The term “Reconfigurable Manufacturing System (RMS)” was coined by Prof. Koren three decades ago, in response to the challenges caused by global manufacturing. RMS has rapid responsiveness and can provide the exact capacity and functionality needed, exactly when needed. Since then, many RMS models, principles, and technologies, ranging from machine level to system level and supply-chain level, have been invented. RMS has been established as a new scientific research area that has gained increasing attention and interest from both academia and industry. In the current Industry 4.0 and 5.0 era, new technologies (e.g., cyber-physical systems, digital twins, artificial intelligence, data analytics) and new manufacturing goals (e.g., market-of-one products, sustainability, resilience, human-centricity) are emerging. This chapter presents the roadmap of the RMS paradigm by reviewing its emergence and its development trend. It also discusses the role of RMS in the current Industry 4.0 and 5.0 era, and how the integration of RMS technologies and other emerging technologies can improve the competitiveness of today’s manufacturing enterprises.