diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab
index dbf1b4a3f..28cfa4716 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab
+++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab
@@ -240,7 +240,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &9115279251508973176
 MonoBehaviour:
@@ -280,7 +280,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 8
-  returnMode: 16777220
+  returnMode: 16777218
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab
index 4dedd677f..d25cf2b5b 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab
+++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab
@@ -143,7 +143,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &2398431948632788025
 MonoBehaviour:
@@ -183,7 +183,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 11
-  returnMode: 16777220
+  returnMode: 16777218
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab
index d1a4da892..ca67fbb9a 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab
+++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar40P.prefab
@@ -469,7 +469,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &7675420128049466981
 MonoBehaviour:
@@ -509,7 +509,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 6
-  returnMode: 16777220
+  returnMode: 16777218
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab
index ebe2715ef..a47b0df47 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab
+++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarQT64.prefab
@@ -372,7 +372,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &1430391258634731476
 MonoBehaviour:
@@ -412,7 +412,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 5
-  returnMode: 16777220
+  returnMode: 16777218
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab
index 05c896517..c50b6d66a 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab
+++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandarXT32.prefab
@@ -280,7 +280,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 9
-  returnMode: 16777220
+  returnMode: 16777218
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiQT128C2X.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiQT128C2X.prefab
index 389423f5d..262643925 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiQT128C2X.prefab
+++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiQT128C2X.prefab
@@ -61,7 +61,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &1429064023790827067
 MonoBehaviour:
@@ -101,7 +101,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 10
-  returnMode: 16777220
+  returnMode: 16777218
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab
index af1d59687..3c7ab8f44 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab
+++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/OusterOS1-64.prefab
@@ -100,7 +100,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 20
   modelPreset: 7
-  returnMode: 16777220
+  returnMode: 16777218
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab
index 40ca77d5b..10e90edff 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab
+++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP16.prefab
@@ -61,7 +61,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &4572956135196922574
 MonoBehaviour:
@@ -101,7 +101,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 2
-  returnMode: 16777220
+  returnMode: 16777218
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab
index f1441aa36..956bebb9c 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab
+++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLP32C.prefab
@@ -61,7 +61,7 @@ MonoBehaviour:
   - topic: lidar/pointcloud_ex
     publish: 1
     fieldsPreset: 2
-    fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
+    fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
   radarScanPublishers: []
 --- !u!114 &6422033487030486066
 MonoBehaviour:
@@ -101,7 +101,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 3
-  returnMode: 16777220
+  returnMode: 16777218
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab
index dd5c69241..25016e834 100644
--- a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab
+++ b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/VelodyneVLS128.prefab
@@ -509,7 +509,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   AutomaticCaptureHz: 10
   modelPreset: 4
-  returnMode: 16777220
+  returnMode: 16777218
   applyDistanceGaussianNoise: 1
   applyAngularGaussianNoise: 1
   applyVelocityDistortion: 0
diff --git a/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs b/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs
index 5e37bd3b0..65d97cae2 100644
--- a/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs
+++ b/Assets/RGLUnityPlugin/Scripts/LidarSensor.cs
@@ -47,7 +47,7 @@ public class LidarSensor : MonoBehaviour
         public LidarModel modelPreset = LidarModel.RangeMeter;
 
         [Tooltip("Allows to select between LiDAR return modes")]
-        public RGLReturnMode returnMode = RGLReturnMode.SingleReturnFirst;
+        public RGLReturnMode returnMode = RGLReturnMode.SingleReturnLast;
 
         [Tooltip("Allows to quickly enable/disable distance gaussian noise")]
         public bool applyDistanceGaussianNoise = true;