diff --git a/src/cpp/fastdds/publisher/DataWriterImpl.cpp b/src/cpp/fastdds/publisher/DataWriterImpl.cpp
index 1b448dd2bea..c465b46bd8f 100644
--- a/src/cpp/fastdds/publisher/DataWriterImpl.cpp
+++ b/src/cpp/fastdds/publisher/DataWriterImpl.cpp
@@ -1124,7 +1124,7 @@ ReturnCode_t DataWriterImpl::set_qos(
         return ReturnCode_t::RETCODE_IMMUTABLE_POLICY;
     }
 
-    set_qos(qos_, qos_to_set, enabled);
+    set_qos(qos_, qos_to_set, !enabled);
 
     if (enabled)
     {
@@ -1614,114 +1614,137 @@ LivelinessLostStatus& DataWriterImpl::update_liveliness_lost_status(
 void DataWriterImpl::set_qos(
         DataWriterQos& to,
         const DataWriterQos& from,
-        bool is_default)
+        bool update_immutable)
 {
-    if (is_default && !(to.durability() == from.durability()))
+    // Check immutable policies
+    if (update_immutable)
     {
-        to.durability() = from.durability();
-        to.durability().hasChanged = true;
-    }
-    if (is_default && !(to.durability_service() == from.durability_service()))
-    {
-        to.durability_service() = from.durability_service();
-        to.durability_service().hasChanged = true;
+        if (!(to.durability() == from.durability()))
+        {
+            to.durability() = from.durability();
+            to.durability().hasChanged = true;
+        }
+
+        if (!(to.durability_service() == from.durability_service()))
+        {
+            to.durability_service() = from.durability_service();
+            to.durability_service().hasChanged = true;
+        }
+
+        if (!(to.liveliness() == from.liveliness()))
+        {
+            to.liveliness() = from.liveliness();
+            to.liveliness().hasChanged = true;
+        }
+
+        if (!(to.reliability().kind == from.reliability().kind))
+        {
+            to.reliability().kind = from.reliability().kind;
+            to.reliability().hasChanged = true;
+        }
+
+        if (!(to.destination_order() == from.destination_order()))
+        {
+            to.destination_order() = from.destination_order();
+            to.destination_order().hasChanged = true;
+        }
+
+        if (!(to.history() == from.history()))
+        {
+            to.history() = from.history();
+            to.history().hasChanged = true;
+        }
+
+        if (!(to.resource_limits() == from.resource_limits()))
+        {
+            to.resource_limits() = from.resource_limits();
+            to.resource_limits().hasChanged = true;
+        }
+
+        if (!(to.ownership() == from.ownership()))
+        {
+            to.ownership() = from.ownership();
+            to.ownership().hasChanged = true;
+        }
+
+        to.publish_mode() = from.publish_mode();
+
+        if (!(to.representation() == from.representation()))
+        {
+            to.representation() = from.representation();
+            to.representation().hasChanged = true;
+        }
+
+        to.properties() = from.properties();
+
+        if (!(to.reliable_writer_qos() == from.reliable_writer_qos()))
+        {
+            RTPSReliableWriterQos& rel_to = to.reliable_writer_qos();
+            rel_to.disable_heartbeat_piggyback = from.reliable_writer_qos().disable_heartbeat_piggyback;
+            rel_to.disable_positive_acks.enabled = from.reliable_writer_qos().disable_positive_acks.enabled;
+        }
+
+        to.endpoint() = from.endpoint();
+
+        to.writer_resource_limits() = from.writer_resource_limits();
+
+        to.data_sharing() = from.data_sharing();
+
+        to.throughput_controller() = from.throughput_controller();
     }
+
     if (!(to.deadline() == from.deadline()))
     {
         to.deadline() = from.deadline();
         to.deadline().hasChanged = true;
     }
+
     if (!(to.latency_budget() == from.latency_budget()))
     {
         to.latency_budget() = from.latency_budget();
         to.latency_budget().hasChanged = true;
     }
-    if (is_default && !(to.liveliness() == from.liveliness()))
-    {
-        to.liveliness() = from.liveliness();
-        to.liveliness().hasChanged = true;
-    }
-    if (is_default && !(to.reliability() == from.reliability()))
+
+    if (!(to.reliability().max_blocking_time == from.reliability().max_blocking_time))
     {
-        to.reliability() = from.reliability();
+        to.reliability().max_blocking_time = from.reliability().max_blocking_time;
         to.reliability().hasChanged = true;
     }
-    if (is_default && !(to.destination_order() == from.destination_order()))
-    {
-        to.destination_order() = from.destination_order();
-        to.destination_order().hasChanged = true;
-    }
-    if (is_default && !(to.history() == from.history()))
-    {
-        to.history() = from.history();
-        to.history().hasChanged = true;
-    }
-    if (is_default && !(to.resource_limits() == from.resource_limits()))
-    {
-        to.resource_limits() = from.resource_limits();
-        to.resource_limits().hasChanged = true;
-    }
+
     if (!(to.transport_priority() == from.transport_priority()))
     {
         to.transport_priority() = from.transport_priority();
         to.transport_priority().hasChanged = true;
     }
+
     if (!(to.lifespan() == from.lifespan()))
     {
         to.lifespan() = from.lifespan();
         to.lifespan().hasChanged = true;
     }
+
     if (!(to.user_data() == from.user_data()))
     {
         to.user_data() = from.user_data();
         to.user_data().hasChanged = true;
     }
-    if (is_default && !(to.ownership() == from.ownership()))
-    {
-        to.ownership() = from.ownership();
-        to.ownership().hasChanged = true;
-    }
+
     if (!(to.ownership_strength() == from.ownership_strength()))
     {
         to.ownership_strength() = from.ownership_strength();
         to.ownership_strength().hasChanged = true;
     }
+
     if (!(to.writer_data_lifecycle() == from.writer_data_lifecycle()))
     {
         to.writer_data_lifecycle() = from.writer_data_lifecycle();
     }
-    if (is_default && !(to.publish_mode() == from.publish_mode()))
-    {
-        to.publish_mode() = from.publish_mode();
-    }
-    if (!(to.representation() == from.representation()))
-    {
-        to.representation() = from.representation();
-        to.representation().hasChanged = true;
-    }
-    if (is_default && !(to.properties() == from.properties()))
-    {
-        to.properties() = from.properties();
-    }
-    if (is_default && !(to.reliable_writer_qos() == from.reliable_writer_qos()))
-    {
-        to.reliable_writer_qos() = from.reliable_writer_qos();
-    }
-    if (is_default && !(to.endpoint() == from.endpoint()))
-    {
-        to.endpoint() = from.endpoint();
-    }
-    if (is_default && !(to.writer_resource_limits() == from.writer_resource_limits()))
-    {
-        to.writer_resource_limits() = from.writer_resource_limits();
-    }
-    if (is_default && !(to.throughput_controller() == from.throughput_controller()))
-    {
-        to.throughput_controller() = from.throughput_controller();
-    }
-    if (is_default && !(to.data_sharing() == from.data_sharing()))
+
+    if (!(to.reliable_writer_qos() == from.reliable_writer_qos()))
     {
-        to.data_sharing() = from.data_sharing();
+        RTPSReliableWriterQos& rel_to = to.reliable_writer_qos();
+        rel_to.times = from.reliable_writer_qos().times;
+        rel_to.disable_positive_acks.duration = from.reliable_writer_qos().disable_positive_acks.duration;
     }
 }
 
diff --git a/src/cpp/fastdds/publisher/DataWriterImpl.hpp b/src/cpp/fastdds/publisher/DataWriterImpl.hpp
index c9ef7699876..3399bfb7e35 100644
--- a/src/cpp/fastdds/publisher/DataWriterImpl.hpp
+++ b/src/cpp/fastdds/publisher/DataWriterImpl.hpp
@@ -587,7 +587,7 @@ class DataWriterImpl : protected rtps::IReaderDataFilter
     static void set_qos(
             DataWriterQos& to,
             const DataWriterQos& from,
-            bool is_default);
+            bool update_immutable);
 
     /**
      * Extends the check_qos() call, including the check for
diff --git a/test/unittest/dds/publisher/DataWriterTests.cpp b/test/unittest/dds/publisher/DataWriterTests.cpp
index 5b57dd1305d..b19e70dec87 100644
--- a/test/unittest/dds/publisher/DataWriterTests.cpp
+++ b/test/unittest/dds/publisher/DataWriterTests.cpp
@@ -429,6 +429,59 @@ TEST(DataWriterTests, ChangeDataWriterQos)
     ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
 }
 
+TEST(DataWriterTests, ChangeImmutableDataWriterQos)
+{
+    DomainParticipant* participant =
+            DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
+    ASSERT_NE(participant, nullptr);
+
+    PublisherQos pub_qos = PUBLISHER_QOS_DEFAULT;
+    pub_qos.entity_factory().autoenable_created_entities = false;
+    Publisher* publisher = participant->create_publisher(pub_qos);
+    ASSERT_NE(publisher, nullptr);
+
+    TypeSupport type(new TopicDataTypeMock());
+    type.register_type(participant);
+
+    Topic* topic = participant->create_topic("footopic", type.get_type_name(), TOPIC_QOS_DEFAULT);
+    ASSERT_NE(topic, nullptr);
+
+    DataWriter* datawriter = publisher->create_datawriter(topic, DATAWRITER_QOS_DEFAULT);
+    ASSERT_NE(datawriter, nullptr);
+
+    ASSERT_FALSE(datawriter->is_enabled());
+
+    DataWriterQos qos;
+    datawriter->get_qos(qos);
+    ASSERT_EQ(qos, DATAWRITER_QOS_DEFAULT);
+
+    qos.reliable_writer_qos().disable_positive_acks.enabled = true;
+
+    ASSERT_TRUE(datawriter->set_qos(qos) == ReturnCode_t::RETCODE_OK);
+    DataWriterQos wqos;
+    datawriter->get_qos(wqos);
+
+    ASSERT_EQ(qos, wqos);
+    ASSERT_TRUE(wqos.reliable_writer_qos().disable_positive_acks.enabled);
+
+    ASSERT_TRUE(datawriter->enable() == ReturnCode_t::RETCODE_OK);
+    ASSERT_TRUE(datawriter->is_enabled());
+
+    qos.reliable_writer_qos().disable_positive_acks.enabled = false;
+    ASSERT_FALSE(qos == wqos);
+    ASSERT_TRUE(datawriter->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);
+
+    DataWriterQos wqos2;
+    datawriter->get_qos(wqos2);
+    ASSERT_EQ(wqos, wqos2);
+    ASSERT_TRUE(wqos2.reliable_writer_qos().disable_positive_acks.enabled);
+
+    ASSERT_TRUE(publisher->delete_datawriter(datawriter) == ReturnCode_t::RETCODE_OK);
+    ASSERT_TRUE(participant->delete_topic(topic) == ReturnCode_t::RETCODE_OK);
+    ASSERT_TRUE(participant->delete_publisher(publisher) == ReturnCode_t::RETCODE_OK);
+    ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
+}
+
 TEST(DataWriterTests, ForcedDataSharing)
 {
     DomainParticipant* participant =