diff --git a/rclcpp_action/CMakeLists.txt b/rclcpp_action/CMakeLists.txt
index 2398c0d759..fb422c88ba 100644
--- a/rclcpp_action/CMakeLists.txt
+++ b/rclcpp_action/CMakeLists.txt
@@ -9,6 +9,7 @@ find_package(rcl_action REQUIRED)
 find_package(test_msgs REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
+find_package(std_msgs REQUIRED)
 
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
@@ -86,6 +87,29 @@ if(BUILD_TESTING)
 
   add_subdirectory(test/benchmark)
 
+  ament_add_gtest(test_ros2_actions test/test_actions.cpp TIMEOUT 180)
+  if(TARGET test_ros2_actions)
+    ament_target_dependencies(test_ros2_actions
+      "test_msgs"
+      "rclcpp"
+    )
+    target_link_libraries(test_ros2_actions
+      ${PROJECT_NAME}
+      mimick
+    )
+  endif()
+
+  ament_add_gtest(test_transient_local test/test_transient_local.cpp TIMEOUT 180)
+  if(TARGET test_transient_local)
+    ament_target_dependencies(test_transient_local
+      "std_msgs"
+    )
+    target_link_libraries(test_transient_local
+      ${PROJECT_NAME}
+      mimick
+    )
+  endif()
+
   ament_add_gtest(test_client test/test_client.cpp TIMEOUT 180)
   if(TARGET test_client)
     ament_target_dependencies(test_client
diff --git a/rclcpp_action/include/rclcpp_action/server.hpp b/rclcpp_action/include/rclcpp_action/server.hpp
index 0f598270e9..d793c9ca47 100644
--- a/rclcpp_action/include/rclcpp_action/server.hpp
+++ b/rclcpp_action/include/rclcpp_action/server.hpp
@@ -675,7 +675,7 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
       rclcpp::get_logger("rclcpp_action"),
       "Action server can't send result response, missing IPC Action client: %s. "
       "Will do inter-process publish",
-      this->action_name_);
+      this->action_name_.c_str());
 
     return true;
   }
diff --git a/rclcpp_action/test/test_actions.hpp b/rclcpp_action/test/test_actions.hpp
index ef54b8d13d..cd7e18454a 100644
--- a/rclcpp_action/test/test_actions.hpp
+++ b/rclcpp_action/test/test_actions.hpp
@@ -5,7 +5,6 @@
 #include <thread>
 
 #include <rclcpp/executors/single_threaded_executor.hpp>
-#include <rclcpp/executors/static_single_threaded_executor.hpp>
 #include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
 #include <rclcpp/experimental/executors/events_executor/lock_free_events_queue.hpp>
 #include <rclcpp_action/client_goal_handle.hpp>
@@ -19,6 +18,7 @@ using GoalHandleFibonacci = typename rclcpp_action::ServerGoalHandle<Fibonacci>;
 using GoalHandleSharedPtr = typename std::shared_ptr<GoalHandleFibonacci>;
 
 using rclcpp::experimental::executors::EventsExecutor;
+using rclcpp::executors::SingleThreadedExecutor;
 
 // Define a structure to hold test info and utilities
 class TestInfo
diff --git a/rclcpp_action/test/test_transient_local.cpp b/rclcpp_action/test/test_transient_local.cpp
new file mode 100644
index 0000000000..9b368dde51
--- /dev/null
+++ b/rclcpp_action/test/test_transient_local.cpp
@@ -0,0 +1,246 @@
+// Copyright 2024 iRobot Corporation. All Rights Reserved.
+
+#include <gtest/gtest.h>
+
+#include <chrono>
+#include <thread>
+
+#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
+#include <rclcpp/experimental/executors/events_executor/lock_free_events_queue.hpp>
+#include <rclcpp/node.hpp>
+#include <rclcpp/publisher.hpp>
+#include <rclcpp/subscription.hpp>
+#include <std_msgs/msg/empty.hpp>
+
+struct transient_local_test_data_t
+{
+    // Whether the publisher should use IPC
+    bool pub_use_ipc {false};
+    // How many early subscribers and whether they should use IPC
+    std::vector<bool> early_subs_use_ipc {};
+    // How many late subscribers and whether they should use IPC
+    std::vector<bool> late_subs_use_ipc {};
+};
+
+static std::string to_string(
+    const std::vector<bool> & bool_vec,
+    const std::string & property_name)
+{
+    if (bool_vec.empty()) {
+        return "NONE;";
+    }
+
+    std::string result;
+    for (bool b : bool_vec) {
+        if (!b) {
+            result += "Non-";
+        }
+        result += property_name + ", ";
+    }
+
+    return result;
+}
+
+class TransientLocalPermutationTest
+: public testing::Test, public testing::WithParamInterface<transient_local_test_data_t>
+{
+public:
+    void SetUp() override
+    {
+        rclcpp::init(0, nullptr);
+        auto p = GetParam();
+        std::cout << "Test permutation: { "
+                  << (p.pub_use_ipc ? "IPC Publisher, " : "Non-IPC Publisher, ")
+                  << "Early: " << to_string(p.early_subs_use_ipc, "IPC Sub")
+                  << " Late: " << to_string(p.late_subs_use_ipc, "IPC Sub")
+                  << " }"<< std::endl;
+    }
+
+    void TearDown() override
+    {
+        rclcpp::shutdown();
+    }
+};
+
+INSTANTIATE_TEST_SUITE_P(
+    EarlySubsOnlyTest,
+    TransientLocalPermutationTest,
+    testing::Values(
+        ///// tests with only 1 early sub; not very interesting but let's run them
+        // non-ipc pub, 1 early non-ipc sub
+        transient_local_test_data_t{false, {false}, {}},
+        // non-ipc pub, 1 early ipc sub
+        transient_local_test_data_t{false, {true}, {}},
+        // ipc pub, 1 early non-ipc sub
+        transient_local_test_data_t{true, {false}, {}},
+        // ipc pub, 1 early ipc sub
+        transient_local_test_data_t{true, {true}, {}}
+    ));
+
+INSTANTIATE_TEST_SUITE_P(
+    LateSubsOnlyTest,
+    TransientLocalPermutationTest,
+    testing::Values(
+        ///// tests with only 1 late sub
+        // non-ipc pub, non-ipc late sub
+        transient_local_test_data_t{false, {}, {false}},
+        // non-ipc pub, ipc late sub
+        transient_local_test_data_t{false, {}, {true}},
+        // ipc pub, non-ipc late sub
+        transient_local_test_data_t{true, {}, {false}},
+        // ipc pub, ipc late sub
+        transient_local_test_data_t{true, {}, {true}},
+        ///// tests with late mixed subscriptions
+        // non-ipc pub, mixed late subs
+        transient_local_test_data_t{false, {}, {true, false}},
+        // ipc pub, mixed late subs
+        transient_local_test_data_t{true, {}, {true, false}}
+    ));
+
+INSTANTIATE_TEST_SUITE_P(
+    EarlyAndLateSubsTest,
+    TransientLocalPermutationTest,
+    testing::Values(
+        ///// tests with early and late subscriptions
+        // non-ipc pub, 1 non-ipc early sub, 1 non-ipc late sub
+        transient_local_test_data_t{false, {false}, {false}},
+        // non-ipc pub, 1 non-ipc early sub, 1 ipc late sub
+        transient_local_test_data_t{false, {false}, {true}},
+        // non-ipc pub, 1 non-ipc early sub, mixed late sub
+        transient_local_test_data_t{false, {false}, {true, false}},
+        // non-ipc pub, 1 ipc early sub, 1 non-ipc late sub
+        transient_local_test_data_t{false, {true}, {false}},
+        // non-ipc pub, 1 ipc early sub, 1 ipc late sub
+        transient_local_test_data_t{false, {true}, {true}},
+        // non-ipc pub, 1 ipc early sub, mixed late sub
+        transient_local_test_data_t{false, {true}, {true, false}},
+        // ipc pub, 1 non-ipc early sub, 1 non-ipc late sub
+        transient_local_test_data_t{true, {false}, {false}},
+        // ipc pub, 1 non-ipc early sub, 1 ipc late sub
+        transient_local_test_data_t{true, {false}, {true}},
+        // ipc pub, 1 non-ipc early sub, mixed late sub
+        transient_local_test_data_t{true, {false}, {true, false}},
+        // ipc pub, 1 ipc early sub, 1 non-ipc late sub
+        transient_local_test_data_t{true, {true}, {false}},
+        // ipc pub, 1 ipc early sub, 1 ipc late sub
+        transient_local_test_data_t{true, {true}, {true}},
+        // ipc pub, 1 ipc early sub, mixed late sub
+        transient_local_test_data_t{true, {true}, {true, false}}
+    ));
+
+struct sub_data_t
+{
+    std::string id {};
+    std::atomic<bool> msg_received {false};
+};
+
+TEST_P(TransientLocalPermutationTest, PublishWithNoSubs)
+{
+    auto test_data = GetParam();
+
+    auto pub_options = rclcpp::NodeOptions().use_intra_process_comms(test_data.pub_use_ipc);
+    auto pub_node = rclcpp::Node::make_shared("pub_node", pub_options);
+
+    auto publisher = rclcpp::create_publisher<std_msgs::msg::Empty>(
+        pub_node,
+        "test_topic",
+        rclcpp::QoS(10).transient_local());
+
+    auto sub_node = rclcpp::Node::make_shared("sub_node");
+
+    // Add nodes to the executor
+    auto events_queue = std::make_unique<rclcpp::experimental::executors::LockFreeEventsQueue>();
+
+    auto executor = std::make_unique<rclcpp::experimental::executors::EventsExecutor>(std::move(events_queue), false, rclcpp::ExecutorOptions());
+
+    executor->add_node(pub_node);
+    executor->add_node(sub_node);
+    auto executor_thread = std::thread([&](){ executor->spin(); });
+
+    while (!executor->is_spinning()) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+    }
+
+    std::vector<std::shared_ptr<sub_data_t>> test_subs_data;
+    std::vector<std::shared_ptr<rclcpp::SubscriptionBase>> test_subs;
+
+    auto build_subs_from_vec = [&test_subs_data, &test_subs, sub_node=sub_node](
+        const std::vector<bool> & subs_use_ipc,
+        const std::string & prefix)
+    {
+        for (size_t i = 0; i < subs_use_ipc.size(); i++) {
+            bool use_ipc = subs_use_ipc[i];
+
+            auto sub_data = std::make_shared<sub_data_t>();
+
+            sub_data->id = prefix + "_" + std::to_string(i) +"_with_" + (use_ipc ? "ipc" : "no-ipc");
+
+            auto sub_options = rclcpp::SubscriptionOptions();
+            sub_options.use_intra_process_comm = use_ipc ? rclcpp::IntraProcessSetting::Enable : rclcpp::IntraProcessSetting::Disable;
+            auto sub = rclcpp::create_subscription<std_msgs::msg::Empty>(
+                sub_node,
+                "test_topic",
+                rclcpp::QoS(10).transient_local(),
+                [sub_data=sub_data](std_msgs::msg::Empty::ConstSharedPtr) { sub_data->msg_received = true; },
+                sub_options);
+
+            std::cout<<"Created " << sub_data->id << std::endl;
+            test_subs_data.push_back(sub_data);
+            test_subs.push_back(sub);
+        }
+    };
+
+    // Create early subscriptions
+    build_subs_from_vec(test_data.early_subs_use_ipc, "early");
+
+    // Wait for discovery of early subs (to ensure that they are effectively "early")
+    auto start_time = std::chrono::high_resolution_clock::now();
+    while (std::chrono::high_resolution_clock::now() - start_time < std::chrono::seconds(10))
+    {
+        if (publisher->get_subscription_count() == test_subs.size()) {
+            break;
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(2));
+    }
+    ASSERT_EQ(publisher->get_subscription_count(), test_subs.size());
+
+    // Publish the message
+    auto msg = std::make_unique<std_msgs::msg::Empty>();
+    publisher->publish(std::move(msg));
+
+    // Create late subscriptions
+    build_subs_from_vec(test_data.late_subs_use_ipc, "late");
+
+    // Run until all subs have received a message or we timeout
+    start_time = std::chrono::high_resolution_clock::now();
+    while (std::chrono::high_resolution_clock::now() - start_time < std::chrono::seconds(20))
+    {
+        bool done = true;
+        for (const auto & data : test_subs_data) {
+            // This sub didn't get a message, so go to next iteration oft
+            if (!data->msg_received) {
+                done = false;
+                break;
+            }
+        }
+
+        if (done) {
+            break;
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(2));
+    }
+
+    executor->cancel();
+    executor_thread.join();
+
+    // Verify that all subs received data
+    for (const auto & data : test_subs_data) {
+        EXPECT_TRUE(data->msg_received) << data->id << " didn't receive a message";
+    }
+}
+
+int main(int argc, char **argv)
+{
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}