Modern automotive systems are one of the most novel declinations of Cyber-Physical Systems, where actuation of different features of the vehicle are operated by embedded systems (powered by microcontrollers) with limited computational power and memory. These microcontrollers are connected with each other by means of different communication networks. Although these communication protocols are designed to operate in an isolated environment, the adoption of external connectivity on modern vehicles paved the way for novel attack scenarios exploiting the vulnerabilities of in-vehicle protocols. Multiple novel communication protocols addressing the vulnerabilities of the most common in-vehicle communication networks have been proposed by security researchers, but the benefits in terms of industry knowledge, affidability, and cost-efficiency of legacy protocols are still preventing modern solutions to be deployed in mass-produced vehicles. Hence it is necessary to develop solutions that are designed for established internal and external vehicle communication networks to increase the security of these protocols by considering the constraints of automotive systems.