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A method for manufacturing a reinforcing structure for tyres of vehicles includes the steps of preparing a plurality of strip segments having substantially parallel, longitudinal filiform elements at least partially coated by at least one layer of elastomeric material, and applying the plurality of strip segments along a circumference of a toroidal support, to form at least one continuous reinforcing layer about a geometric axis of rotation of the toroidal support. During the applying step, a relative angular rotation, between at least one of the plurality of strip segments and the toroidal support, occurs about an axis of correction substantially radial to the geometric axis of rotation. A related apparatus for manufacturing a reinforcing structure for tyres of vehicles is also disclosed.