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In an era of connectivity and automation, the vehicle industry is adopting various technologies to transfer driver-centric vehicles to intelligent mechanical devices driven by software components. However, software integration and network connectivity inherit numerous security issues. Despite the raised necessity to adopt security methodologies during the development of automotive systems, we notice a lack of studies recognizing the importance of security during vehicle software engineering. Our research strives to provide practical and comprehensive solutions that manage the unique architecture of Connected Autonomous Vehicles (CAVs) and strengthen the security of automotive software systems, making CAVs more resilient to cyberattacks.