diff --git a/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp b/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp
index 08bd98f598a..f2ed86275c3 100644
--- a/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp
+++ b/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp
@@ -855,7 +855,7 @@ inline bool QosPoliciesSerializer<DataSharingQosPolicy>::read_content_from_cdr_m
     uint32_t pos_ref = cdr_message->pos;
 
     // If the parameter is sent, the remote endpoint is datasharing compatible
-    qos_policy.automatic();
+    qos_policy.on(".");
 
     uint32_t num_domains = 0;
     bool valid = fastrtps::rtps::CDRMessage::readUInt32(cdr_message, &num_domains);
diff --git a/src/cpp/rtps/builtin/data/ReaderProxyData.cpp b/src/cpp/rtps/builtin/data/ReaderProxyData.cpp
index 58cba2aec6f..4d1da335d68 100644
--- a/src/cpp/rtps/builtin/data/ReaderProxyData.cpp
+++ b/src/cpp/rtps/builtin/data/ReaderProxyData.cpp
@@ -1078,6 +1078,7 @@ bool ReaderProxyData::readFromCDRMessage(
                                     "Received with error.");
                             return false;
                         }
+
                         break;
                     }
 
@@ -1092,6 +1093,7 @@ bool ReaderProxyData::readFromCDRMessage(
 
     uint32_t qos_size;
     clear();
+    m_qos.data_sharing.off();
     try
     {
         if (ParameterList::readParameterListfromCDRMsg(*msg, param_process, true, qos_size))
diff --git a/src/cpp/rtps/builtin/data/WriterProxyData.cpp b/src/cpp/rtps/builtin/data/WriterProxyData.cpp
index ceaad38437f..0495ddd8993 100644
--- a/src/cpp/rtps/builtin/data/WriterProxyData.cpp
+++ b/src/cpp/rtps/builtin/data/WriterProxyData.cpp
@@ -1075,6 +1075,7 @@ bool WriterProxyData::readFromCDRMessage(
 
     uint32_t qos_size;
     clear();
+    m_qos.data_sharing.off();
     try
     {
         if (ParameterList::readParameterListfromCDRMsg(*msg, param_process, true, qos_size))
diff --git a/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp b/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
index 76cd708b1bc..f8f74b4fc4f 100644
--- a/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
+++ b/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
@@ -140,6 +140,86 @@ TEST(BuiltinDataSerializationTests, ok_with_defaults)
     }
 }
 
+TEST(BuiltinDataSerializationTests, msg_without_datasharing)
+{
+    {
+        uint8_t data_r_buffer[] =
+        {
+            // Encapsulation
+            0x00, 0x03, 0x00, 0x00
+        };
+
+        CDRMessage_t msg(0);
+        msg.init(data_r_buffer, static_cast<uint32_t>(sizeof(data_r_buffer)));
+        msg.length = msg.max_size;
+
+        ReaderProxyData out(max_unicast_locators, max_multicast_locators);
+        out.readFromCDRMessage(&msg, network, false, true);
+        ASSERT_EQ(out.m_qos.data_sharing.kind(), OFF);
+    }
+
+    {
+        uint8_t data_w_buffer[] =
+        {
+            // Encapsulation
+            0x00, 0x03, 0x00, 0x00
+
+        };
+
+        CDRMessage_t msg(0);
+        msg.init(data_w_buffer, static_cast<uint32_t>(sizeof(data_w_buffer)));
+        msg.length = msg.max_size;
+
+        ReaderProxyData out(max_unicast_locators, max_multicast_locators);
+        out.readFromCDRMessage(&msg, network, false, true);
+        ASSERT_EQ(out.m_qos.data_sharing.kind(), OFF);
+    }
+}
+
+TEST(BuiltinDataSerializationTests, msg_with_datasharing)
+{
+    {
+        uint8_t data_r_buffer[] =
+        {
+            // Encapsulation
+            0x00, 0x03, 0x00, 0x00,
+            //Data Sharing
+            0x06, 0x80, 0x0c, 0x00,
+            0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6c, 0x9b, 0xf9, 0xbe, 0x1c, 0xb8
+
+        };
+
+        CDRMessage_t msg(0);
+        msg.init(data_r_buffer, static_cast<uint32_t>(sizeof(data_r_buffer)));
+        msg.length = msg.max_size;
+
+        ReaderProxyData out(max_unicast_locators, max_multicast_locators);
+        out.readFromCDRMessage(&msg, network, false, true);
+        ASSERT_EQ(out.m_qos.data_sharing.kind(), ON);
+    }
+
+    {
+        uint8_t data_w_buffer[] =
+        {
+            // Encapsulation
+            0x00, 0x03, 0x00, 0x00,
+            //Data Sharing
+            0x06, 0x80, 0x0c, 0x00,
+            0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6c, 0x9b, 0xf9, 0xbe, 0x1c, 0xb8
+
+        };
+
+        CDRMessage_t msg(0);
+        msg.init(data_w_buffer, static_cast<uint32_t>(sizeof(data_w_buffer)));
+        msg.length = msg.max_size;
+
+        ReaderProxyData out(max_unicast_locators, max_multicast_locators);
+        out.readFromCDRMessage(&msg, network, false, true);
+        ASSERT_EQ(out.m_qos.data_sharing.kind(), ON);
+    }
+}
+
+
 // Regression test for redmine issue #10547.
 // Update against OpenDDS 3.27. With this version we can read the remote DATA(w).
 TEST(BuiltinDataSerializationTests, interoperability_with_opendds_3_27)
@@ -641,7 +721,7 @@ TEST(BuiltinDataSerializationTests, other_vendor_parameter_list_with_custom_pids
         writer_pdata.m_qos.data_sharing.off();
         writer_pdata.m_qos.data_sharing.set_max_domains(0);
         writer_read(data_buffer, buffer_length, writer_pdata);
-        ASSERT_EQ(writer_pdata.m_qos.data_sharing, DataSharingQosPolicy());
+        ASSERT_EQ(writer_pdata.m_qos.data_sharing.kind(), OFF);
 
         // ReaderProxyData check
         ReaderProxyData reader_pdata(max_unicast_locators, max_multicast_locators);
@@ -649,7 +729,7 @@ TEST(BuiltinDataSerializationTests, other_vendor_parameter_list_with_custom_pids
         reader_pdata.m_qos.data_sharing.set_max_domains(0);
         reader_pdata.m_qos.m_disablePositiveACKs.enabled = false;
         reader_read(data_buffer, buffer_length, reader_pdata);
-        ASSERT_EQ(reader_pdata.m_qos.data_sharing, DataSharingQosPolicy());
+        ASSERT_EQ(reader_pdata.m_qos.data_sharing.kind(), OFF);
 
         // CacheChange_t check
         CacheChange_t change;