diff --git a/.github/workflows/ci-python-version-test.yml b/.github/workflows/ci-python-version-test.yml
new file mode 100644
index 0000000000..5d6b60469e
--- /dev/null
+++ b/.github/workflows/ci-python-version-test.yml
@@ -0,0 +1,32 @@
+name: SMARTS CI Python Version Tests
+
+# on:
+#   push:
+#     branches:
+#       - master
+on: [push, pull_request]
+
+
+env:
+  venv_dir: .venv
+
+jobs:
+  install_python:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ['3.8', '3.9', '3.10-dev', '3.11-dev']
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Update requirements
+        run: |
+          cd $GITHUB_WORKSPACE
+          python${{ matrix.python-version }} -m venv ${{env.venv_dir}}
+          . ${{env.venv_dir}}/bin/activate
+          pip install --upgrade pip
+          pip install wheel==0.38.4
+          pip install .[camera_obs,rllib,test,torch,train]
\ No newline at end of file
diff --git a/setup.cfg b/setup.cfg
index 3096f96acf..edc2c3d9d3 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -26,8 +26,7 @@ install_requires =
     setuptools>=41.0.0,!=50.0
     click>=7.1.2  # used in scl
     # numpy>=1.19.5 required for tf 2.4
-    # numpy<1.24 required for ray (see https://github.com/ray-project/ray/issues/31258)
-    numpy>=1.19.5,<1.24.0
+    numpy>=1.19.5
     psutil>=5.4.8
     shapely>=2.0.0
     tableprint>=0.9.1
@@ -36,7 +35,7 @@ install_requires =
     PyYAML>=3.13
     twisted>=21.7.0 # for scenario requirements.txt files
 
-    pybullet>=3,<4.0 # planned to be made optional
+    pybullet>=3,<4.0 # planned to be made optional (For >3.9 this requires python3.<ver>-dev)
     cloudpickle>=1.3.0 # planned for removal
 
 [options.packages.find]
@@ -87,8 +86,8 @@ opendrive =
     opendrive2lanelet>=1.2.1
     Rtree>=0.9.7
 rllib = 
-    opencv-python==4.1.2.30
-    opencv-python-headless==4.1.2.30
+    opencv-python>=4.1.2.30,<5.0
+    opencv-python-headless>=4.1.2.30,<5.0
     ray[rllib]~=2.5.0
     tensorflow-probability
 ray = 
@@ -110,8 +109,8 @@ test_notebook =
     jupyter-client>=7.1.2
     pytest-notebook>=0.7.0
 torch = 
-    torch==1.4.0
-    torchvision==0.5.0
+    torch>=1.4.0
+    torchvision>=0.5.0
 train = 
     tensorflow>=2.4.0
 visdom =