diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 9cdcd66fb..f31cc76a0 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -269,10 +269,10 @@ jobs:
       fail-fast: false
       matrix:
         build_type: [Release]
-        os: [ubuntu-20.04, windows-2019]
+        os: [ubuntu-22.04, windows-2019]
         project_tags: [Default, Unstable, LatestReleases]
         include:
-          - os: ubuntu-20.04
+          - os: ubuntu-22.04
             build_type: Release
             cmake_generator: "Ninja"
           - os: macos-latest
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ca7daad7d..987d76540 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -48,11 +48,6 @@ endif()
 set(YCM_FOLDER src)
 set(YCM_COMPONENT core)
 set(YCM_MINIMUM_VERSION 0.14.0)
-# Quick workaround for https://github.com/robotology/robotology-superbuild/issues/1690
-if(NOT ${YCM_TAG})
-  set(YCM_TAG v0.16.6)
-endif()
-option(YCM_USE_CMAKE_NEXT "Use legacy YCM fork of ExternalProject module instead of upstream CMake ExternalProject" OFF)
 
 # Include logic for generating Conda recipes (by default it is disabled) and exit
 if(ROBOTOLOGY_GENERATE_CONDA_RECIPES)