A vehicle waste heat recovery system may include a first pump, an internal combustion engine, a waste heat recovery device and a condenser. The first pump may be in fluid communication with a fluid. The internal combustion engine may be operable to power rotation of a drive axle of a vehicle and may define an engine coolant passage having an inlet in fluid communication with an outlet of the first pump. The waste heat recovery device may have an inlet in fluid communication with an outlet of the engine coolant passage. The condenser may have an inlet in fluid communication with an outlet of the waste heat recovery device and an outlet in fluid communication with an inlet of the first pump.