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Modern Advanced Driver-Assistance Systems (ADAS) merge critical and non-critical software functions with complex timing requirements and inter-dependencies onto the same integrated hardware platform. Real-time safety-critical automotive applications feature complex dependency chains between tasks (e.g., performing sensing, processing and actuation) which have to satisfy worst-case end-to-end latency constraints. The resulting scheduling problem requires both the assignment of tasks to the available cores of the platform and the computation static schedule tables for the real-time tasks, such that task deadlines, as well as end-to-end task chain constraints, are satisfied. We propose a heuristic approach based on Simulated Annealing (SA) which creates static schedule tables by simulating Earliest Deadline First (EDF) scheduling parameterized by task offsets and local deadlines decided by SA. We evaluate the proposed solution with real-world and synthetic test cases scaled to fit the future requirements of ADAS systems.