diff --git a/rcl_action/test/rcl_action/test_action_communication.cpp b/rcl_action/test/rcl_action/test_action_communication.cpp
index f6bcf1fd8..2cb6e7f0c 100644
--- a/rcl_action/test/rcl_action/test_action_communication.cpp
+++ b/rcl_action/test/rcl_action/test_action_communication.cpp
@@ -366,4 +366,5 @@ TEST_F(CLASSNAME(TestActionCommunication, RMW_IMPLEMENTATION), test_publish_stat
 
   ret = rcl_action_goal_status_array_fini(&status_array);
   ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
+  EXPECT_EQ(RCL_RET_OK, rcl_action_goal_handle_fini(goal_handle));
 }
diff --git a/rcl_action/test/rcl_action/test_goal_handle.cpp b/rcl_action/test/rcl_action/test_goal_handle.cpp
index e5b0b59d9..e345f2c57 100644
--- a/rcl_action/test/rcl_action/test_goal_handle.cpp
+++ b/rcl_action/test/rcl_action/test_goal_handle.cpp
@@ -154,6 +154,7 @@ TEST(TestGoalHandle, test_goal_handle_update_state_invalid)
   ret = rcl_action_update_goal_state(&goal_handle, GOAL_EVENT_NUM_EVENTS);
   EXPECT_EQ(ret, RCL_RET_ACTION_GOAL_EVENT_INVALID) << rcl_get_error_string().str;
   rcl_reset_error();
+  EXPECT_EQ(RCL_RET_OK, rcl_action_goal_handle_fini(&goal_handle));
 }
 
 using EventStateActiveCancelableTuple =