diff --git a/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.cpp b/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.cpp
index f022851655..2cd8c84637 100644
--- a/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.cpp
+++ b/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.cpp
@@ -286,19 +286,19 @@ void TypeLookupRequestListener::check_get_type_dependencies_request(
         SampleIdentity request_id,
         const TypeLookup_getTypeDependencies_In& request)
 {
+    std::unordered_set<xtypes::TypeIdentfierWithSize>* type_dependencies_ptr {nullptr};
     std::unordered_set<xtypes::TypeIdentfierWithSize> type_dependencies;
     ReturnCode_t type_dependencies_result = RETCODE_ERROR;
     if (!request.type_ids().empty())
     {
         // Check if the received request has been done before and needed a continuation point
-        std::lock_guard<std::mutex> lock(requests_with_continuation_mutex_);
         if (!request.continuation_point().empty())
         {
             auto requests_it = requests_with_continuation_.find(request.type_ids());
             if (requests_it != requests_with_continuation_.end())
             {
                 // Get the dependencies without checking the registry
-                type_dependencies = requests_it->second;
+                type_dependencies_ptr = &requests_it->second;
                 type_dependencies_result = RETCODE_OK;
             }
             else
@@ -319,7 +319,12 @@ void TypeLookupRequestListener::check_get_type_dependencies_request(
             // If there are too many dependent types, store the type dependencies for future requests
             if (type_dependencies_result == RETCODE_OK && type_dependencies.size() > MAX_DEPENDENCIES_PER_REPLY)
             {
-                requests_with_continuation_.emplace(request.type_ids(), type_dependencies);
+                auto ret = requests_with_continuation_.emplace(request.type_ids(), std::move(type_dependencies));
+                type_dependencies_ptr = &ret.first->second;
+            }
+            else
+            {
+                type_dependencies_ptr = &type_dependencies;
             }
         }
     }
@@ -333,7 +338,7 @@ void TypeLookupRequestListener::check_get_type_dependencies_request(
     {
         // Prepare and send the reply for successful operation
         TypeLookup_getTypeDependencies_Out out = prepare_get_type_dependencies_response(
-            request.type_ids(), type_dependencies, request.continuation_point());
+            request.type_ids(), *type_dependencies_ptr, request.continuation_point());
         answer_request(request_id, rpc::RemoteExceptionCode_t::REMOTE_EX_OK, out);
     }
     else if (RETCODE_NO_DATA == type_dependencies_result)
@@ -388,7 +393,6 @@ TypeLookup_getTypeDependencies_Out TypeLookupRequestListener::prepare_get_type_d
         if ((start_index + MAX_DEPENDENCIES_PER_REPLY) > type_dependencies.size())
         {
             // If all dependent types have been sent, remove from map
-            std::lock_guard<std::mutex> lock(requests_with_continuation_mutex_);
             auto requests_it = requests_with_continuation_.find(id_seq);
             if (requests_it != requests_with_continuation_.end())
             {
diff --git a/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.hpp b/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.hpp
index 5c986b1632..04b64247f1 100644
--- a/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.hpp
+++ b/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.hpp
@@ -176,9 +176,6 @@ class TypeLookupRequestListener : public fastdds::rtps::ReaderListener, public f
     //! A pointer to the typelookup manager.
     TypeLookupManager* typelookup_manager_;
 
-    //! Mutex to protect access to requests_with_continuation_.
-    std::mutex requests_with_continuation_mutex_;
-
     //! Collection of the requests that needed continuation points.
     std::unordered_map<xtypes::TypeIdentifierSeq, std::unordered_set<xtypes::TypeIdentfierWithSize>>
     requests_with_continuation_;
diff --git a/test/dds/xtypes/BaseCases/Case8.json b/test/dds/xtypes/BaseCases/Case8.json
index 6bf6ada2b4..169eee85e8 100644
--- a/test/dds/xtypes/BaseCases/Case8.json
+++ b/test/dds/xtypes/BaseCases/Case8.json
@@ -6,7 +6,7 @@
                 {
                     "kind": "publisher",
                     "samples": "3",
-                    "timeout": "10",
+                    "timeout": "30",
                     "expected_matches": "100",
                     "known_types": [
                         "Type1",
@@ -64,7 +64,7 @@
                 {
                     "kind": "subscriber",
                     "samples": "3",
-                    "timeout": "10",
+                    "timeout": "30",
                     "expected_matches": "100",
                     "known_types": [
                         "Type51",
@@ -122,4 +122,4 @@
             ]
         }
     ]
-}
\ No newline at end of file
+}
diff --git a/test/dds/xtypes/TypeLookupServicePublisher.cpp b/test/dds/xtypes/TypeLookupServicePublisher.cpp
index d444258368..f6649d8dc1 100644
--- a/test/dds/xtypes/TypeLookupServicePublisher.cpp
+++ b/test/dds/xtypes/TypeLookupServicePublisher.cpp
@@ -99,6 +99,8 @@ bool TypeLookupServicePublisher::setup_publisher(
     // CREATE THE DATAWRITER
     DataWriterQos wqos = publisher->get_default_datawriter_qos();
     wqos.data_sharing().off();
+    wqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
+    wqos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
     a_type.writer_ = publisher->create_datawriter(topic, wqos);
     if (a_type.writer_ == nullptr)
     {
diff --git a/test/dds/xtypes/TypeLookupServiceSubscriber.cpp b/test/dds/xtypes/TypeLookupServiceSubscriber.cpp
index dd8fb14d24..83e6b8b654 100644
--- a/test/dds/xtypes/TypeLookupServiceSubscriber.cpp
+++ b/test/dds/xtypes/TypeLookupServiceSubscriber.cpp
@@ -105,6 +105,8 @@ bool TypeLookupServiceSubscriber::setup_subscriber(
     //CREATE THE DATAREADER
     DataReaderQos rqos = subscriber->get_default_datareader_qos();
     rqos.data_sharing().off();
+    rqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
+    rqos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
     DataReader* reader = subscriber->create_datareader(topic, rqos);
     if (reader == nullptr)
     {