diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index ea395d44c..622bba139 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -31,6 +31,7 @@ jobs:
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
+        pip install setuptools==65.5.0
         # cpu version of pytorch - faster to download
         pip install torch==1.11+cpu -f https://download.pytorch.org/whl/torch_stable.html
         pip install pybullet==3.1.9
@@ -38,7 +39,7 @@ jobs:
         # Use headless version
         pip install opencv-python-headless
         # install parking-env to test HER (pinned so it works with gym 0.21)
-        pip install highway-env==1.6.0
+        pip install highway-env==1.5.0
         pip install -e .
     - name: Type check
       run: |
diff --git a/.github/workflows/trained_agents.yml b/.github/workflows/trained_agents.yml
index 9786e5f12..3e2d6d27b 100644
--- a/.github/workflows/trained_agents.yml
+++ b/.github/workflows/trained_agents.yml
@@ -31,6 +31,7 @@ jobs:
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
+        pip install setuptools==65.5.0
         # cpu version of pytorch - faster to download
         pip install torch==1.11+cpu -f https://download.pytorch.org/whl/torch_stable.html
         pip install pybullet==3.1.9
@@ -38,7 +39,7 @@ jobs:
         # Use headless version
         pip install opencv-python-headless
         # install parking-env to test HER (pinned so it works with gym 0.21)
-        pip install highway-env==1.6.0
+        pip install highway-env==1.5.0
         # Add support for pickle5 protocol
         # TODO: remove me when dropping python 3.7
         pip install pickle5
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 81dca7165..67b6934a5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,7 @@
 ### New Features
 
 ### Bug fixes
+- Set ``highway-env`` version to 1.5 and ``setuptools to`` v65.5 for the CI
 - Removed `use_auth_token` for push to hub util
 - Reverted from v3 to v2 for HumanoidStandup, Reacher, InvertedPendulum and InvertedDoublePendulum since they were not part of the mujoco refactoring (see https://github.com/openai/gym/pull/1304)
 
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 4e148c06c..bd4d85967 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -21,7 +21,7 @@ RUN \
     mkdir -p ${CODE_DIR}/rl_zoo3 && \
     pip uninstall -y stable-baselines3 && \
     pip install -r /tmp/requirements.txt && \
-    pip install pip install highway-env==1.6 && \
+    pip install pip install highway-env==1.5 && \
     rm -rf $HOME/.cache/pip
 
 ENV PATH=$VENV/bin:$PATH
diff --git a/rl_zoo3/import_envs.py b/rl_zoo3/import_envs.py
index dc3a96fe3..f918e2e0c 100644
--- a/rl_zoo3/import_envs.py
+++ b/rl_zoo3/import_envs.py
@@ -12,6 +12,11 @@
     import highway_env  # pytype: disable=import-error
 except ImportError:
     highway_env = None
+else:
+    # hotfix for highway_env
+    import numpy as np
+
+    np.float = np.float32  # type: ignore[attr-defined]
 
 try:
     import neck_rl  # pytype: disable=import-error