diff --git a/contribs/drt/src/main/java/org/matsim/contrib/drt/prebooking/PrebookingStopActivity.java b/contribs/drt/src/main/java/org/matsim/contrib/drt/prebooking/PrebookingStopActivity.java
index 3fef9b0c932..b2abd66b16f 100644
--- a/contribs/drt/src/main/java/org/matsim/contrib/drt/prebooking/PrebookingStopActivity.java
+++ b/contribs/drt/src/main/java/org/matsim/contrib/drt/prebooking/PrebookingStopActivity.java
@@ -68,7 +68,7 @@ public PrebookingStopActivity(PassengerHandler passengerHandler, DynAgent driver
 
 	@Override
 	protected boolean isLastStep(double now) {
-		return updatePickupRequests(now) && leaveTimes.size() == 0 && now >= endTime.get();
+		return updatePickupRequests(now) && processDropoffRequests(now) && now >= endTime.get();
 	}
 
 	@Override
@@ -86,7 +86,7 @@ private void initDropoffRequests(double now) {
 		processDropoffRequests(now);
 	}
 
-	private void processDropoffRequests(double now) {
+	private boolean processDropoffRequests(double now) {
 		var iterator = leaveTimes.entrySet().iterator();
 
 		while (iterator.hasNext()) {
@@ -98,6 +98,8 @@ private void processDropoffRequests(double now) {
 				iterator.remove();
 			}
 		}
+
+		return leaveTimes.size() == 0;
 	}
 
 	private boolean updatePickupRequests(double now) {
@@ -154,12 +156,9 @@ public void notifyPassengersAreReadyForDeparture(List<MobsimPassengerAgent> pass
 		queuePickup(request, now);
 	}
 
-
 	private AcceptedDrtRequest getRequestForPassengers(List<Id<Person>> passengerIds) {
-		return pickupRequests.values()
-				.stream()
-				.filter(r -> r.getPassengerIds().size() == passengerIds.size() && r.getPassengerIds().containsAll(passengerIds))
-				.findAny()
-				.orElseThrow(() -> new IllegalArgumentException("I am waiting for different passengers!"));
+		return pickupRequests.values().stream().filter(
+				r -> r.getPassengerIds().size() == passengerIds.size() && r.getPassengerIds().containsAll(passengerIds))
+				.findAny().orElseThrow(() -> new IllegalArgumentException("I am waiting for different passengers!"));
 	}
 }
diff --git a/contribs/drt/src/main/java/org/matsim/contrib/drt/stops/PrebookingStopTimeCalculator.java b/contribs/drt/src/main/java/org/matsim/contrib/drt/stops/PrebookingStopTimeCalculator.java
index 1eee457066d..f4dad777fed 100644
--- a/contribs/drt/src/main/java/org/matsim/contrib/drt/stops/PrebookingStopTimeCalculator.java
+++ b/contribs/drt/src/main/java/org/matsim/contrib/drt/stops/PrebookingStopTimeCalculator.java
@@ -50,17 +50,14 @@ public double initEndTimeForDropoff(DvrpVehicle vehicle, double beginTime, DrtRe
 	@Override
 	public double updateEndTimeForDropoff(DvrpVehicle vehicle, DrtStopTask stop, double insertionTime,
 			DrtRequest request) {
-		final double stopDuration = provider.calcDropoffDuration(vehicle, request);
-
-		// we need to take into account the general shift of the task and adding the new
-		// stop
-
-		// first, we apply shiftEndTime, TODO: can we do this without the complex
-		// calculation?
-		double shiftedEndTime = shiftEndTime(vehicle, stop, insertionTime);
+		double stopDuration = provider.calcDropoffDuration(vehicle, request);
 
+		// first, check when we can start with the dropoff
+		double earliestStartTime = stop.getBeginTime();
+		earliestStartTime = Math.max(earliestStartTime, insertionTime);
+		
 		// second, we add the dropoff
-		return Math.max(stop.getEndTime(), Math.max(shiftedEndTime, insertionTime + stopDuration));
+		return Math.max(stop.getEndTime(), earliestStartTime + stopDuration);
 	}
 
 	/**
diff --git a/contribs/drt/src/test/java/org/matsim/contrib/drt/prebooking/PrebookingTest.java b/contribs/drt/src/test/java/org/matsim/contrib/drt/prebooking/PrebookingTest.java
index cb149fc1f3b..0bf2f375f6e 100644
--- a/contribs/drt/src/test/java/org/matsim/contrib/drt/prebooking/PrebookingTest.java
+++ b/contribs/drt/src/test/java/org/matsim/contrib/drt/prebooking/PrebookingTest.java
@@ -7,6 +7,9 @@
 import org.matsim.contrib.drt.prebooking.PrebookingTestEnvironment.RequestInfo;
 import org.matsim.contrib.drt.prebooking.logic.AttributeBasedPrebookingLogic;
 import org.matsim.contrib.drt.run.DrtConfigGroup;
+import org.matsim.contrib.drt.stops.PassengerStopDurationProvider;
+import org.matsim.contrib.drt.stops.StaticPassengerStopDurationProvider;
+import org.matsim.contrib.dvrp.run.AbstractDvrpModeModule;
 import org.matsim.core.controler.Controler;
 import org.matsim.testcases.MatsimTestUtils;
 
@@ -479,4 +482,50 @@ void sameTrip_inverseSubmission_splitPickup() {
 		// Three stops, 2x pickup, 1x dropoff
 		assertEquals(3, environment.getTaskInfo().get("vehicleA").stream().filter(t -> t.type.equals("STOP")).count());
 	}
+
+	@Test
+	void interactionTimes() {
+		/*-
+		 * Here we test prebookings in combination with non-zero interaction times for pickup and dropoff
+		 */
+
+		PrebookingTestEnvironment environment = new PrebookingTestEnvironment(utils) //
+				.addVehicle("vehicleA", 1, 1) //
+				// 1800 indicated but only departing 2000
+				.addRequest("personA", 0, 0, 5, 5, 2000.0, 0.0, 2000.0 - 200.0) //
+				.configure(600.0, 1.3, 600.0, 60.0) //
+				.endTime(10.0 * 3600.0);
+
+		Controler controller = environment.build();
+		installPrebooking(controller);
+
+		controller.addOverridingModule(new AbstractDvrpModeModule("drt") {
+			@Override
+			public void install() {
+				bindModal(PassengerStopDurationProvider.class)
+						.toInstance(StaticPassengerStopDurationProvider.of(60.0, 30.0));
+			}
+		});
+
+		controller.run();
+
+		RequestInfo requestInfo = environment.getRequestInfo().get("personA");
+		assertEquals(0.0, requestInfo.submissionTime, 1e-3);
+		assertEquals(2060.0, requestInfo.pickupTime, 1e-3);
+		assertEquals(2301.0, requestInfo.dropoffTime, 1e-3);
+
+		var taskInfo = environment.getTaskInfo().get("vehicleA");
+		assertEquals("STAY", taskInfo.get(0).type);
+		assertEquals("DRIVE", taskInfo.get(1).type);
+		assertEquals("STAY", taskInfo.get(2).type);
+		assertEquals("STOP", taskInfo.get(3).type);
+		assertEquals("DRIVE", taskInfo.get(4).type);
+		assertEquals("STOP", taskInfo.get(5).type);
+
+		assertEquals(1.0, taskInfo.get(1).startTime, 1e-3); // Pickup drive
+		assertEquals(86.0, taskInfo.get(2).startTime, 1e-3); // Starting to wait
+		assertEquals(1800.0, taskInfo.get(3).startTime, 1e-3); // Starting stop
+		assertEquals(2060.0, taskInfo.get(3).endTime, 1e-3); // Ending stop (260s duration)
+		assertEquals(2060.0, taskInfo.get(4).startTime, 1e-3); // Starting drive (ending stop)
+	}
 }