diff --git a/go/quickstep/src/com/android/quickstep/TaskActionController.java b/go/quickstep/src/com/android/quickstep/TaskActionController.java
index 09e23672df..0e921c0db1 100644
--- a/go/quickstep/src/com/android/quickstep/TaskActionController.java
+++ b/go/quickstep/src/com/android/quickstep/TaskActionController.java
@@ -20,6 +20,8 @@ import static com.android.quickstep.TaskAdapter.TASKS_START_POSITION;
 import android.app.ActivityOptions;
 import android.view.View;
 
+import androidx.annotation.NonNull;
+
 import com.android.quickstep.views.TaskItemView;
 import com.android.systemui.shared.recents.model.Task;
 import com.android.systemui.shared.system.ActivityManagerWrapper;
@@ -39,11 +41,11 @@ public final class TaskActionController {
     }
 
     /**
-     * Launch the task associated with the task holder, animating into the app.
+     * Launch the task associated with the task holder, animating into the app from the task view.
      *
      * @param viewHolder the task view holder to launch
      */
-    public void launchTask(TaskHolder viewHolder) {
+    public void launchTaskFromView(@NonNull TaskHolder viewHolder) {
         if (!viewHolder.getTask().isPresent()) {
             return;
         }
@@ -60,6 +62,17 @@ public final class TaskActionController {
                 null /* resultCallbackHandler */);
     }
 
+    /**
+     * Launch the task directly with a basic animation.
+     *
+     * @param task the task to launch
+     */
+    public void launchTask(@NonNull Task task) {
+        ActivityOptions opts = ActivityOptions.makeBasic();
+        ActivityManagerWrapper.getInstance().startActivityFromRecentsAsync(task.key, opts,
+                null /* resultCallback */, null /* resultCallbackHandler */);
+    }
+
     /**
      * Removes the task holder and the task, updating the model and the view.
      *
diff --git a/go/quickstep/src/com/android/quickstep/TaskAdapter.java b/go/quickstep/src/com/android/quickstep/TaskAdapter.java
index 4f2b422e51..509bf29a4e 100644
--- a/go/quickstep/src/com/android/quickstep/TaskAdapter.java
+++ b/go/quickstep/src/com/android/quickstep/TaskAdapter.java
@@ -83,7 +83,8 @@ public final class TaskAdapter extends Adapter<ViewHolder> {
                 TaskItemView itemView = (TaskItemView) LayoutInflater.from(parent.getContext())
                         .inflate(R.layout.task_item_view, parent, false);
                 TaskHolder taskHolder = new TaskHolder(itemView);
-                itemView.setOnClickListener(view -> mTaskActionController.launchTask(taskHolder));
+                itemView.setOnClickListener(
+                        view -> mTaskActionController.launchTaskFromView(taskHolder));
                 return taskHolder;
             case ITEM_TYPE_CLEAR_ALL:
                 View clearView = LayoutInflater.from(parent.getContext())
diff --git a/go/quickstep/src/com/android/quickstep/views/IconRecentsView.java b/go/quickstep/src/com/android/quickstep/views/IconRecentsView.java
index b8c482dd90..cf6eb6d33d 100644
--- a/go/quickstep/src/com/android/quickstep/views/IconRecentsView.java
+++ b/go/quickstep/src/com/android/quickstep/views/IconRecentsView.java
@@ -59,6 +59,8 @@ import com.android.quickstep.TaskSwipeCallback;
 import com.android.systemui.shared.recents.model.Task;
 
 import java.util.ArrayList;
+import java.util.List;
+import java.util.Objects;
 import java.util.Optional;
 
 /**
@@ -263,23 +265,33 @@ public final class IconRecentsView extends FrameLayout {
      * the app. In that case, we launch the next most recent.
      */
     public void handleOverviewCommand() {
-        // TODO(130735711): Need to address case where most recent task is off screen/unattached.
-        ArrayList<TaskItemView> taskViews = getTaskViews();
-        int taskViewsSize = taskViews.size();
-        if (taskViewsSize <= 1) {
+        List<Task> tasks = mTaskLoader.getCurrentTaskList();
+        int tasksSize = tasks.size();
+        if (tasksSize == 0) {
             // Do nothing
             return;
         }
-        TaskHolder taskToLaunch;
-        if (mTransitionedFromApp && taskViewsSize > 1) {
+        Task taskToLaunch;
+        if (mTransitionedFromApp && tasksSize > 1) {
             // Launch the next most recent app
-            TaskItemView itemView = taskViews.get(1);
-            taskToLaunch = (TaskHolder) mTaskRecyclerView.getChildViewHolder(itemView);
+            taskToLaunch = tasks.get(1);
         } else {
             // Launch the most recent app
-            TaskItemView itemView = taskViews.get(0);
-            taskToLaunch = (TaskHolder) mTaskRecyclerView.getChildViewHolder(itemView);
+            taskToLaunch = tasks.get(0);
         }
+
+        // See if view for this task is attached, and if so, animate launch from that view.
+        ArrayList<TaskItemView> itemViews = getTaskViews();
+        for (int i = 0, size = itemViews.size(); i < size; i++) {
+            TaskItemView taskView = itemViews.get(i);
+            TaskHolder holder = (TaskHolder) mTaskRecyclerView.getChildViewHolder(taskView);
+            if (Objects.equals(holder.getTask(), Optional.of(taskToLaunch))) {
+                mTaskActionController.launchTaskFromView(holder);
+                return;
+            }
+        }
+
+        // Otherwise, just use a basic launch animation.
         mTaskActionController.launchTask(taskToLaunch);
     }