diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index fb3f0bfd9..bd4713e87 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -21,15 +21,16 @@ jobs:
       matrix:
         os: [ubuntu-latest, macos-latest, windows-latest]
         env: [
-          "py310",
           "py311",
           "py312",
           "py313",
           "py314",
+          "py315",
 #          "py313t",
 #          "py314t",
-          "pypy310",
+#          "py315t",
           "pypy311",
+          "pypy312",
         ]
       fail-fast: false
     steps:
diff --git a/README.rst b/README.rst
index 6e75d8d7d..bb72b7427 100644
--- a/README.rst
+++ b/README.rst
@@ -61,7 +61,7 @@ Library Version                 Python
   4.0+                          3.7+
   4.3+                          3.8+
   4.6+                          3.9+
-  main branch                   3.10+
+  main branch                   3.11+
 ==============================  ===========
 
 
diff --git a/can/bridge.py b/can/bridge.py
index 2ebdff9f8..5449dbf3a 100644
--- a/can/bridge.py
+++ b/can/bridge.py
@@ -9,7 +9,7 @@
 import errno
 import sys
 import time
-from datetime import datetime, timezone
+from datetime import UTC, datetime
 from typing import Final
 
 from can.cli import add_bus_arguments, create_bus_from_namespace
@@ -52,14 +52,14 @@ def main() -> None:
         reader1_to_2 = RedirectReader(bus2)
         reader2_to_1 = RedirectReader(bus1)
         with Notifier(bus1, [reader1_to_2]), Notifier(bus2, [reader2_to_1]):
-            print(f"CAN Bridge (Started on {datetime.now(tz=timezone.utc)})")
+            print(f"CAN Bridge (Started on {datetime.now(tz=UTC)})")
             try:
                 while True:
                     time.sleep(1)
             except KeyboardInterrupt:
                 pass
 
-    print(f"CAN Bridge (Stopped on {datetime.now(tz=timezone.utc)})")
+    print(f"CAN Bridge (Stopped on {datetime.now(tz=UTC)})")
 
 
 if __name__ == "__main__":
diff --git a/can/bus.py b/can/bus.py
index 7de26103e..72cd208ea 100644
--- a/can/bus.py
+++ b/can/bus.py
@@ -4,21 +4,13 @@
 
 import contextlib
 import logging
-import sys
 import threading
 from abc import ABC, abstractmethod
 from collections.abc import Callable, Iterator, Sequence
 from enum import Enum, auto
 from time import time
 from types import TracebackType
-from typing import (
-    cast,
-)
-
-if sys.version_info >= (3, 11):
-    from typing import Self
-else:
-    from typing_extensions import Self
+from typing import Self, cast
 
 import can.typechecking
 from can.broadcastmanager import CyclicSendTaskABC, ThreadBasedCyclicSendTask
diff --git a/can/interfaces/nican.py b/can/interfaces/nican.py
index ea567f4bb..4a3123c59 100644
--- a/can/interfaces/nican.py
+++ b/can/interfaces/nican.py
@@ -64,6 +64,7 @@
 
 
 class RxMessageStruct(ctypes.Structure):
+    _layout_ = "ms"
     _pack_ = 1
     _fields_ = [
         ("timestamp", ctypes.c_ulonglong),
diff --git a/can/io/asc.py b/can/io/asc.py
index 36e395612..be1e05b05 100644
--- a/can/io/asc.py
+++ b/can/io/asc.py
@@ -9,7 +9,7 @@
 import logging
 import re
 from collections.abc import Generator
-from datetime import datetime, timezone, tzinfo
+from datetime import UTC, datetime, tzinfo
 from typing import Any, Final, Literal, TextIO
 
 from ..message import Message
@@ -17,7 +17,7 @@
 from ..util import channel2int, dlc2len, len2dlc
 from .generic import TextIOMessageReader, TextIOMessageWriter
 
-_LOCAL_TZ: Final = datetime.now(timezone.utc).astimezone().tzinfo
+_LOCAL_TZ: Final = datetime.now(UTC).astimezone().tzinfo
 
 CAN_MSG_EXT = 0x80000000
 CAN_ID_MASK = 0x1FFFFFFF
diff --git a/can/io/blf.py b/can/io/blf.py
index 77bd02fae..b03bca41b 100644
--- a/can/io/blf.py
+++ b/can/io/blf.py
@@ -108,7 +108,7 @@ def timestamp_to_systemtime(timestamp: float | None) -> TSystemTime:
     if timestamp is None or timestamp < 631152000:
         # Probably not a Unix timestamp
         return 0, 0, 0, 0, 0, 0, 0, 0
-    t = datetime.datetime.fromtimestamp(round(timestamp, 3), tz=datetime.timezone.utc)
+    t = datetime.datetime.fromtimestamp(round(timestamp, 3), tz=datetime.UTC)
     return (
         t.year,
         t.month,
@@ -131,7 +131,7 @@ def systemtime_to_timestamp(systemtime: TSystemTime) -> float:
             systemtime[5],
             systemtime[6],
             systemtime[7] * 1000,
-            tzinfo=datetime.timezone.utc,
+            tzinfo=datetime.UTC,
         )
         return t.timestamp()
     except ValueError:
diff --git a/can/io/generic.py b/can/io/generic.py
index 3870bbe66..4dc349050 100644
--- a/can/io/generic.py
+++ b/can/io/generic.py
@@ -8,7 +8,6 @@
 
 import locale
 import os
-import sys
 from abc import ABC, abstractmethod
 from collections.abc import Iterable
 from contextlib import AbstractContextManager
@@ -21,15 +20,11 @@
     BinaryIO,
     Generic,
     Literal,
+    Self,
     TextIO,
     TypeVar,
 )
 
-if sys.version_info >= (3, 11):
-    from typing import Self
-else:
-    from typing_extensions import Self
-
 from ..listener import Listener
 from ..message import Message
 from ..typechecking import FileLike, StringPathLike
diff --git a/can/io/logger.py b/can/io/logger.py
index 04c93e04e..a6921d237 100644
--- a/can/io/logger.py
+++ b/can/io/logger.py
@@ -5,23 +5,18 @@
 import gzip
 import os
 import pathlib
-import sys
 from abc import ABC, abstractmethod
 from collections.abc import Callable
-from datetime import datetime, timezone
+from datetime import UTC, datetime
 from types import TracebackType
 from typing import (
     Any,
     ClassVar,
     Final,
     Literal,
+    Self,
 )
 
-if sys.version_info >= (3, 11):
-    from typing import Self
-else:
-    from typing_extensions import Self
-
 from .._entry_points import read_entry_points
 from ..message import Message
 from ..typechecking import StringPathLike
@@ -406,7 +401,7 @@ def _default_name(self) -> StringPathLike:
         new_name = (
             path.stem.split(".")[0]
             + "_"
-            + datetime.now(tz=timezone.utc).strftime("%Y-%m-%dT%H%M%S")
+            + datetime.now(tz=UTC).strftime("%Y-%m-%dT%H%M%S")
             + "_"
             + f"#{self.rollover_count:03}"
             + "".join(path.suffixes[-2:])
diff --git a/can/io/mf4.py b/can/io/mf4.py
index e6dcd2f35..f728345ff 100644
--- a/can/io/mf4.py
+++ b/can/io/mf4.py
@@ -9,7 +9,7 @@
 import heapq
 import logging
 from collections.abc import Generator, Iterator
-from datetime import datetime, timezone
+from datetime import UTC, datetime
 from hashlib import md5
 from io import BufferedIOBase, BytesIO
 from pathlib import Path
@@ -124,7 +124,7 @@ def __init__(
             )
 
         super().__init__(file, mode="w+b")
-        now = datetime.now(tz=timezone.utc)
+        now = datetime.now(tz=UTC)
         self._mdf = cast("MDF4", MDF(version="4.10"))
         self._mdf.header.start_time = now
         self.last_timestamp = self._start_time = now.timestamp()
diff --git a/can/io/trc.py b/can/io/trc.py
index c9c315b6e..1f59b5787 100644
--- a/can/io/trc.py
+++ b/can/io/trc.py
@@ -10,7 +10,7 @@
 import logging
 import os
 from collections.abc import Callable, Generator
-from datetime import datetime, timedelta, timezone
+from datetime import UTC, datetime, timedelta
 from enum import Enum
 from io import TextIOWrapper
 from typing import Any, TextIO
@@ -67,7 +67,7 @@ def __init__(
     @property
     def start_time(self) -> datetime | None:
         if self._start_time:
-            return datetime.fromtimestamp(self._start_time, timezone.utc)
+            return datetime.fromtimestamp(self._start_time, UTC)
         return None
 
     def _extract_header(self) -> str:
@@ -94,7 +94,7 @@ def _extract_header(self) -> str:
                 logger.debug("TRCReader: Found start time '%s'", line)
                 try:
                     self._start_time = (
-                        datetime(1899, 12, 30, tzinfo=timezone.utc)
+                        datetime(1899, 12, 30, tzinfo=UTC)
                         + timedelta(days=float(line.split("=")[1]))
                     ).timestamp()
                 except IndexError:
@@ -337,9 +337,7 @@ def _write_header_v1_0(self, start_time: datetime) -> None:
         self.file.writelines(line + "\n" for line in lines)
 
     def _write_header_v2_1(self, start_time: datetime) -> None:
-        header_time = start_time - datetime(
-            year=1899, month=12, day=30, tzinfo=timezone.utc
-        )
+        header_time = start_time - datetime(year=1899, month=12, day=30, tzinfo=UTC)
         lines = [
             ";$FILEVERSION=2.1",
             f";$STARTTIME={header_time/timedelta(days=1)}",
@@ -397,7 +395,7 @@ def _format_message_init(self, msg: Message, channel: int) -> str:
 
     def write_header(self, timestamp: float) -> None:
         # write start of file header
-        start_time = datetime.fromtimestamp(timestamp, timezone.utc)
+        start_time = datetime.fromtimestamp(timestamp, UTC)
 
         if self.file_version == TRCFileVersion.V1_0:
             self._write_header_v1_0(start_time)
diff --git a/can/listener.py b/can/listener.py
index 285fca585..5616f110a 100644
--- a/can/listener.py
+++ b/can/listener.py
@@ -3,17 +3,11 @@
 """
 
 import asyncio
-import sys
 import warnings
 from abc import ABC, abstractmethod
 from collections.abc import AsyncIterator
 from queue import Empty, SimpleQueue
-from typing import Any
-
-if sys.version_info >= (3, 11):
-    from typing import Self
-else:
-    from typing_extensions import Self
+from typing import Any, Self
 
 from can.bus import BusABC
 from can.message import Message
diff --git a/can/logger.py b/can/logger.py
index e072eb6cb..198480d40 100644
--- a/can/logger.py
+++ b/can/logger.py
@@ -1,10 +1,8 @@
 import argparse
 import errno
 import sys
-from datetime import datetime, timezone
-from typing import (
-    TYPE_CHECKING,
-)
+from datetime import UTC, datetime
+from typing import TYPE_CHECKING
 
 from can import BusState, Logger, SizedRotatingLogger
 from can.cli import (
@@ -107,7 +105,7 @@ def main() -> None:
         bus.state = BusState.PASSIVE
 
     print(f"Connected to {bus.__class__.__name__}: {bus.channel_info}")
-    print(f"Can Logger (Started on {datetime.now(tz=timezone.utc)})")
+    print(f"Can Logger (Started on {datetime.now(tz=UTC)})")
 
     logger: MessageWriter | BaseRotatingLogger
     if results.file_size:
diff --git a/can/player.py b/can/player.py
index 51231f3d1..b912c2c1e 100644
--- a/can/player.py
+++ b/can/player.py
@@ -9,7 +9,7 @@
 import errno
 import math
 import sys
-from datetime import datetime, timezone
+from datetime import UTC, datetime
 from typing import TYPE_CHECKING, cast
 
 from can import LogReader, MessageSync
@@ -54,7 +54,7 @@ def _format_player_start_message(iteration: int, loop_count: float) -> str:
     else:
         loop_val = "∞" if math.isinf(loop_count) else str(loop_count)
         loop_info = f" [loop {iteration + 1}/{loop_val}]"
-    return f"Can LogReader (Started on {datetime.now(tz=timezone.utc)}){loop_info}"
+    return f"Can LogReader (Started on {datetime.now(tz=UTC)}){loop_info}"
 
 
 def main() -> None:
diff --git a/can/util.py b/can/util.py
index 765c9c9dc..f3b1040fd 100644
--- a/can/util.py
+++ b/can/util.py
@@ -17,12 +17,11 @@
 from time import get_clock_info, perf_counter, time
 from typing import (
     Any,
+    ParamSpec,
     TypeVar,
     cast,
 )
 
-from typing_extensions import ParamSpec
-
 import can
 
 from . import typechecking
diff --git a/doc/changelog.d/2128.removed.rst b/doc/changelog.d/2128.removed.rst
new file mode 100644
index 000000000..c3cfc21ff
--- /dev/null
+++ b/doc/changelog.d/2128.removed.rst
@@ -0,0 +1 @@
+Remove support for end-of-life Python 3.10.
\ No newline at end of file
diff --git a/pyproject.toml b/pyproject.toml
index 3c2a93bc3..f95e6bf6c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -10,9 +10,9 @@ authors = [{ name = "python-can contributors" }]
 dependencies = [
     "wrapt >= 1.10, < 3",
     "packaging >= 23.1",
-    "typing_extensions>=3.10.0.0",
+    "typing_extensions>=3.10.0.0;python_version<'3.12'",
 ]
-requires-python = ">=3.10"
+requires-python = ">=3.11"
 license = "LGPL-3.0-only"
 classifiers = [
     "Development Status :: 5 - Production/Stable",
@@ -78,7 +78,7 @@ viewer = [
     "windows-curses; platform_system == 'Windows' and platform_python_implementation=='CPython'"
 ]
 mf4 = ["asammdf>=6.0.0"]
-multicast = ["msgpack~=1.1.0"]
+multicast = ["msgpack==1.*"]
 
 [dependency-groups]
 docs = [
@@ -103,8 +103,7 @@ test = [
     "pytest-cov==7.1.*",
     "coverage==7.14.*",
     "hypothesis==6.*",
-    # hypothesis>=6.156 needs a Rust extension that does not support PyPy 3.10
-    "hypothesis<6.156;platform_python_implementation=='PyPy' and python_version<'3.11'",
+    "hypothesis<6.156",
     "parameterized==0.9.*",
 ]
 dev = [
diff --git a/tox.ini b/tox.ini
index 1d9d4cdc3..ccd02c862 100644
--- a/tox.ini
+++ b/tox.ini
@@ -26,11 +26,11 @@ commands =
 [testenv:py315]
 extras =
     canalystii
-    mf4
     multicast
     gs-usb
     pywin32
     serial
+    # mf4 depends on isal which is not available for py315 yet
     # still no windows-curses for py315
 
 [testenv:{py313t,py314t,py315t,pypy310,pypy311,pypy312}]
@@ -86,7 +86,6 @@ dependency_groups =
     lint
 extras =
 commands =
-    mypy --python-version 3.10 .
     mypy --python-version 3.11 .
     mypy --python-version 3.12 .
     mypy --python-version 3.13 .