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Im just asking, How do you change the setup and menu theme?

Can you elaborate on what you mean?

Ive seen videos of people with a different theme of when they go into either sandbox or scenarios. Its where they get to choose the drive type in the chassis column. and it tells you what each engine is in the engine column.

Quick recap. It tells you the engine and what I does.

Do you have an example?

But it is possible that those videos are from earlier versions of the game, when the flow was slightly different.

Still don't know what you mean by "theme".
Maybe the description texts? Nowadays you get those by clicking on the respective heading over the selection.

In the older builds of the game, the UI was very different to what it is now. It's possible that the videos you saw were from older versions of the game, when the UI was mainly grey.

Ah, Because I liked it.

Also, mods can change the ui and looks.