diff --git a/src/cpp/rtps/transport/TCPChannelResource.h b/src/cpp/rtps/transport/TCPChannelResource.h
index 4bceb696bf2..1f795c37c6e 100644
--- a/src/cpp/rtps/transport/TCPChannelResource.h
+++ b/src/cpp/rtps/transport/TCPChannelResource.h
@@ -130,10 +130,36 @@ class TCPChannelResource : public ChannelResource
             size_t size,
             asio::error_code& ec) = 0;
 
+    /**
+     * @brief Gets the remote endpoint of the socket connection.
+     * @throws Exception on failure.
+     * @return asio::ip::tcp::endpoint of the remote endpoint.
+     */
     virtual asio::ip::tcp::endpoint remote_endpoint() const = 0;
 
+    /**
+     * @brief Gets the local endpoint of the socket connection.
+     * @throws Exception on failure.
+     * @return asio::ip::tcp::endpoint of the local endpoint.
+     */
     virtual asio::ip::tcp::endpoint local_endpoint() const = 0;
 
+    /**
+     * @brief Gets the remote endpoint, setting error code if any.
+     * @param ec Set to indicate what error occurred, if any.
+     * @return asio::ip::tcp::endpoint of the remote endpoint or returns a default-constructed endpoint object if an error occurred.
+     */
+    virtual asio::ip::tcp::endpoint remote_endpoint(
+            asio::error_code& ec) const = 0;
+
+    /**
+     * @brief Gets the local endpoint, setting error code if any.
+     * @param ec Set to indicate what error occurred, if any.
+     * @return asio::ip::tcp::endpoint of the remote endpoint or returns a default-constructed endpoint object if an error occurred.
+     */
+    virtual asio::ip::tcp::endpoint local_endpoint(
+            asio::error_code& ec) const = 0;
+
     virtual void set_options(
             const TCPTransportDescriptor* options) = 0;
 
diff --git a/src/cpp/rtps/transport/TCPChannelResourceBasic.cpp b/src/cpp/rtps/transport/TCPChannelResourceBasic.cpp
index b9b4c1336ed..51a28913c19 100644
--- a/src/cpp/rtps/transport/TCPChannelResourceBasic.cpp
+++ b/src/cpp/rtps/transport/TCPChannelResourceBasic.cpp
@@ -182,7 +182,18 @@ asio::ip::tcp::endpoint TCPChannelResourceBasic::remote_endpoint() const
 
 asio::ip::tcp::endpoint TCPChannelResourceBasic::local_endpoint() const
 {
-    std::error_code ec;
+    return socket_->local_endpoint();
+}
+
+asio::ip::tcp::endpoint TCPChannelResourceBasic::remote_endpoint(
+        asio::error_code& ec) const
+{
+    return socket_->remote_endpoint(ec);
+}
+
+asio::ip::tcp::endpoint TCPChannelResourceBasic::local_endpoint(
+        asio::error_code& ec) const
+{
     return socket_->local_endpoint(ec);
 }
 
diff --git a/src/cpp/rtps/transport/TCPChannelResourceBasic.h b/src/cpp/rtps/transport/TCPChannelResourceBasic.h
index 5e7940663e1..20928f0f494 100644
--- a/src/cpp/rtps/transport/TCPChannelResourceBasic.h
+++ b/src/cpp/rtps/transport/TCPChannelResourceBasic.h
@@ -65,9 +65,16 @@ class TCPChannelResourceBasic : public TCPChannelResource
             size_t size,
             asio::error_code& ec) override;
 
+    // Throwing asio calls
     asio::ip::tcp::endpoint remote_endpoint() const override;
     asio::ip::tcp::endpoint local_endpoint() const override;
 
+    // Non-throwing asio calls
+    asio::ip::tcp::endpoint remote_endpoint(
+            asio::error_code& ec) const override;
+    asio::ip::tcp::endpoint local_endpoint(
+            asio::error_code& ec) const override;
+
     void set_options(
             const TCPTransportDescriptor* options) override;
 
diff --git a/src/cpp/rtps/transport/TCPChannelResourceSecure.cpp b/src/cpp/rtps/transport/TCPChannelResourceSecure.cpp
index ff12d3c26cc..c16eca7c020 100644
--- a/src/cpp/rtps/transport/TCPChannelResourceSecure.cpp
+++ b/src/cpp/rtps/transport/TCPChannelResourceSecure.cpp
@@ -264,6 +264,18 @@ asio::ip::tcp::endpoint TCPChannelResourceSecure::local_endpoint() const
     return secure_socket_->lowest_layer().local_endpoint();
 }
 
+asio::ip::tcp::endpoint TCPChannelResourceSecure::remote_endpoint(
+        asio::error_code& ec) const
+{
+    return secure_socket_->lowest_layer().remote_endpoint(ec);
+}
+
+asio::ip::tcp::endpoint TCPChannelResourceSecure::local_endpoint(
+        asio::error_code& ec) const
+{
+    return secure_socket_->lowest_layer().local_endpoint(ec);
+}
+
 void TCPChannelResourceSecure::set_options(
         const TCPTransportDescriptor* options)
 {
diff --git a/src/cpp/rtps/transport/TCPChannelResourceSecure.h b/src/cpp/rtps/transport/TCPChannelResourceSecure.h
index 04ac935c437..31226292b4b 100644
--- a/src/cpp/rtps/transport/TCPChannelResourceSecure.h
+++ b/src/cpp/rtps/transport/TCPChannelResourceSecure.h
@@ -65,9 +65,16 @@ class TCPChannelResourceSecure : public TCPChannelResource
             size_t size,
             asio::error_code& ec) override;
 
+    // Throwing asio calls
     asio::ip::tcp::endpoint remote_endpoint() const override;
     asio::ip::tcp::endpoint local_endpoint() const override;
 
+    // Non-throwing asio calls
+    asio::ip::tcp::endpoint remote_endpoint(
+            asio::error_code& ec) const override;
+    asio::ip::tcp::endpoint local_endpoint(
+            asio::error_code& ec) const override;
+
     void set_options(
             const TCPTransportDescriptor* options) override;
 
diff --git a/src/cpp/rtps/transport/TCPTransportInterface.cpp b/src/cpp/rtps/transport/TCPTransportInterface.cpp
index 7f8733ef9b1..c31e5bd068e 100644
--- a/src/cpp/rtps/transport/TCPTransportInterface.cpp
+++ b/src/cpp/rtps/transport/TCPTransportInterface.cpp
@@ -224,8 +224,6 @@ void TCPTransportInterface::clean()
     }
 }
 
-<<<<<<< HEAD
-=======
 Locator TCPTransportInterface::remote_endpoint_to_locator(
         const std::shared_ptr<TCPChannelResource>& channel) const
 {
@@ -260,7 +258,6 @@ Locator TCPTransportInterface::local_endpoint_to_locator(
     return locator;
 }
 
->>>>>>> 08193d5f7 (Protect asio exception hotfix (#4527))
 void TCPTransportInterface::bind_socket(
         std::shared_ptr<TCPChannelResource>& channel)
 {
@@ -918,10 +915,11 @@ void TCPTransportInterface::perform_listen_operation(
     if (rtcp_message_manager)
     {
         channel = channel_weak.lock();
-        endpoint_to_locator(channel->remote_endpoint(), remote_locator);
 
         if (channel)
         {
+            remote_locator = remote_endpoint_to_locator(channel);
+
             if (channel->tcp_connection_type() == TCPChannelResource::TCPConnectionType::TCP_CONNECT_TYPE)
             {
                 rtcp_message_manager->sendConnectionRequest(channel);
@@ -1190,6 +1188,11 @@ bool TCPTransportInterface::Receive(
                     }
                     else
                     {
+                        if (!IsLocatorValid(remote_locator))
+                        {
+                            remote_locator = remote_endpoint_to_locator(channel);
+                        }
+
                         IPLocator::setLogicalPort(remote_locator, tcp_header.logical_port);
                         EPROSIMA_LOG_INFO(RTCP_MSG_IN, "[RECEIVE] From: " << remote_locator \
                                                                           << " - " << receive_buffer_size << " bytes.");
@@ -1407,10 +1410,8 @@ void TCPTransportInterface::SocketAccepted(
                     channel_weak_ptr, rtcp_manager_weak_ptr));
 
             EPROSIMA_LOG_INFO(RTCP, "Accepted connection (local: "
-                    << channel->local_endpoint().address() << ":"
-                    << channel->local_endpoint().port() << "), remote: "
-                    << channel->remote_endpoint().address() << ":"
-                    << channel->remote_endpoint().port() << ")");
+                    << local_endpoint_to_locator(channel) << ", remote: "
+                    << remote_endpoint_to_locator(channel) << ")");
         }
         else
         {
@@ -1455,10 +1456,8 @@ void TCPTransportInterface::SecureSocketAccepted(
                     channel_weak_ptr, rtcp_manager_weak_ptr));
 
             EPROSIMA_LOG_INFO(RTCP, " Accepted connection (local: "
-                    << socket->lowest_layer().local_endpoint().address() << ":"
-                    << socket->lowest_layer().local_endpoint().port() << "), remote: "
-                    << socket->lowest_layer().remote_endpoint().address() << ":"
-                    << socket->lowest_layer().remote_endpoint().port() << ")");
+                    << local_endpoint_to_locator(secure_channel) << ", remote: "
+                    << remote_endpoint_to_locator(secure_channel) << ")");
         }
         else
         {
diff --git a/src/cpp/rtps/transport/TCPTransportInterface.h b/src/cpp/rtps/transport/TCPTransportInterface.h
index e83ffc9b018..67792c2212d 100644
--- a/src/cpp/rtps/transport/TCPTransportInterface.h
+++ b/src/cpp/rtps/transport/TCPTransportInterface.h
@@ -187,6 +187,18 @@ class TCPTransportInterface : public TransportInterface
             const asio::ip::tcp::endpoint& endpoint,
             Locator& locator) const = 0;
 
+    /**
+     * Converts a remote endpoint to a locator if possible. Otherwise, it sets an invalid locator.
+     */
+    Locator remote_endpoint_to_locator(
+            const std::shared_ptr<TCPChannelResource>& channel) const;
+
+    /**
+     * Converts a local endpoint to a locator if possible. Otherwise, it sets an invalid locator.
+     */
+    Locator local_endpoint_to_locator(
+            const std::shared_ptr<TCPChannelResource>& channel) const;
+
     /**
      * Shutdown method to close the connections of the transports.
      */
diff --git a/test/unittest/transport/mock/MockTCPChannelResource.cpp b/test/unittest/transport/mock/MockTCPChannelResource.cpp
index db80e81982c..c22ad835f0e 100644
--- a/test/unittest/transport/mock/MockTCPChannelResource.cpp
+++ b/test/unittest/transport/mock/MockTCPChannelResource.cpp
@@ -67,6 +67,22 @@ asio::ip::tcp::endpoint MockTCPChannelResource::local_endpoint() const
     return ep;
 }
 
+asio::ip::tcp::endpoint MockTCPChannelResource::remote_endpoint(
+        asio::error_code& ec) const
+{
+    ec = asio::error_code();  // Indicate no error
+    asio::ip::tcp::endpoint ep;
+    return ep;
+}
+
+asio::ip::tcp::endpoint MockTCPChannelResource::local_endpoint(
+        asio::error_code& ec) const
+{
+    ec = asio::error_code();  // Indicate no error
+    asio::ip::tcp::endpoint ep;
+    return ep;
+}
+
 void MockTCPChannelResource::set_options(
         const TCPTransportDescriptor*)
 {
diff --git a/test/unittest/transport/mock/MockTCPChannelResource.h b/test/unittest/transport/mock/MockTCPChannelResource.h
index b48bf087ddb..ecdb186a0fc 100644
--- a/test/unittest/transport/mock/MockTCPChannelResource.h
+++ b/test/unittest/transport/mock/MockTCPChannelResource.h
@@ -59,6 +59,12 @@ class MockTCPChannelResource : public TCPChannelResource
 
     asio::ip::tcp::endpoint local_endpoint() const override;
 
+    asio::ip::tcp::endpoint remote_endpoint(
+            asio::error_code& ec) const override;
+
+    asio::ip::tcp::endpoint local_endpoint(
+            asio::error_code& ec) const override;
+
     void set_options(
             const TCPTransportDescriptor* options) override;