diff --git a/CHANGELOG.md b/CHANGELOG.md
index ecbe8c634..b846e9ac2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,7 +19,7 @@
   * Fixed bug causing the scene lights to return an incorrect location at large maps.
   * Fixed bug causing the `world.ground_projection()` function to return an incorrect location at large maps.
   * Added failure state to vehicles, which can be retrieved by using `Vehicle.get_failure_state()`. Only Rollover failure state is currently supported.
-  * Fixed bug causing the TM to block the simulation when another client teleported a vehicle with no physics.
+  * Fixed bug causing the TM to block the simulation when a vehicle with no physics was teleported.
   * Fixed bug causing the TM to block the simulation when travelling through a short roads that looped on themselves.
   * Improved the TM's handling of non signalized junctions, resulting in a more fluid overall behavior.
   * Added check to avoid adding procedural trigger boxes inside intersections.
diff --git a/LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp b/LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp
index 83aa528ba..31b694cd3 100644
--- a/LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp
+++ b/LibCarla/source/carla/trafficmanager/MotionPlanStage.cpp
@@ -68,6 +68,7 @@ void MotionPlanStage::Update(const unsigned long index) {
   const float vehicle_speed = vehicle_velocity.Length();
   const cg::Vector3D vehicle_heading = simulation_state.GetHeading(actor_id);
   const bool vehicle_physics_enabled = simulation_state.IsPhysicsEnabled(actor_id);
+  const float vehicle_speed_limit = simulation_state.GetSpeedLimit(actor_id);
   const Buffer &waypoint_buffer = buffer_map.at(actor_id);
   const LocalizationData &localization = localization_frame.at(index);
   const CollisionHazardData &collision_hazard = collision_frame.at(index);
@@ -117,12 +118,19 @@ void MotionPlanStage::Update(const unsigned long index) {
       }
     }
     output_array.at(index) = carla::rpc::Command::ApplyTransform(actor_id, teleportation_transform);
+
+    // Update the simulation state with the new transform of the vehicle after teleporting it.
+    KinematicState kinematic_state{teleportation_transform.location,
+                                   teleportation_transform.rotation,
+                                   vehicle_velocity, vehicle_speed_limit,
+                                   vehicle_physics_enabled, simulation_state.IsDormant(actor_id),
+                                   teleportation_transform.location};
+    simulation_state.UpdateKinematicState(actor_id, kinematic_state);
   }
 
   else {
 
     // Target velocity for vehicle.
-    const float vehicle_speed_limit = simulation_state.GetSpeedLimit(actor_id);
     float max_target_velocity = parameters.GetVehicleTargetVelocity(actor_id, vehicle_speed_limit) / 3.6f;
 
     // Algorithm to reduce speed near landmarks