++ b/src/cpp/middleware/fast/FastMiddleware.cpp
@@ -49,7 +49,9 @@ bool FastMiddleware::create_participant_by_ref(
     fastrtps::ParticipantAttributes attrs;
     if (XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(ref, attrs))
     {
-        attrs.domainId = uint32_t(domain_id);
+        if(domain_id != UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF) {
+            attrs.domainId = domain_id;
+        }
         fastrtps::Participant* impl = fastrtps::Domain::createParticipant(attrs, &listener_);
         if (nullptr != impl)
         {
@@ -773,7 +775,9 @@ bool FastMiddleware::matched_participant_from_ref(
         fastrtps::ParticipantAttributes attrs;
         if (XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(ref, attrs))
         {
-            attrs.domainId = uint32_t(domain_id);
+            if(domain_id != UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF) {
+                attrs.domainId = domain_id;
+            }
             rv = it->second->match(attrs);
         }
     }
diff --git a/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp b/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
index 4656dae5a..ab6259c09 100644
--- a/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
+++ b/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
@@ -14,6 +14,7 @@
 
 #include <uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp>
 #include <uxr/agent/utils/Conversion.hpp>
+#include <uxr/agent/logger/Logger.hpp>
 
 #include <fastrtps/xmlparser/XMLProfileManager.h>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
@@ -51,6 +52,14 @@ FastDDSMiddleware::FastDDSMiddleware(bool intraprocess_enabled)
     , repliers_()
     , callback_factory_(callback_factory_.getInstance())
 {
+    agent_domain_id_ = get_domain_id_from_env();
+    if (agent_domain_id_)
+    {
+        UXR_AGENT_LOG_INFO(
+                UXR_DECORATE_GREEN("Micro XRCE-DDS Agent DOMAIN_ID read from env"),
+                "domain_id: {}", agent_domain_id_);
+    }
+
 }
 
 /**********************************************************************************************************************
@@ -62,7 +71,13 @@ bool FastDDSMiddleware::create_participant_by_ref(
         const std::string& ref)
 {
     bool rv = false;
-    std::shared_ptr<FastDDSParticipant> participant(new FastDDSParticipant(domain_id));
+    fastrtps::ParticipantAttributes attrs;
+    auto participant_domain_id = domain_id;
+    if(domain_id == UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF && XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(ref, attrs))
+    {
+        participant_domain_id = static_cast<int16_t>(attrs.domainId);
+    }
+    std::shared_ptr<FastDDSParticipant> participant(new FastDDSParticipant(participant_domain_id));
     if (participant->create_by_ref(ref))
     {
         auto emplace_res = participants_.emplace(participant_id, std::move(participant));
@@ -102,8 +117,17 @@ bool FastDDSMiddleware::create_participant_by_bin(
         uint16_t participant_id,
         const dds::xrce::OBJK_DomainParticipant_Binary& participant_xrce)
 {
+    auto participant_domain_id = static_cast<int16_t>(participant_xrce.domain_id());
+    if(participant_domain_id == UXR_CLIENT_DOMAIN_ID_TO_OVERRIDE_WITH_ENV){
+        participant_domain_id = agent_domain_id_;
+        UXR_AGENT_LOG_WARN(
+                UXR_DECORATE_YELLOW("Overriding Micro XRCE-DDS Client DOMAIN_ID"),
+                "domain_id: {}", participant_domain_id
+        );
+    }
+
     bool rv = false;
-    std::shared_ptr<FastDDSParticipant> participant(new FastDDSParticipant((int16_t) participant_xrce.domain_id()));
+    std::shared_ptr<FastDDSParticipant> participant(new FastDDSParticipant(participant_domain_id));
     if (participant->create_by_bin(participant_xrce))
     {
         auto emplace_res = participants_.emplace(participant_id, std::move(participant));
@@ -986,7 +1010,13 @@ bool FastDDSMiddleware::matched_participant_from_ref(
     auto it = participants_.find(participant_id);
     if (participants_.end() != it)
     {
-        rv = (domain_id == it->second->domain_id()) && (it->second->match_from_ref(ref));
+        fastrtps::ParticipantAttributes attrs;
+        auto participant_domain_id = domain_id;
+        if(domain_id == UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF && XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(ref, attrs))
+        {
+            participant_domain_id = static_cast<int16_t>(attrs.domainId);
+        }
+        rv = (participant_domain_id== it->second->domain_id()) && (it->second->match_from_ref(ref));
     }
     return rv;
 }
@@ -1230,5 +1260,15 @@ bool FastDDSMiddleware::matched_replier_from_bin(
     return rv;
 }
 
+int16_t FastDDSMiddleware::get_domain_id_from_env(){
+    int16_t agent_domain_id = 0;
+    const char * agent_domain_id_env = std::getenv( "XRCE_DOMAIN_ID_OVERRIDE" );
+    if (nullptr != agent_domain_id_env)
+    {
+        agent_domain_id = static_cast<int16_t>(std::atoi(agent_domain_id_env));
+    }
+    return agent_domain_id;
+}
+
 } // namespace uxr
 } // namespace eprosima
\ No newline at end of file