diff --git a/src/cpp/rtps/security/SecurityManager.cpp b/src/cpp/rtps/security/SecurityManager.cpp
index c1bab35c052..44cad5b1afa 100644
--- a/src/cpp/rtps/security/SecurityManager.cpp
+++ b/src/cpp/rtps/security/SecurityManager.cpp
@@ -728,6 +728,40 @@ void SecurityManager::remove_participant(
     {
         SecurityException exception;
 
+        for (auto& local_reader : reader_handles_)
+        {
+            for (auto wit = local_reader.second.associated_writers.begin();
+                    local_reader.second.associated_writers.end() != wit;
+                    )
+            {
+                if (wit->first.guidPrefix == participant_data.m_guid.guidPrefix)
+                {
+                    wit = local_reader.second.associated_writers.erase(wit);
+                }
+                else
+                {
+                    ++wit;
+                }
+            }
+        }
+
+        for (auto& local_writer : writer_handles_)
+        {
+            for (auto rit = local_writer.second.associated_readers.begin();
+                    local_writer.second.associated_readers.end() != rit;
+                    )
+            {
+                if (rit->first.guidPrefix == participant_data.m_guid.guidPrefix)
+                {
+                    rit = local_writer.second.associated_readers.erase(rit);
+                }
+                else
+                {
+                    ++rit;
+                }
+            }
+        }
+
         ParticipantCryptoHandle* participant_crypto_handle =
                 dp_it->second.get_participant_crypto();
         if (participant_crypto_handle != nullptr)
diff --git a/test/blackbox/XFAIL_DDS_PIM_SECURITY.list b/test/blackbox/XFAIL_DDS_PIM_SECURITY.list
index 894e7b2516f..e69de29bb2d 100644
--- a/test/blackbox/XFAIL_DDS_PIM_SECURITY.list
+++ b/test/blackbox/XFAIL_DDS_PIM_SECURITY.list
@@ -1,25 +0,0 @@
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_governance_rule_order.Intraprocess
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_governance_rule_order.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_Permissions_validation_fail_on_partition_wildcards.Intraprocess
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_Permissions_validation_fail_on_partition_wildcards.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_Permissions_validation_fail_on_topic_wildcards.Intraprocess
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_Permissions_validation_fail_on_topic_wildcards.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsDisableDiscoveryDisableAccessNone_validation_ok_enable_discovery_disable_access_encrypt.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsDisableDiscoveryDisableAccessNone_validation_ok_enable_discovery_enable_access_encrypt.Intraprocess
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsDisableDiscoveryEnableAccessEncrypt_validation_ok_enable_discovery_disable_access_encrypt.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryDisableAccessEncrypt_validation_ok_enable_discovery_disable_access_encrypt.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryDisableAccessEncrypt_validation_ok_enable_discovery_enable_access_encrypt.Intraprocess
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryDisableAccessNone_validation_ok_enable_discovery_disable_access_encrypt.Intraprocess
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryDisableAccessNone_validation_ok_enable_discovery_disable_access_encrypt.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryDisableAccessNone_validation_ok_enable_discovery_disable_access_none.Intraprocess
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryDisableAccessNone_validation_ok_enable_discovery_enable_access_encrypt.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryEnableAccessEncrypt_validation_ok_disable_discovery_disable_access_encrypt.Intraprocess
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryEnableAccessEncrypt_validation_ok_disable_discovery_enable_access_encrypt.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryEnableAccessEncrypt_validation_ok_enable_discovery_disable_access_encrypt.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryEnableAccessEncrypt_validation_ok_enable_discovery_enable_access_encrypt.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryEnableAccessEncrypt_validation_ok_enable_discovery_enable_access_none.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryEnableAccessNone_validation_ok_disable_discovery_disable_access_encrypt.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryEnableAccessNone_validation_ok_enable_discovery_enable_access_encrypt.Intraprocess
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryEnableAccessNone_validation_ok_enable_discovery_enable_access_encrypt.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndAccessAndCryptoPlugin_PermissionsEnableDiscoveryEnableAccessNone_validation_ok_enable_discovery_enable_access_none.Transport
-BlackboxTests_DDS_PIM.Security.BuiltinAuthenticationAndCryptoPlugin_reliable_all_ok.Transport