diff --git a/src/cpp/rtps/writer/StatefulWriter.cpp b/src/cpp/rtps/writer/StatefulWriter.cpp
index ced15bae493..f0dd8f2d883 100644
--- a/src/cpp/rtps/writer/StatefulWriter.cpp
+++ b/src/cpp/rtps/writer/StatefulWriter.cpp
@@ -1218,55 +1218,58 @@ bool StatefulWriter::matched_reader_remove(
 {
     ReaderProxy* rproxy = nullptr;
     std::unique_lock<RecursiveTimedMutex> lock(mp_mutex);
-    std::unique_lock<LocatorSelectorSender> guard_locator_selector_general(locator_selector_general_);
-    std::unique_lock<LocatorSelectorSender> guard_locator_selector_async(locator_selector_async_);
 
-    for (ReaderProxyIterator it = matched_local_readers_.begin();
-            it != matched_local_readers_.end(); ++it)
     {
-        if ((*it)->guid() == reader_guid)
-        {
-            EPROSIMA_LOG_INFO(RTPS_WRITER, "Reader Proxy removed: " << reader_guid);
-            rproxy = std::move(*it);
-            it = matched_local_readers_.erase(it);
-            break;
-        }
-    }
+        std::lock_guard<LocatorSelectorSender> guard_locator_selector_general(locator_selector_general_);
+        std::lock_guard<LocatorSelectorSender> guard_locator_selector_async(locator_selector_async_);
 
-    if (rproxy == nullptr)
-    {
-        for (ReaderProxyIterator it = matched_datasharing_readers_.begin();
-                it != matched_datasharing_readers_.end(); ++it)
+        for (ReaderProxyIterator it = matched_local_readers_.begin();
+                it != matched_local_readers_.end(); ++it)
         {
             if ((*it)->guid() == reader_guid)
             {
                 EPROSIMA_LOG_INFO(RTPS_WRITER, "Reader Proxy removed: " << reader_guid);
                 rproxy = std::move(*it);
-                it = matched_datasharing_readers_.erase(it);
+                it = matched_local_readers_.erase(it);
                 break;
             }
         }
-    }
 
-    if (rproxy == nullptr)
-    {
-        for (ReaderProxyIterator it = matched_remote_readers_.begin();
-                it != matched_remote_readers_.end(); ++it)
+        if (rproxy == nullptr)
         {
-            if ((*it)->guid() == reader_guid)
+            for (ReaderProxyIterator it = matched_datasharing_readers_.begin();
+                    it != matched_datasharing_readers_.end(); ++it)
             {
-                EPROSIMA_LOG_INFO(RTPS_WRITER, "Reader Proxy removed: " << reader_guid);
-                rproxy = std::move(*it);
-                it = matched_remote_readers_.erase(it);
-                break;
+                if ((*it)->guid() == reader_guid)
+                {
+                    EPROSIMA_LOG_INFO(RTPS_WRITER, "Reader Proxy removed: " << reader_guid);
+                    rproxy = std::move(*it);
+                    it = matched_datasharing_readers_.erase(it);
+                    break;
+                }
             }
         }
-    }
 
-    locator_selector_general_.locator_selector.remove_entry(reader_guid);
-    locator_selector_async_.locator_selector.remove_entry(reader_guid);
-    update_reader_info(locator_selector_general_, false);
-    update_reader_info(locator_selector_async_, false);
+        if (rproxy == nullptr)
+        {
+            for (ReaderProxyIterator it = matched_remote_readers_.begin();
+                    it != matched_remote_readers_.end(); ++it)
+            {
+                if ((*it)->guid() == reader_guid)
+                {
+                    EPROSIMA_LOG_INFO(RTPS_WRITER, "Reader Proxy removed: " << reader_guid);
+                    rproxy = std::move(*it);
+                    it = matched_remote_readers_.erase(it);
+                    break;
+                }
+            }
+        }
+
+        locator_selector_general_.locator_selector.remove_entry(reader_guid);
+        locator_selector_async_.locator_selector.remove_entry(reader_guid);
+        update_reader_info(locator_selector_general_, false);
+        update_reader_info(locator_selector_async_, false);
+    }
 
     if (get_matched_readers_size() == 0)
     {
@@ -1282,11 +1285,8 @@ bool StatefulWriter::matched_reader_remove(
 
         if (nullptr != listener_)
         {
-            // call the listener without locks taken
-            guard_locator_selector_async.unlock();
-            guard_locator_selector_general.unlock();
+            // listener is called without locks taken
             lock.unlock();
-
             listener_->on_reader_discovery(this, ReaderDiscoveryStatus::REMOVED_READER, reader_guid, nullptr);
         }
 
diff --git a/test/blackbox/common/DDSBlackboxTestsBasic.cpp b/test/blackbox/common/DDSBlackboxTestsBasic.cpp
index 1670ec49b0c..540281d62d5 100644
--- a/test/blackbox/common/DDSBlackboxTestsBasic.cpp
+++ b/test/blackbox/common/DDSBlackboxTestsBasic.cpp
@@ -1014,6 +1014,43 @@ TEST(DDSBasic, successful_destruction_among_intraprocess_participants)
         }
     }
 }
+TEST(DDSBasic, reliable_volatile_writer_secure_builtin_no_potential_deadlock)
+{
+    // Create
+    PubSubWriter<HelloWorldPubSubType> writer("HelloWorldTopic_no_potential_deadlock");
+    PubSubReader<HelloWorldPubSubType> reader("HelloWorldTopic_no_potential_deadlock");
+
+    writer.asynchronously(eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE)
+            .durability_kind(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS)
+            .history_kind(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS)
+            .history_depth(20)
+            .init();
+
+    ASSERT_TRUE(writer.isInitialized());
+
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .history_kind(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS)
+            .history_depth(20)
+            .durability_kind(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS)
+            .init();
+
+    ASSERT_TRUE(reader.isInitialized());
+
+    auto data = default_helloworld_data_generator(30);
+
+    std::thread th([&]()
+            {
+                reader.startReception(data);
+                reader.block_for_at_least(5);
+            });
+
+    writer.wait_discovery();
+    writer.send(data);
+
+    th.join();
+    reader.destroy();
+    writer.destroy();
+}
 
 } // namespace dds
 } // namespace fastdds