Systems with hardware that can dynamically and autonomously change their architecture and behavior by interacting with their environment are becoming very valuable in modern applications. Therefore, research and development in intrinsically evolvable embedded systems are becoming increasingly attractive. Runtime reconfiguration and relocation are a promising approach for designing self-adaptive and self-optimizing autonomous embedded systems. The vision behind this PhD work is to provide an all-encompassing framework to automate all the challenging tasks required for designing self-adaptive systems. This paper presents our framework and preliminary results and highlights our next steps and future work.