diff --git a/LibCarla/source/carla/multigpu/listener.cpp b/LibCarla/source/carla/multigpu/listener.cpp
index 751b06835..65ccf2f80 100644
--- a/LibCarla/source/carla/multigpu/listener.cpp
+++ b/LibCarla/source/carla/multigpu/listener.cpp
@@ -24,10 +24,15 @@ namespace multigpu {
       }
 
   Listener::~Listener() {
+    Stop();
   }
   
   void Listener::Stop() {
     _acceptor.cancel();
+    _acceptor.close();
+    // _acceptor.get_io_service().stop();
+    _io_context.stop();
+    _io_context.reset();
   }
   
   void Listener::OpenSession(
@@ -40,14 +45,20 @@ namespace multigpu {
 
     auto session = std::make_shared<Primary>(_io_context, timeout, *this);
     auto self = shared_from_this();
-    _acceptor.async_accept(session->_socket, [=](error_code ec) {
-      if (!ec) {
-        session->Open(on_opened, on_closed, on_response);
-      } else {
-        log_error("tcp accept error:", ec.message());
-      }
+    
+    auto handle_query = [on_opened, on_closed, on_response, session](const error_code &ec) {
+    if (!ec) {
+      session->Open(std::move(on_opened), std::move(on_closed), , std::move(on_response));
+    } else {
+      self->_acceptor.get_io_service().stop();
+      log_error("tcp accept secondary error:", ec.message());
+    }
+  };
 
-      self->OpenSession(timeout, on_opened, on_closed, on_response);
+    _acceptor.async_accept(session->_socket, [=](error_code ec) {
+      // Handle query and open a new session immediately.
+      boost::asio::post(_io_context, [=]() { handle_query(ec); });
+      OpenSession(timeout, on_opened, on_closed, on_response);
     });
   }
 
diff --git a/LibCarla/source/carla/multigpu/router.cpp b/LibCarla/source/carla/multigpu/router.cpp
index 6ea700903..fca7a8c0e 100644
--- a/LibCarla/source/carla/multigpu/router.cpp
+++ b/LibCarla/source/carla/multigpu/router.cpp
@@ -16,8 +16,13 @@ Router::Router(void) :
   _next(0) { }
 
 Router::~Router() {
+  Stop();
+}
+
+void Router::Stop() {
   ClearSessions();
   _listener->Stop();
+  _listener.reset();
   _pool.Stop();
 }
 
diff --git a/LibCarla/source/carla/multigpu/router.h b/LibCarla/source/carla/multigpu/router.h
index d840d8713..62a60a4f7 100644
--- a/LibCarla/source/carla/multigpu/router.h
+++ b/LibCarla/source/carla/multigpu/router.h
@@ -38,9 +38,10 @@ namespace multigpu {
     Router(void);
     explicit Router(uint16_t port);
     ~Router();
-
+    
     void Write(MultiGPUCommand id, Buffer &&buffer);
     std::future<SessionInfo> WriteToNext(MultiGPUCommand id, Buffer &&buffer);
+    void Stop();
 
     void SetCallbacks();
     void AsyncRun(size_t worker_threads);
diff --git a/LibCarla/source/carla/streaming/detail/tcp/Server.cpp b/LibCarla/source/carla/streaming/detail/tcp/Server.cpp
index c1363d4da..a1c0c6fbd 100644
--- a/LibCarla/source/carla/streaming/detail/tcp/Server.cpp
+++ b/LibCarla/source/carla/streaming/detail/tcp/Server.cpp
@@ -35,7 +35,7 @@ namespace tcp {
       if (!ec) {
         session->Open(std::move(on_opened), std::move(on_closed));
       } else {
-        log_error("tcp accept error:", ec.message());
+        log_error("tcp accept stream error:", ec.message());
       }
     };
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/DataStream.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/DataStream.h
index 2053ac249..5002f3e05 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/DataStream.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/DataStream.h
@@ -52,6 +52,7 @@ public:
 
   bool AreClientsListening()
   {
+    check(Stream.has_value());
     return Stream ? Stream->AreClientsListening() : false;
   }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index 4c10a4385..5d2d96e7a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -2310,7 +2310,9 @@ void FCarlaServer::FPimpl::BindActions()
 
 FCarlaServer::FCarlaServer() : Pimpl(nullptr) {}
 
-FCarlaServer::~FCarlaServer() {}
+FCarlaServer::~FCarlaServer() {
+  Stop();
+}
 
 FDataMultiStream FCarlaServer::Start(uint16_t RPCPort, uint16_t StreamingPort, uint16_t SecondaryPort)
 {
@@ -2395,8 +2397,11 @@ bool FCarlaServer::TickCueReceived()
 
 void FCarlaServer::Stop()
 {
-  check(Pimpl != nullptr);
-  Pimpl->Server.Stop();
+  if (Pimpl)
+  {
+    Pimpl->Server.Stop();
+    Pimpl->SecondaryServer->Stop();
+  }
 }
 
 FDataStream FCarlaServer::OpenStream() const