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This paper provides two contributions to R&D on model-driven development (MDD) techniques that help codify the impact of middleware configurations on end-to-end distributed real-time and embedded (DRE) system quality of service (QoS). First, we describe how MDD techniques can help select middleware configuration parameters that satisfy key functional and QoS requirements of DRE systems. Second, we apply our MDD techniques to empirically evaluate the end-to-end QoS of representative DRE systems in the avionics and industrial manufacturing domains. Our results show how MDD techniques significantly enhance conventional ad hoc processes used by developers to configure middleware that meets the QoS needs of DRE systems.