diff --git a/src/cpp/rtps/reader/StatefulReader.cpp b/src/cpp/rtps/reader/StatefulReader.cpp
index 1cd27d4ddd5..7a1f8c5c7ce 100644
--- a/src/cpp/rtps/reader/StatefulReader.cpp
+++ b/src/cpp/rtps/reader/StatefulReader.cpp
@@ -932,8 +932,10 @@ bool StatefulReader::process_gap_msg(
         // TODO (Miguel C): Refactor this inside WriterProxy
         SequenceNumber_t auxSN;
         SequenceNumber_t finalSN = gapList.base();
+        // Avoids iterating over sequence numbers already known irrelevant or processed
+        SequenceNumber_t startSN = std::max(gapStart, pWP->available_changes_max());
         History::const_iterator history_iterator = history_->changesBegin();
-        for (auxSN = gapStart; auxSN < finalSN; auxSN++)
+        for (auxSN = startSN; auxSN < finalSN; auxSN++)
         {
             if (pWP->irrelevant_change_set(auxSN))
             {
diff --git a/src/cpp/rtps/writer/StatefulWriter.cpp b/src/cpp/rtps/writer/StatefulWriter.cpp
index 3133c98c407..a7fe361a6e7 100644
--- a/src/cpp/rtps/writer/StatefulWriter.cpp
+++ b/src/cpp/rtps/writer/StatefulWriter.cpp
@@ -1453,6 +1453,16 @@ void StatefulWriter::check_acked_status()
             }
             );
 
+    // In situation that there are recently matched readers to the writer has not yet
+    // sent changes, both 'min_low_mark = zero' and 'all_acked == true' will be met.
+    // In this scenario, onWriterChangeReceivedByAll() will be skipped for the acked
+    // changes, that causes the changes to remain in history indefinitely.
+    // To prevent this condition, clip min_low_mark to handle the acked changes.
+    if (all_acked)
+    {
+        min_low_mark = history_->next_sequence_number() - 1;
+    }
+
     bool something_changed = all_acked;
     SequenceNumber_t min_seq = get_seq_num_min();
     if (min_seq != SequenceNumber_t::unknown())