diff --git a/.script/build-rmcs b/.script/build-rmcs
index 68f90d730..9c1801a17 100755
--- a/.script/build-rmcs
+++ b/.script/build-rmcs
@@ -7,10 +7,47 @@ cd "${RMCS_PATH}"/rmcs_ws || exit
 [[ -x /opt/cmake/bin/cmake ]] &&
     export PATH="/opt/cmake/bin:$PATH"
 
-command -v clang &>/dev/null &&
-    export CC=clang
+cmake_toolchain_args=()
+event_handlers_args=()
+
+if [[ "${RMCS_USE_LLVM}" == "ON" ]]; then
+    missing_tools=()
+    for tool in clang clang++ llvm-ar llvm-ranlib ld.lld ninja; do
+        if ! command -v "${tool}" &>/dev/null; then
+            missing_tools+=("${tool}")
+        fi
+    done
+
+    if ((${#missing_tools[@]} > 0)); then
+        echo "> ERROR: LLVM toolchain is required when RMCS_USE_GCC is not ON."
+        echo "> Missing tools: ${missing_tools[*]}"
+        echo "> Install the missing tools, or set RMCS_USE_GCC=ON to build with GCC."
+        exit 1
+    fi
 
-command -v clang++ &>/dev/null &&
+    echo "> Compiling With LLVM ToolChain"
+    export CC=clang
     export CXX=clang++
+    cmake_toolchain_args=(
+        "-G Ninja"
+        "-D CMAKE_MESSAGE_LOG_LEVEL=ERROR"
+        "-D CMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld"
+        "-D CMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld"
+        "-D CMAKE_AR=$(command -v llvm-ar)"
+        "-D CMAKE_RANLIB=$(command -v llvm-ranlib)"
+    )
+    event_handlers_args=(
+        --event-handlers console_cohesion+
+    )
+fi
+
+colcon_args=(
+    --symlink-install --merge-install
+    "${event_handlers_args[@]}"
+)
+cmake_args=(
+    "${cmake_toolchain_args[@]}"
+)
 
-colcon build --symlink-install --merge-install "$@" --cmake-args -G Ninja
+CLICOLOR_FORCE=1 NINJA_STATUS="" \
+    colcon build "${colcon_args[@]}" "$@" --cmake-args "${cmake_args[@]}"
diff --git a/.script/complete/_build-rmcs b/.script/complete/_build-rmcs
new file mode 100644
index 000000000..1b5b5894b
--- /dev/null
+++ b/.script/complete/_build-rmcs
@@ -0,0 +1,51 @@
+#compdef build-rmcs
+
+local _comp_func="${_comps[colcon]}"
+
+if [[ -z "${_comp_func}" ]]; then
+    if (( $+functions[_python_argcomplete] )); then
+        _comp_func="_python_argcomplete"
+    elif (( $+functions[_colcon] )); then
+        _comp_func="_colcon"
+    else
+        _message "colcon completion not found. Please source colcon completion setup."
+        return 1
+    fi
+fi
+
+if [[ "${_comp_func}" == "_python_argcomplete" ]]; then
+    local IFS=$'\013'
+    local -a completions
+    local _comp_line _comp_point
+
+    _comp_line="colcon build${BUFFER#build-rmcs}"
+    _comp_point=$((CURSOR + 2))
+
+    completions=($(IFS="$IFS" \
+        COMP_LINE="${_comp_line}" \
+        COMP_POINT="${_comp_point}" \
+        _ARGCOMPLETE=1 \
+        _ARGCOMPLETE_SHELL="zsh" \
+        _ARGCOMPLETE_SUPPRESS_SPACE=1 \
+        __python_argcomplete_run colcon))
+
+    _describe colcon completions -o nosort
+    return 0
+fi
+
+local -a _orig_words
+local _orig_current
+
+_orig_words=("${words[@]}")
+_orig_current=${CURRENT}
+
+words=(colcon build "${_orig_words[@]:1}")
+CURRENT=$((_orig_current + 1))
+
+"${_comp_func}" "$@"
+local status=$?
+
+words=("${_orig_words[@]}")
+CURRENT=${_orig_current}
+
+return $status
diff --git a/Dockerfile b/Dockerfile
index 3ea8bddf7..4d5c1f848 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -88,17 +88,24 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     rm -rf /var/lib/apt/lists/* /tmp/*
 
 # Install latest stable llvm-toolchain
+ARG LLVM_VERSION=22
 RUN mkdir -p /etc/apt/keyrings && \
     wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | gpg -o /etc/apt/keyrings/llvm-snapshot.gpg --dearmor && \
-    echo "deb [signed-by=/etc/apt/keyrings/llvm-snapshot.gpg] https://mirrors.tuna.tsinghua.edu.cn/llvm-apt/noble/ llvm-toolchain-noble-22 main" \
+    echo "deb [signed-by=/etc/apt/keyrings/llvm-snapshot.gpg] https://mirrors.tuna.tsinghua.edu.cn/llvm-apt/noble/ llvm-toolchain-noble-${LLVM_VERSION} main" \
         | tee /etc/apt/sources.list.d/llvm.list && \
     apt-get update && \
-    apt-get install -y --no-install-recommends clang-22 clangd-22 clang-format-22 lldb-22 && \
-    update-alternatives --install /usr/bin/clang clang /usr/bin/clang-22 100 && \
-    update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-22 100 && \
-    update-alternatives --install /usr/bin/clangd clangd /usr/bin/clangd-22 100 && \
-    update-alternatives --install /usr/bin/clang-format clang-format /usr/bin/clang-format-22 100 && \
-    update-alternatives --install /usr/bin/lldb lldb /usr/bin/lldb-22 100 && \
+    apt-get install -y --no-install-recommends \
+        clang-${LLVM_VERSION} clangd-${LLVM_VERSION} clang-format-${LLVM_VERSION} clang-tidy-${LLVM_VERSION} \
+        lldb-${LLVM_VERSION} lld-${LLVM_VERSION} llvm-${LLVM_VERSION} && \
+    update-alternatives --install /usr/bin/clang clang /usr/bin/clang-${LLVM_VERSION} 100 && \
+    update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-${LLVM_VERSION} 100 && \
+    update-alternatives --install /usr/bin/clangd clangd /usr/bin/clangd-${LLVM_VERSION} 100 && \
+    update-alternatives --install /usr/bin/clang-format clang-format /usr/bin/clang-format-${LLVM_VERSION} 100 && \
+    update-alternatives --install /usr/bin/clang-tidy clang-tidy /usr/bin/clang-tidy-${LLVM_VERSION} 100 && \
+    update-alternatives --install /usr/bin/lldb lldb /usr/bin/lldb-${LLVM_VERSION} 100 && \
+    update-alternatives --install /usr/bin/llvm-ar llvm-ar /usr/bin/llvm-ar-${LLVM_VERSION} 100 && \
+    update-alternatives --install /usr/bin/llvm-ranlib llvm-ranlib /usr/bin/llvm-ranlib-${LLVM_VERSION} 100 && \
+    update-alternatives --install /usr/bin/ld.lld ld.lld /usr/bin/ld.lld-${LLVM_VERSION} 100 && \
     apt-get autoremove -y && apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/*
 
 # Generate/load ssh key and setup unison