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Mobile Ad Hoc Networks (MANETs) are organizations of mobile network devices that ability to selfconfiguring and self-setting parameters for effective innetwork communication. Thanks to the intelligence and flexibility in connections and transferring data, MANETs have demonstrated outstanding capabilities and abilities in a wide range of fields serving humanity, such as healthcare, intelligent transportation systems, smart agriculture, smart retail, and IoT ecosystems. Due to the mobile characteristics of wireless nodes, the structure of MANETs changes frequently. Moreover, the operating principle of MANETs is distributed, not relying on central devices such as base stations, leading to the guarantee QoS problem is one of the main challenges of MANETs. In this study, we proposed a QoS-aware on-demand routing protocol (QoS-ADRP) for urban-MANET applications. To enhance the feasibility of the proposed solution, we establish a mechanism so that the proposed protocol can work on both Adaptive and Admission modes. The experiment results demonstrated that the QoS-ADRP improve the QoS flows, packet delivery ratio, latency, throughput compared to existing protocols.