WayWise is an innovative C++ and Qt-based rapid prototyping library designed to advance the development and analysis of connected, autonomous vehicles (CAVs) and Unmanned Arial Systems (UASs). It was deployed on model-sized cars and trucks as well as full-sized mobile machinery, tractors and UASs. It is actively being used in several European research projects. Developed by the RISE Dependable Transport Systems unit, the library facilitates exploration into safety and cybersecurity aspects inherent to various emerging vehicular applications within road traffic and offroad applications. This non-production library emphasizes rapid prototyping, leveraging commercial off-the-shelf hardware and the different protocols for vehicle-control communication, mainly focusing on MAVLINK. The utility of WayWise in rapidly evaluating complex vehicular behaviors is demonstrated through various research projects, thus contributing to the field of autonomous vehicular technology.