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The fifth-generation (5G) mobile communications promise far more capabilities than competing technologies and are expected to enable a wide range of vertical use cases. Among them, remote driving has attracted much interest from both academia and the industry, either as a stepping stone on the road to fully autonomous driving or as its complement constituting a fallback/backup service. This paper presents the design, development, and evaluation of a teleoperated support (TeSo) service over 5G mobile communications, realized within the framework of the “5G HEalth, AquacultuRe and Transport (5G-HEART)” EU project. We present an end-to-end service architecture and a complete implementation, accompanied by validation trials and performance measurements in a real pilot over a commercial 5G network deployment with an actual vehicle that has been extended to support a variety of experimentation …