diff --git a/.github/workflows/ci_cd.yml b/.github/workflows/ci_cd.yml
index a28f5a18..b225d762 100644
--- a/.github/workflows/ci_cd.yml
+++ b/.github/workflows/ci_cd.yml
@@ -22,7 +22,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v4
         with:
-          python-version: "3.10"
+          python-version: "3.11"
 
       - name: Install Python tools
         run: pip install build twine
@@ -55,11 +55,10 @@ jobs:
         os:
           - ubuntu-22.04
           - macos-latest
-          # https://github.com/google/jax/issues/5795
-          # - windows-latest
+          - windows-latest
         python:
-          - "3.10"
           - "3.11"
+          - "3.12"
 
     steps:
 
@@ -74,19 +73,13 @@ jobs:
           path: dist
           name: dist
 
-      # Workaround: install iDynTree for Python 3.11
-      - name: iDynTree on Python 3.11
-        if: contains(matrix.os, 'ubuntu') && matrix.python == '3.11'
-        shell: bash
-        run: pip install --pre idyntree
-
       - name: Install wheel (ubuntu)
         if: contains(matrix.os, 'ubuntu')
         shell: bash
         run: pip install "$(find dist/ -type f -name '*.whl')[all]"
 
-      - name: Install wheel (macos)
-        if: contains(matrix.os, 'macos')
+      - name: Install wheel (macos|windows)
+        if: contains(matrix.os, 'macos') || contains(matrix.os, 'windows')
         shell: bash
         run: pip install "$(find dist/ -type f -name '*.whl')"
 
@@ -98,13 +91,13 @@ jobs:
           fetch-depth: 0
 
       - name: Install Gazebo Classic
-        if: contains(matrix.os, 'ubuntu') && (matrix.python == '3.10' || matrix.python == '3.11')
+        if: contains(matrix.os, 'ubuntu')
         run: |
           sudo apt-get update
           sudo apt-get install gazebo
 
       - name: Run the Python tests
-        if: contains(matrix.os, 'ubuntu') && (matrix.python == '3.10' || matrix.python == '3.11')
+        if: contains(matrix.os, 'ubuntu')
         run: pytest
         env:
           JAX_PLATFORM_NAME: cpu
diff --git a/.gitignore b/.gitignore
index f2520562..707a422a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -133,3 +133,6 @@ dmypy.json
 
 # Pyre type checker
 .pyre/
+
+# setuptools_scm dynamic version
+src/jaxsim/_version.py
diff --git a/.readthedocs.yaml b/.readthedocs.yaml
index 42f51dab..259b28c3 100644
--- a/.readthedocs.yaml
+++ b/.readthedocs.yaml
@@ -8,6 +8,11 @@ build:
 conda:
   environment: docs/jaxsim_conda_env.yml
 
+python:
+  install:
+    - method: pip
+      path: .
+      
 sphinx:
   configuration: docs/conf.py
 
diff --git a/docs/conf.py b/docs/conf.py
index b2548ac3..75578922 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -3,6 +3,8 @@
 import pathlib
 import sys
 
+from pkg_resources import get_distribution
+
 # -- Version information
 
 sys.path.insert(0, os.path.abspath("."))
@@ -11,10 +13,8 @@
 
 module_path = os.path.abspath("../src/")
 sys.path.insert(0, module_path)
-version_file = os.path.abspath("../src/jaxsim/version.txt")
 
-with open(version_file) as file_handler:
-    __version__ = file_handler.read().strip()
+__version__ = get_distribution("jaxsim").version
 
 # -- Project information
 
diff --git a/pyproject.toml b/pyproject.toml
index 4c31bb01..3a74e3a4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -2,12 +2,13 @@
 build-backend = "setuptools.build_meta"
 requires = [
     "wheel",
-    "setuptools>=45",
-    "setuptools_scm[toml]>=6.2",
+    "setuptools>=64",
+    "setuptools_scm[toml]>=8",
 ]
 
 [tool.setuptools_scm]
 local_scheme = "dirty-tag"
+version_file = "src/jaxsim/_version.py"
 
 [tool.black]
 line-length = 88
diff --git a/setup.cfg b/setup.cfg
index b6eed46e..6f42a759 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -36,8 +36,8 @@ classifiers =
     Operating System :: POSIX :: Linux
     Operating System :: MacOS
     Operating System :: Microsoft
-    Programming Language :: Python :: 3.10
     Programming Language :: Python :: 3.11
+    Programming Language :: Python :: 3.12
     Programming Language :: Python :: 3 :: Only
     Programming Language :: Python :: Implementation :: CPython
     Topic :: Games/Entertainment :: Simulation
@@ -50,16 +50,15 @@ zip_safe = False
 packages = find:
 package_dir =
     =src
-python_requires = >=3.10
+python_requires = >=3.11
 install_requires =
     coloredlogs
-    jax >= 0.4.1
+    jax >= 0.4.13
     jaxlib
-    jaxlie
+    jaxlie >= 1.3.0
     jax_dataclasses >= 1.4.0
     pptree
     rod
-    typing_extensions; python_version < "3.11"
 
 [options.packages.find]
 where = src
diff --git a/src/jaxsim/__init__.py b/src/jaxsim/__init__.py
index 4064737a..82da0e3a 100644
--- a/src/jaxsim/__init__.py
+++ b/src/jaxsim/__init__.py
@@ -1,4 +1,5 @@
 from . import logging
+from ._version import __version__
 
 
 # Follow upstream development in https://github.com/google/jax/pull/13304
diff --git a/src/jaxsim/version.txt b/src/jaxsim/version.txt
deleted file mode 100644
index 8a9ecc2e..00000000
--- a/src/jaxsim/version.txt
+++ /dev/null
@@ -1 +0,0 @@
-0.0.1
\ No newline at end of file