diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0657fee4a0c..bc1b4ef3c46 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,81 @@
 # Changelog for the Mapbox Navigation SDK Core Framework for Android
 
+## Navigation SDK Core Framework 3.4.1 - 19 October, 2024
+#### Features
+
+
+#### Bug fixes and improvements
+- Optimized CA routes handling by skiping route parsing if it's already exist in direction session    [#6868](https://github.com/mapbox/mapbox-navigation-android/pull/6868)
+- Improved map-matching experience in tunnels. [#7042](https://github.com/mapbox/mapbox-navigation-android/pull/7042)
+- Increased route stickiness in dead reckoning mode. [#7042](https://github.com/mapbox/mapbox-navigation-android/pull/7042)
+- Improved odometry and road graph fusing in Manhattan urban canyons. [#7042](https://github.com/mapbox/mapbox-navigation-android/pull/7042)
+- Nav SDK now removes passed alternative routes as soon as user passed fork point. [#6813](https://github.com/mapbox/mapbox-navigation-android/pull/6813)
+
+### Mapbox dependencies
+This release depends on, and has been tested with, the following Mapbox dependencies:
+- Mapbox Maps SDK `v11.7.1` ([release notes](https://github.com/mapbox/mapbox-maps-android/releases/tag/v11.7.1))
+- Mapbox Navigation Native `v320.2.0`
+- Mapbox Core Common `v24.7.1`
+- Mapbox Java `v7.2.0` ([release notes](https://github.com/mapbox/mapbox-java/releases/tag/v7.2.0))
+
+
+## Navigation SDK Core Framework 3.4.0 - 01 October, 2024
+#### Features
+- Split MotionData into more accurate parts. Introduced ImuTemperatureData, OrientationData, RawAccelerometer, RawGravity, RawGyroscope and SpeedData. [#6873](https://github.com/mapbox/mapbox-navigation-android/pull/6873)
+- Added unique route ID's after each subsequent restart. [#6873](https://github.com/mapbox/mapbox-navigation-android/pull/6873)
+- Added filtering online routes that are too far from current location. [#6873](https://github.com/mapbox/mapbox-navigation-android/pull/6873)
+- Added rerouting when server unrecognizes current route id to refresh or update alternatives. [#6873](https://github.com/mapbox/mapbox-navigation-android/pull/6873)
+- Improved route completion logic. Completed state is triggered only if the puck is leaving the waypoint or after timeout reaching the waypoint threshold. [#6760](https://github.com/mapbox/mapbox-navigation-android/pull/6760)
+- Signature of experimental `EtcGateApi#updateEtcGateInfo` function has been changed, now it accepts `EtcGateApi.EtcGateInfo` as a function parameter. [#6508](https://github.com/mapbox/mapbox-navigation-android/pull/6508)
+- Experimental Data Inputs functionality has been removed from the `core` module to a separate `datainputs` module (`MapboxNavigation#dataInputs` and everything from the package `com.mapbox.navigation.datainputs` have been removed). [Contact us](https://www.mapbox.com/support) to get more information on how to get access to the module. [#6508](https://github.com/mapbox/mapbox-navigation-android/pull/6508)
+- Experimental Adasis functionality has been removed from the `core` module (`MapboxNavigation`'s functions `setAdasisMessageObserver`, `resetAdasisMessageObserver`, `updateExternalSensorData`, and `GraphAccessor#getAdasisEdgeAttributes` have been removed). [Contact us](https://www.mapbox.com/support) in case you're interested in ADASIS functionality. [#6508](https://github.com/mapbox/mapbox-navigation-android/pull/6508)
+- Added experimental `RoutingTilesOptions#fallbackNavigationTilesVersion` which lets define version of navigation tiles to fallback in case of offline routing failure with navigation tiles defined in `RoutingTilesOptions#tilesVersion`. [#6475](https://github.com/mapbox/mapbox-navigation-android/pull/6475)
+- Added experimental `MapboxRouteLineViewOptions#fadeOnHighZoomsConfig` and `MapboxRouteArrowOptions#fadeOnHighZoomsConfig` to configure smooth fading out of route line or/and arrows on high zoom levels. [#6367](https://github.com/mapbox/mapbox-navigation-android/pull/6367)
+- The `PredictiveCacheController(PredictiveCacheOptions)` constructor is now deprecated. Use `PredictiveCacheController(MapboxNavigation, PredictiveCacheOptions)` instead. [#6376](https://github.com/mapbox/mapbox-navigation-android/pull/6376)
+- Added `NavigationScaleGestureHandlerOptions#followingRotationAngleThreshold` that define threshold angle for rotation for `FOLLOWING` Navigation Camera state. [#6234](https://github.com/mapbox/mapbox-navigation-android/pull/6234)
+- Added the ability to filter road names based on the system language [#6163](https://github.com/mapbox/mapbox-navigation-android/pull/6163)
+- `com.mapbox.navigation.base.road.model.RoadComponent` objects that contain only slashes in their text are filtered out [#6163](https://github.com/mapbox/mapbox-navigation-android/pull/6163)
+- Now `EHorizonResultType.Type` has a new element called `EHorizonResultType.NOT_AVAILABLE`. [#6290](https://github.com/mapbox/mapbox-navigation-android/pull/6290)
+- Old `MapboxNavigation.postUserFeedback()` functions have been deprecated, use an overloading that accepts `UserFeedback` as a parameter. [#5781](https://github.com/mapbox/mapbox-navigation-android/pull/5781)
+- Introduce MapboxRouteCalloutApi and MapboxRouteCalloutView to attach callouts to route lines with info about duration  [#2743](https://github.com/mapbox/mapbox-navigation-android/pull/2743)
+- Optimized memory usage in Directions API model classes by interning frequently occurring strings in JSON. [#5854](https://github.com/mapbox/mapbox-navigation-android/pull/5854)
+- Added experimental `MapboxNavigation#replanRoute` to handle cases when user changes route options during active guidance, [#5286](https://github.com/mapbox/mapbox-navigation-android/pull/5286)
+for example enabling avoid ferries.
+- Added `DataInputsManager` to allow the provision of data from external sensors to the navigator, see `MapboxNavigation.dataInputsManager`. Experimental `EtcGateInfo` has been moved to `com.mapbox.navigation.core.datainputs` package. `EtcGateApi` has been deprecated. [#5957](https://github.com/mapbox/mapbox-navigation-android/pull/5957)
+- Removing the ExperimentalMapboxNavigationAPI flag for Search predictive cache. [#5615](https://github.com/mapbox/mapbox-navigation-android/pull/5615)
+- [BREAKING CHANGE] `PredictiveCacheOptions.unrecognizedTilesetDescriptorOptions` has been renamed to `PredictiveCacheOptions.predictiveCacheSearchOptionsList`. Additionally, `PredictiveCacheUnrecognizedTilesetDescriptorOptions` has been renamed to `PredictiveCacheSearchOptions`. Now, only search-related options can be passed to `PredictiveCacheSearchOptions`. [#5244](https://github.com/mapbox/mapbox-navigation-android/pull/5244)
+- Introduced experimental traffic adjustment mechanism during a drive and added `TrafficOverrideOptions` to control this feature [#2811](https://github.com/mapbox/mapbox-navigation-android/pull/2811)
+- Changed `Alternatives` that deviate close to a destination point are removed before a fork is reached. [#5848](https://github.com/mapbox/mapbox-navigation-android/pull/5848)
+- Added `RerouteStrategyForMapMatchedRoutes` to `RerouteOptions`. Reroute option `enableLegacyBehaviorForMapMatchedRoute` was removed, use `NavigateToFinalDestination` strategy instead. [#5256](https://github.com/mapbox/mapbox-navigation-android/pull/5256)
+
+#### Bug fixes and improvements
+- Fixed unnecessary reroutes when using onboard router. [#6873](https://github.com/mapbox/mapbox-navigation-android/pull/6873)
+- Fixed remaining alternative routes when passing fork points. [#6873](https://github.com/mapbox/mapbox-navigation-android/pull/6873)
+- Improved updating alternative routes [#6760](https://github.com/mapbox/mapbox-navigation-android/pull/6760)
+- Fixed `CarSearchLocationProvider` produces _NullPointerException_ when using Mapbox Search SDK.  [#6702](https://github.com/mapbox/mapbox-navigation-android/pull/6702)
+- Fixed a bug causing some history files recorded during the previous app sessions not to be uploaded by the Copilot. [#6359](https://github.com/mapbox/mapbox-navigation-android/pull/6359)
+- Fixed an issue where native memory was not being properly released after the `MapboxNavigation` object was destroyed. [#6376](https://github.com/mapbox/mapbox-navigation-android/pull/6376)
+- Fixed the issue of unwanted rerouting occurring immediately after setting a new route [#6163](https://github.com/mapbox/mapbox-navigation-android/pull/6163)
+- Fixed a crash caused by an overflow in the JNI global reference table. [#6290](https://github.com/mapbox/mapbox-navigation-android/pull/6290)
+- Fixed an issue with vignettes in Romania and Bulgaria for offline routing when tolls are excluded. [#6290](https://github.com/mapbox/mapbox-navigation-android/pull/6290)
+- Addressed several issues that occurred when switching to an alternative route. [#6290](https://github.com/mapbox/mapbox-navigation-android/pull/6290)
+- Implementation of `RerouteController#registerRerouteStateObserver` now invokes observer immediately with current state instead of posting invocation to the main looper.  [#5286](https://github.com/mapbox/mapbox-navigation-android/pull/5286)
+- Fixed UI jank caused by on-device TextToSpeech player. [#5638](https://github.com/mapbox/mapbox-navigation-android/pull/5638)
+- Removed `PredictiveCacheController#removeSearchControllers` and `PredictiveCacheController#createSearchControllers`. Now search predictive cache controller is created and destroyed together with `PredictiveCacheController` instance if `PredictiveCacheOptions.predictiveCacheSearchOptionsList` is provided. [#5714](https://github.com/mapbox/mapbox-navigation-android/pull/5714)
+- Improve performance when handling large road objects on the eHorizon's MPP. [#6014](https://github.com/mapbox/mapbox-navigation-android/pull/6014)
+- Fixed `Routes` that origin is out of primary route cannot be added as alternatives. [#5848](https://github.com/mapbox/mapbox-navigation-android/pull/5848)
+- Fixed a crash due to incorrect OpenLR input data [#5400](https://github.com/mapbox/mapbox-navigation-android/pull/5400)
+- Fixed a bug with spinning smoothed coordinate [#5400](https://github.com/mapbox/mapbox-navigation-android/pull/5400)
+- Fixed issue for calculating the trim-offset value for the vanishing route line feature when the current geometry index emitted by route progress is greater than the value expected.
+
+### Mapbox dependencies
+This release depends on, and has been tested with, the following Mapbox dependencies:
+- Mapbox Maps SDK `v11.7.0` ([release notes](https://github.com/mapbox/mapbox-maps-android/releases/tag/v11.7.0))
+- Mapbox Navigation Native `v320.0.0`
+- Mapbox Core Common `v24.7.0`
+- Mapbox Java `v7.2.0` ([release notes](https://github.com/mapbox/mapbox-java/releases/tag/v7.2.0))
+
+
 ## Navigation SDK Core Framework 3.4.0-rc.1 - 17 September, 2024
 #### Features
 
diff --git a/androidauto/gradle.properties b/androidauto/gradle.properties
index aee6c6a38b5..210eac3ca0e 100644
--- a/androidauto/gradle.properties
+++ b/androidauto/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=android-auto-components
 POM_ARTIFACT_TITLE=Mapbox Navigation SDK
 POM_DESCRIPTION=Artifact that provides Android Auto compoents
\ No newline at end of file
diff --git a/gradle.properties b/gradle.properties
index 469116820c2..3ace1e24505 100644
--- a/gradle.properties
+++ b/gradle.properties
@@ -33,5 +33,3 @@ systemProp.kotlin.daemon.jvm.options=-Xss8m
 # This option should only be used with decoupled projects. More details, visit
 # http://www.gradle.org/docs/current/userguide/multi_project_builds.html#sec:decoupled_projects
 # org.gradle.parallel=true
-
-RELEASE_TAG_PREFIX=v
\ No newline at end of file
diff --git a/gradle/artifact-properties-patcher.gradle b/gradle/artifact-properties-patcher.gradle
new file mode 100644
index 00000000000..02bd9335ae9
--- /dev/null
+++ b/gradle/artifact-properties-patcher.gradle
@@ -0,0 +1,65 @@
+import groovy.json.JsonSlurper
+import groovy.json.JsonOutput
+
+ext.patchPomDependencies = { Node mainNode ->
+    def dependenciesNode = mainNode['dependencies']
+
+    def patched = false
+
+    dependenciesNode.each { depNode ->
+        // Find all dependencies whose artifactId equals to the name of one of project's modules.
+        def navSdkDependencyNodes = depNode['dependency'].findAll { dependency ->
+            project.ext.navSdkArtifactSettings.containsKey(dependency['artifactId'].text())
+        }
+
+        navSdkDependencyNodes.each { navSdkNode ->
+            patched = true
+
+            def artifactId = navSdkNode['artifactId'].text()
+            navSdkNode['artifactId'][0].setValue(project.ext.navSdkArtifactSettings[artifactId].getV1())
+
+            def versionNode = navSdkNode['version']
+            if (versionNode) {
+                versionNode[0].setValue(project.ext.versionName)
+            } else {
+                navSdkNode.appendNode('version', project.ext.versionName)
+            }
+        }
+    }
+
+    if (patched) {
+        println("pom file has successfully been patched")
+    }
+}
+
+ext.patchArtifactMetadataFile = {
+    def taskConfig = project.gradle.startParameter.taskNames
+            .any { it.contains("Debug") } ? "debug" : "release"
+
+    def moduleFile = layout.buildDirectory.file("publications/$taskConfig/module.json").get().asFile
+    if (!moduleFile.exists()) {
+        println("$moduleFile file doesn't exist")
+        return
+    }
+
+    def jsonSlurper = new JsonSlurper()
+    def moduleData = jsonSlurper.parse(moduleFile)
+
+    def patched = false
+    if (moduleData.variants) {
+        moduleData.variants.each { variant ->
+            variant.dependencies.each { dependency ->
+                if (project.ext.navSdkArtifactSettings.containsKey(dependency.module)) {
+                    patched = true
+                    dependency.module = project.ext.navSdkArtifactSettings[dependency.module].getV1()
+                    dependency.version = [requires: project.ext.versionName]
+                }
+            }
+        }
+    }
+
+    if (patched) {
+        moduleFile.text = JsonOutput.prettyPrint(JsonOutput.toJson(moduleData))
+        println("module.json file has successfully been patched")
+    }
+}
\ No newline at end of file
diff --git a/gradle/artifact-settings.gradle b/gradle/artifact-settings.gradle
index 652ab2445ab..5d54005fe1e 100644
--- a/gradle/artifact-settings.gradle
+++ b/gradle/artifact-settings.gradle
@@ -1,6 +1,5 @@
 ext {
     mapboxArtifactGroupId = 'com.mapbox.navigationcore'
-    mapboxArtifactId = project.property('POM_ARTIFACT_ID')
     mapboxArtifactTitle = project.property('POM_ARTIFACT_TITLE')
     mapboxArtifactDescription = project.property('POM_DESCRIPTION')
     mapboxDeveloperName = 'Mapbox'
@@ -13,6 +12,36 @@ ext {
     snapshot = project.hasProperty("snapshot") ? project.property("snapshot").toBoolean() : false
     releaseTagPrefix = project.hasProperty('RELEASE_TAG_PREFIX') ? project.property('RELEASE_TAG_PREFIX') : 'mapbox-navigation-android_dash-core_'
     versionName = getVersionName()
+        
+    /**
+     * Properties used for artifact publishing.
+     *
+     * The map consists of:
+     * - Key: The name of the Gradle module from which the artifact is built.
+     * - Value: A tuple with two elements:
+     *     1. The artifact ID.
+     *     2. The SDK name used in the SDK registry.
+     */
+    navSdkArtifactSettings = [
+        'libnavigation-android' : new Tuple2('android', 'navigation-core-android'),
+        'libnavigation-base' : new Tuple2('base', 'navigation-core-base'),
+        'libnavigation-core' : new Tuple2('navigation', 'navigation-core-navigation'),
+        'libnavigation-copilot' : new Tuple2('copilot', 'navigation-core-copilot'),
+        'libnavigation-metrics' : new Tuple2('metrics', 'navigation-core-metrics'),
+        'libnavigation-tripdata' : new Tuple2('tripdata', 'navigation-core-tripdata'),
+        'libnavigation-util' : new Tuple2('utils', 'navigation-core-utils'),
+        'libnavigation-voice' : new Tuple2('voice', 'navigation-core-voice'),
+        'libnavigator' : new Tuple2('navigator', 'navigation-core-navigator'),
+        'libnavui-base' : new Tuple2('ui-base', 'navigation-core-ui-base'),
+        'libnavui-maps' : new Tuple2('ui-maps', 'navigation-core-ui-maps'),
+        'libnavui-util' : new Tuple2('ui-utils', 'navigation-core-ui-utils'),
+        'libtrip-notification' : new Tuple2('notification', 'navigation-core-notification'),
+        'ui-components' : new Tuple2('ui-components', 'navigation-core-ui-components'),
+        'androidauto' : new Tuple2('android-auto-components', 'navigation-core-androidauto'),
+        'libtesting-router' : new Tuple2('test-router', 'navigation-core-testing-router'),
+        'libnavigation-custom-route' : new Tuple2('customroute', 'navigation-core-custom-route'),
+        'libnavigation-datainputs' : new Tuple2('datainputs', 'navigation-core-datainputs')
+    ]
 }
 
 def getVersionName() {
diff --git a/gradle/dependencies.gradle b/gradle/dependencies.gradle
index 2bca779776c..120c00461b0 100644
--- a/gradle/dependencies.gradle
+++ b/gradle/dependencies.gradle
@@ -13,16 +13,16 @@ ext {
   // version which we should use in this build
   def mapboxNavigatorVersion = System.getenv("FORCE_MAPBOX_NAVIGATION_NATIVE_VERSION")
   if (mapboxNavigatorVersion == null || mapboxNavigatorVersion == '') {
-      mapboxNavigatorVersion = '319.0.0'
+      mapboxNavigatorVersion = '320.2.0'
   }
   println("Navigation Native version: " + mapboxNavigatorVersion)
 
   version = [
-      mapboxMapSdk              : '11.7.0-rc.1',
+      mapboxMapSdk              : '11.7.1',
       mapboxSdkServices         : '7.2.0',
       mapboxNavigator           : "${mapboxNavigatorVersion}",
-      mapboxCommonNative        : '24.7.0-rc.2',
-      mapboxSearch              : '2.5.0-rc.2',
+      mapboxCommonNative        : '24.7.1',
+      mapboxSearch              : '2.5.1',
       mapboxBaseAndroid         : '0.11.0',
       androidXLifecycle         : '2.4.0',
       androidXCoreVersion       : '1.6.0',
@@ -201,7 +201,7 @@ ext {
       jacoco               : '0.8.12',
       googleServices       : '4.3.3',
       mapboxSdkVersions    : '1.1.3',
-      dokka                : '1.6.21',
+      dokka                : '1.9.20',
       mapboxSdkRegistry    : '0.7.0',
       mapboxAccessToken    : '0.2.1',
       mapboxNativeDownload : '0.2.2',
diff --git a/gradle/publish.gradle b/gradle/publish.gradle
index 943722b35c9..c56697e15a9 100644
--- a/gradle/publish.gradle
+++ b/gradle/publish.gradle
@@ -1,6 +1,7 @@
 apply plugin: 'maven-publish'
 apply plugin: 'com.mapbox.sdkRegistry'
 apply from: file("$rootDir/gradle/artifact-settings.gradle")
+apply from: file("$rootDir/gradle/artifact-properties-patcher.gradle")
 apply from: "$rootDir/gradle/kdoc-settings.gradle"
 
 afterEvaluate {
@@ -9,7 +10,7 @@ afterEvaluate {
             release(MavenPublication) {
                 from components.findByName('release')
                 groupId project.ext.mapboxArtifactGroupId
-                artifactId project.ext.mapboxArtifactId
+                artifactId project.ext.navSdkArtifactSettings[project.name].getV1()
                 version project.ext.versionName
 
                 artifact(androidSourcesJar)
@@ -34,12 +35,14 @@ afterEvaluate {
                     scmNode.appendNode("connection", project.ext.mapboxArtifactScmUrl)
                     scmNode.appendNode("developerConnection", project.ext.mapboxArtifactScmUrl)
                     scmNode.appendNode("url", project.ext.mapboxArtifactUrl)
+
+                    project.ext.patchPomDependencies(mainNode)
                 }
             }
             debug(MavenPublication) {
                 from components.findByName('debug')
                 groupId project.ext.mapboxArtifactGroupId
-                artifactId project.ext.mapboxArtifactId
+                artifactId project.ext.navSdkArtifactSettings[project.name].getV1()
                 version project.ext.versionName
 
                 artifact(androidSourcesJar)
@@ -49,29 +52,8 @@ afterEvaluate {
     }
 }
 
-def sdkNameMap = [:]
-sdkNameMap["libnavigation-android"] = "navigation-core-android"
-sdkNameMap["libnavigation-base"] = "navigation-core-base"
-sdkNameMap["libnavigation-core"] = "navigation-core-navigation"
-sdkNameMap["libnavigation-copilot"] = "navigation-core-copilot"
-sdkNameMap["libnavigation-metrics"] = "navigation-core-metrics"
-sdkNameMap["libnavigation-tripdata"] = "navigation-core-tripdata"
-sdkNameMap["libnavigation-voice"] = "navigation-core-voice"
-sdkNameMap["libnavigator"] = "navigation-core-navigator"
-sdkNameMap["libtrip-notification"] = "navigation-core-notification"
-sdkNameMap["libnavigation-util"] = "navigation-core-utils"
-sdkNameMap["libnavui-base"] = "navigation-core-ui-base"
-sdkNameMap["libnavui-maps"] = "navigation-core-ui-maps"
-sdkNameMap["ui-components"] = "navigation-core-ui-components"
-sdkNameMap["androidauto"] = "navigation-core-androidauto"
-sdkNameMap["libnavui-util"] = "navigation-core-ui-utils"
-sdkNameMap["libnavui-androidauto"] = "navigation-core-ui-androidauto"
-sdkNameMap["libtesting-router"] = "navigation-core-testing-router"
-sdkNameMap["libnavigation-custom-route"] = "navigation-core-custom-route"
-sdkNameMap["libnavigation-datainputs"] = "navigation-core-datainputs"
-
 registry {
-    sdkName = sdkNameMap[project.name]
+    sdkName = project.ext.navSdkArtifactSettings[project.name].getV2()
     production = true
     snapshot = project.ext.snapshot
     override = snapshot
@@ -79,7 +61,6 @@ registry {
     publish = true
     publishMessage = "cc @mapbox/navigation-android"
     publications = ["release"]
-    featureFlag = project.hasProperty('ARTIFACT_FEATURE_FLAG') ? project.property('ARTIFACT_FEATURE_FLAG') : ''
 }
 
 task androidSourcesJar(type: Jar) {
@@ -91,3 +72,19 @@ task androidKdocJar(type: Jar) {
     archiveClassifier.set('javadoc')
     from kdocPath
 }
+
+tasks.register("patchArtifactMetadataFileTask") {
+    doLast {
+        project.ext.patchArtifactMetadataFile()
+    }
+}
+
+afterEvaluate {
+    tasks.matching { it.name.startsWith('generateMetadataFileFor') }.configureEach { task ->
+        task.finalizedBy 'patchArtifactMetadataFileTask'
+    }
+
+    tasks.matching { it.name ==~ /publish\w+PublicationToMavenLocal/ }.configureEach { task ->
+        task.dependsOn 'patchArtifactMetadataFileTask'
+    }
+}
diff --git a/instrumentation-tests/src/androidTest/java/com/mapbox/navigation/instrumentation_tests/core/CoreRerouteTest.kt b/instrumentation-tests/src/androidTest/java/com/mapbox/navigation/instrumentation_tests/core/CoreRerouteTest.kt
index c92b874fc06..bc3761df3af 100644
--- a/instrumentation-tests/src/androidTest/java/com/mapbox/navigation/instrumentation_tests/core/CoreRerouteTest.kt
+++ b/instrumentation-tests/src/androidTest/java/com/mapbox/navigation/instrumentation_tests/core/CoreRerouteTest.kt
@@ -22,6 +22,8 @@ import com.mapbox.navigation.base.trip.model.RouteProgressState
 import com.mapbox.navigation.core.MapboxNavigation
 import com.mapbox.navigation.core.MapboxNavigationProvider
 import com.mapbox.navigation.core.directions.session.RoutesExtra
+import com.mapbox.navigation.core.directions.session.RoutesExtra.ROUTES_UPDATE_REASON_ALTERNATIVE
+import com.mapbox.navigation.core.directions.session.RoutesExtra.ROUTES_UPDATE_REASON_REROUTE
 import com.mapbox.navigation.core.internal.extensions.flowLocationMatcherResult
 import com.mapbox.navigation.core.reroute.RerouteOptionsAdapter
 import com.mapbox.navigation.core.reroute.RerouteState
@@ -926,6 +928,58 @@ class CoreRerouteTest : BaseCoreNoCleanUpTest() {
         }
     }
 
+    @Test
+    fun reroute_from_primary_route_to_ignored_alternative() = sdkTest {
+        withMapboxNavigation(
+            historyRecorderRule = mapboxHistoryTestRule,
+        ) { mapboxNavigation ->
+            val mockRoute = RoutesProvider.dc_short_alternative_with_fork_point(context)
+            mockWebServerRule.requestHandlers.addAll(mockRoute.mockRequestHandlers)
+
+            val routes = mapboxNavigation.requestRoutes(
+                RouteOptions.builder()
+                    .applyDefaultNavigationOptions()
+                    .applyLanguageAndVoiceUnitOptions(context)
+                    .baseUrl(mockWebServerRule.baseUrl)
+                    .waypointsPerRoute(true)
+                    .coordinatesList(mockRoute.routeWaypoints).build(),
+            ).getSuccessfulResultOrThrowException().routes
+
+            val mainRoute = routes[0]
+            val alternativeRoute = routes[1]
+
+            mockLocationReplayerRule.playRoute(
+                directionsRoute = mainRoute.directionsRoute,
+            )
+
+            mapboxNavigation.startTripSession()
+            mapboxNavigation.setNavigationRoutes(routes)
+
+            // alternative fork point passed reason should occur on this route
+            mapboxNavigation.routesUpdates().filter {
+                it.reason == ROUTES_UPDATE_REASON_ALTERNATIVE && it.ignoredRoutes.any {
+                    it.navigationRoute == alternativeRoute &&
+                        it.reason == "Alternative fork point passed"
+                }
+            }.first()
+
+            mockLocationReplayerRule.playRoute(
+                directionsRoute = alternativeRoute.directionsRoute,
+                eventsToDrop = 30, // approx value to start alternative rotue after "fork point"
+            )
+
+            // reroute to hidden alternative should occur
+            val rerouteToHiddenAlternativeUpdate = mapboxNavigation.routesUpdates().filter {
+                it.reason == ROUTES_UPDATE_REASON_REROUTE
+            }.first()
+
+            assertEquals(
+                alternativeRoute,
+                rerouteToHiddenAlternativeUpdate.navigationRoutes[0],
+            )
+        }
+    }
+
     private fun createMapboxNavigation(customRefreshInterval: Long? = null): MapboxNavigation {
         var mapboxNavigation: MapboxNavigation? = null
 
diff --git a/instrumentation-tests/src/androidTest/java/com/mapbox/navigation/instrumentation_tests/core/WaypointsTest.kt b/instrumentation-tests/src/androidTest/java/com/mapbox/navigation/instrumentation_tests/core/WaypointsTest.kt
index 599f8e98fb5..699d3c73f70 100644
--- a/instrumentation-tests/src/androidTest/java/com/mapbox/navigation/instrumentation_tests/core/WaypointsTest.kt
+++ b/instrumentation-tests/src/androidTest/java/com/mapbox/navigation/instrumentation_tests/core/WaypointsTest.kt
@@ -22,7 +22,6 @@ import com.mapbox.navigation.instrumentation_tests.activity.EmptyTestActivity
 import com.mapbox.navigation.testing.ui.BaseTest
 import com.mapbox.navigation.testing.ui.utils.MapboxNavigationRule
 import com.mapbox.navigation.testing.ui.utils.coroutines.getSuccessfulResultOrThrowException
-import com.mapbox.navigation.testing.ui.utils.coroutines.navigateNextRouteLeg
 import com.mapbox.navigation.testing.ui.utils.coroutines.requestRoutes
 import com.mapbox.navigation.testing.ui.utils.coroutines.sdkTest
 import com.mapbox.navigation.testing.ui.utils.coroutines.setNavigationRoutesAndWaitForUpdate
@@ -162,7 +161,7 @@ class WaypointsTest : BaseTest<EmptyTestActivity>(EmptyTestActivity::class.java)
             Point.fromLngLat(140.025878, 35.660315),
             Point.fromLngLat(140.02985194436837, 35.6621859075361),
             Point.fromLngLat(140.0277017481984, 35.65792632910045),
-            Point.fromLngLat(140.03887765416835, 35.66023142441715),
+            Point.fromLngLat(140.038772, 35.660329),
             Point.fromLngLat(140.0231453915486, 35.667495318461164),
             Point.fromLngLat(140.03969561587877, 35.67009382118668),
         )
@@ -205,7 +204,6 @@ class WaypointsTest : BaseTest<EmptyTestActivity>(EmptyTestActivity::class.java)
         checkLocation(coordinates[1], legWaypoint.location)
         assertEquals(LegWaypoint.REGULAR, legWaypoint.type)
 
-        mapboxNavigation.navigateNextRouteLeg()
         stayOnPosition(coordinates[2], 270f)
         delay(1000)
         assertEquals(1, nextWaypoints.size)
@@ -216,7 +214,6 @@ class WaypointsTest : BaseTest<EmptyTestActivity>(EmptyTestActivity::class.java)
         checkLocation(coordinates[3], legWaypoint.location)
         assertEquals(LegWaypoint.REGULAR, legWaypoint.type)
 
-        mapboxNavigation.navigateNextRouteLeg()
         stayOnPosition(coordinates[4], 45f)
         delay(1000)
         assertEquals(2, nextWaypoints.size)
@@ -263,7 +260,6 @@ class WaypointsTest : BaseTest<EmptyTestActivity>(EmptyTestActivity::class.java)
         )
         assertEquals(LegWaypoint.EV_CHARGING_ADDED, legWaypoint.type)
 
-        mapboxNavigation.navigateNextRouteLeg()
         stayOnPosition(routes[0].waypoints!![2].location(), 0f)
         nextWaypoints.waitUntilHasSize(2)
         legWaypoint = nextWaypoints[1]!!
diff --git a/libnavigation-android/build.gradle b/libnavigation-android/build.gradle
index 9a18fc8d51e..9598a05aad3 100644
--- a/libnavigation-android/build.gradle
+++ b/libnavigation-android/build.gradle
@@ -36,3 +36,4 @@ dependencies {
 apply from: "../gradle/track-public-apis.gradle"
 apply from: "../gradle/jacoco.gradle"
 apply from: "../gradle/publish.gradle"
+apply from: "../../../../scripts_shared/find-all-common-sdk-versions.gradle"
diff --git a/libnavigation-android/gradle.properties b/libnavigation-android/gradle.properties
index 07d03eff677..1afced59197 100644
--- a/libnavigation-android/gradle.properties
+++ b/libnavigation-android/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=android
 POM_ARTIFACT_TITLE=Mapbox Navigation SDK
 POM_DESCRIPTION=Artifact that groups all of the Navigation SDK features
\ No newline at end of file
diff --git a/libnavigation-base/gradle.properties b/libnavigation-base/gradle.properties
index 59954d56298..f991c4404b6 100644
--- a/libnavigation-base/gradle.properties
+++ b/libnavigation-base/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=base
 POM_ARTIFACT_TITLE=Mapbox Navigation Base
 POM_DESCRIPTION=Artifact that provides the set of interface definitions and DTOs used in the modular Navigation SDK
\ No newline at end of file
diff --git a/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/factory/RouteIndicesFactory.kt b/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/factory/RouteIndicesFactory.kt
index df52dfcfa5e..2c92bc58665 100644
--- a/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/factory/RouteIndicesFactory.kt
+++ b/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/factory/RouteIndicesFactory.kt
@@ -12,11 +12,13 @@ object RouteIndicesFactory {
         routeGeometryIndex: Int,
         legGeometryIndex: Int,
         intersectionIndex: Int,
+        isForkPointPassed: Boolean,
     ): RouteIndices = RouteIndices(
         legIndex,
         stepIndex,
         routeGeometryIndex,
         legGeometryIndex,
         intersectionIndex,
+        isForkPointPassed,
     )
 }
diff --git a/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/trip/model/RouteIndices.kt b/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/trip/model/RouteIndices.kt
index 1a26018b22e..211a81f13d5 100644
--- a/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/trip/model/RouteIndices.kt
+++ b/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/trip/model/RouteIndices.kt
@@ -8,6 +8,7 @@ package com.mapbox.navigation.base.internal.trip.model
  * @param routeGeometryIndex current index in the route geometry. Analogous to [RouteProgress.currentRouteGeometryIndex] for primary route.
  * @param legGeometryIndex current index in the leg geometry. Analogous to [RouteLegProgress.geometryIndex] for primary route.
  * @param intersectionIndex current step-wise intersection index. Analogous to [RouteStepProgress.intersectionIndex] for primary route.
+ * @param isForkPointPassed indicates whether the fork point was passed.
  */
 class RouteIndices internal constructor(
     val legIndex: Int,
@@ -15,6 +16,7 @@ class RouteIndices internal constructor(
     val routeGeometryIndex: Int,
     val legGeometryIndex: Int,
     val intersectionIndex: Int,
+    val isForkPointPassed: Boolean,
 ) {
 
     /**
@@ -31,6 +33,7 @@ class RouteIndices internal constructor(
         if (routeGeometryIndex != other.routeGeometryIndex) return false
         if (legGeometryIndex != other.legGeometryIndex) return false
         if (intersectionIndex != other.intersectionIndex) return false
+        if (isForkPointPassed != other.isForkPointPassed) return false
 
         return true
     }
@@ -44,6 +47,7 @@ class RouteIndices internal constructor(
         result = 31 * result + routeGeometryIndex
         result = 31 * result + legGeometryIndex
         result = 31 * result + intersectionIndex
+        result = 31 * result + isForkPointPassed.hashCode()
         return result
     }
 
@@ -56,7 +60,8 @@ class RouteIndices internal constructor(
             "stepIndex=$stepIndex, " +
             "routeGeometryIndex=$routeGeometryIndex, " +
             "legGeometryIndex=$legGeometryIndex, " +
-            "intersectionIndex=$intersectionIndex" +
+            "intersectionIndex=$intersectionIndex, " +
+            "isForkPointPassed=$isForkPointPassed" +
             ")"
     }
 }
diff --git a/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/utils/DirectionsResponseUtils.kt b/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/utils/DirectionsResponseUtils.kt
index 53a8e9b4c9e..dc0533e7d9a 100644
--- a/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/utils/DirectionsResponseUtils.kt
+++ b/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/utils/DirectionsResponseUtils.kt
@@ -1,5 +1,6 @@
 package com.mapbox.navigation.base.internal.utils
 
+import com.mapbox.api.directions.v5.models.DirectionsResponse
 import com.mapbox.bindgen.DataRef
 import com.mapbox.bindgen.Expected
 import com.mapbox.bindgen.ExpectedFactory
@@ -7,7 +8,6 @@ import com.mapbox.navigation.base.internal.route.RoutesResponse
 import com.mapbox.navigation.base.internal.route.toNavigationRoute
 import com.mapbox.navigation.base.route.NavigationRoute
 import com.mapbox.navigation.base.route.RouterOrigin
-import com.mapbox.navigation.base.route.toDirectionsResponse
 import com.mapbox.navigation.utils.internal.logE
 import com.mapbox.navigator.RouteInterface
 import kotlinx.coroutines.CoroutineDispatcher
@@ -44,13 +44,18 @@ suspend fun parseDirectionsResponse(
 fun parseRouteInterfaces(
     routes: List<RouteInterface>,
     responseTimeElapsedSeconds: Long,
+    routeLookup: (routeId: String) -> NavigationRoute?,
+    routeToDirections: (route: RouteInterface) -> DirectionsResponse,
 ): Expected<Throwable, List<NavigationRoute>> {
     return try {
         routes.groupBy { it.responseUuid }
             .map { (_, routes) ->
-                val directionsResponse = routes.first().responseJsonRef.toDirectionsResponse()
+                val directionsResponse by lazy {
+                    routeToDirections(routes.first())
+                }
+
                 routes.map {
-                    it.toNavigationRoute(
+                    routeLookup(it.routeId) ?: it.toNavigationRoute(
                         responseTimeElapsedSeconds,
                         directionsResponse,
                     )
diff --git a/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/utils/RoutesParsingManager.kt b/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/utils/RoutesParsingManager.kt
index 3c01f64d9ff..6487dd1fdf4 100644
--- a/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/utils/RoutesParsingManager.kt
+++ b/libnavigation-base/src/main/java/com/mapbox/navigation/base/internal/utils/RoutesParsingManager.kt
@@ -2,8 +2,11 @@
 
 package com.mapbox.navigation.base.internal.utils
 
+import com.mapbox.api.directions.v5.models.DirectionsResponse
 import com.mapbox.navigation.base.ExperimentalPreviewMapboxNavigationAPI
+import com.mapbox.navigation.base.route.toDirectionsResponse
 import com.mapbox.navigation.utils.internal.logD
+import com.mapbox.navigator.RouteInterface
 import kotlinx.coroutines.sync.Mutex
 import kotlinx.coroutines.sync.withLock
 import java.nio.ByteBuffer
@@ -30,6 +33,11 @@ interface RouteParsingManager {
         arguments: AlternativesInfo,
         parsing: suspend () -> T,
     ): AlternativesParsingResult<T>
+
+    fun parseRouteToDirections(route: RouteInterface): DirectionsResponse {
+        logD(LOG_TAG) { "Parsing directions response for routeId = ${route.routeId}" }
+        return route.responseJsonRef.toDirectionsResponse()
+    }
 }
 
 fun createRouteParsingManager(): RouteParsingManager {
diff --git a/libnavigation-copilot/gradle.properties b/libnavigation-copilot/gradle.properties
index 95516cddbdf..c934ca80f7f 100644
--- a/libnavigation-copilot/gradle.properties
+++ b/libnavigation-copilot/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=copilot
 POM_ARTIFACT_TITLE=Mapbox Navigation Copilot
 POM_DESCRIPTION=Artifact that provides Copilot capabilities
\ No newline at end of file
diff --git a/libnavigation-core/gradle.properties b/libnavigation-core/gradle.properties
index c4f69febbdb..7421add2c6d 100644
--- a/libnavigation-core/gradle.properties
+++ b/libnavigation-core/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=navigation
 POM_ARTIFACT_TITLE=Mapbox Navigation SDK
 POM_DESCRIPTION=Main artifact that provides all default modules and entry points of the Mapbox Navigation SDK
\ No newline at end of file
diff --git a/libnavigation-core/src/main/java/com/mapbox/navigation/core/MapboxNavigation.kt b/libnavigation-core/src/main/java/com/mapbox/navigation/core/MapboxNavigation.kt
index cc0d8df6fe7..fc6ddafcc71 100644
--- a/libnavigation-core/src/main/java/com/mapbox/navigation/core/MapboxNavigation.kt
+++ b/libnavigation-core/src/main/java/com/mapbox/navigation/core/MapboxNavigation.kt
@@ -49,6 +49,7 @@ import com.mapbox.navigation.core.directions.session.RoutesSetStartedParams
 import com.mapbox.navigation.core.directions.session.RoutesUpdatedResult
 import com.mapbox.navigation.core.directions.session.SetNavigationRoutesStartedObserver
 import com.mapbox.navigation.core.directions.session.Utils
+import com.mapbox.navigation.core.directions.session.routesPlusIgnored
 import com.mapbox.navigation.core.history.MapboxHistoryReader
 import com.mapbox.navigation.core.history.MapboxHistoryRecorder
 import com.mapbox.navigation.core.internal.MapboxNavigationSDKInitializerImpl
@@ -589,6 +590,7 @@ class MapboxNavigation @VisibleForTesting internal constructor(
             tripSession,
             threadController,
             routeParsingManager,
+            directionsSession,
         )
         routeAlternativesController.setRouteUpdateSuggestionListener(::updateRoutes)
         @OptIn(ExperimentalPreviewMapboxNavigationAPI::class)
@@ -641,6 +643,13 @@ class MapboxNavigation @VisibleForTesting internal constructor(
             navigationOptions.applicationContext,
             navigator,
         )
+
+        registerRouteProgressObserver(
+            NavigationComponentProvider.createForkPointPassedObserver(
+                directionsSession,
+                ::currentLegIndex,
+            ),
+        )
     }
 
     @OptIn(ExperimentalMapboxNavigationAPI::class)
@@ -2117,7 +2126,7 @@ class MapboxNavigation @VisibleForTesting internal constructor(
 
     private suspend fun prepareNavigationForRoutesParsing() {
         withContext(Dispatchers.Main.immediate) {
-            if (directionsSession.routes.size > 1) {
+            if (directionsSession.routesPlusIgnored.size > 1) {
                 suspendCoroutine<Unit> { continuation ->
                     setNavigationRoutes(directionsSession.routes.take(1), currentLegIndex()) {
                         continuation.resume(Unit)
diff --git a/libnavigation-core/src/main/java/com/mapbox/navigation/core/NavigationComponentProvider.kt b/libnavigation-core/src/main/java/com/mapbox/navigation/core/NavigationComponentProvider.kt
index 89eaf41af52..e2c5b7c0113 100644
--- a/libnavigation-core/src/main/java/com/mapbox/navigation/core/NavigationComponentProvider.kt
+++ b/libnavigation-core/src/main/java/com/mapbox/navigation/core/NavigationComponentProvider.kt
@@ -9,6 +9,7 @@ import com.mapbox.navigation.base.options.RerouteOptions
 import com.mapbox.navigation.base.trip.notification.TripNotification
 import com.mapbox.navigation.core.accounts.BillingController
 import com.mapbox.navigation.core.arrival.ArrivalProgressObserver
+import com.mapbox.navigation.core.directions.ForkPointPassedObserver
 import com.mapbox.navigation.core.directions.session.DirectionsSession
 import com.mapbox.navigation.core.directions.session.MapboxDirectionsSession
 import com.mapbox.navigation.core.ev.EVDynamicDataHolder
@@ -24,6 +25,7 @@ import com.mapbox.navigation.core.trip.service.MapboxTripService
 import com.mapbox.navigation.core.trip.service.TripService
 import com.mapbox.navigation.core.trip.session.MapboxTripSession
 import com.mapbox.navigation.core.trip.session.NavigationSession
+import com.mapbox.navigation.core.trip.session.RouteProgressObserver
 import com.mapbox.navigation.core.trip.session.TripSession
 import com.mapbox.navigation.core.trip.session.TripSessionLocationEngine
 import com.mapbox.navigation.core.trip.session.eh.EHorizonSubscriptionManagerImpl
@@ -153,4 +155,12 @@ internal object NavigationComponentProvider {
         threadController,
         evDynamicDataHolder,
     )
+
+    fun createForkPointPassedObserver(
+        directionsSession: DirectionsSession,
+        currentLegIndex: () -> Int,
+    ): RouteProgressObserver = ForkPointPassedObserver(
+        directionsSession,
+        currentLegIndex,
+    )
 }
diff --git a/libnavigation-core/src/main/java/com/mapbox/navigation/core/arrival/AutoArrivalController.kt b/libnavigation-core/src/main/java/com/mapbox/navigation/core/arrival/AutoArrivalController.kt
index 6acb092c05f..4b45623ff5f 100644
--- a/libnavigation-core/src/main/java/com/mapbox/navigation/core/arrival/AutoArrivalController.kt
+++ b/libnavigation-core/src/main/java/com/mapbox/navigation/core/arrival/AutoArrivalController.kt
@@ -1,9 +1,6 @@
 package com.mapbox.navigation.core.arrival
 
-import android.os.SystemClock
-import com.mapbox.api.directions.v5.models.RouteLeg
 import com.mapbox.navigation.base.trip.model.RouteLegProgress
-import java.util.concurrent.TimeUnit
 
 /**
  * The default controller for arrival. This will move onto the next leg automatically
@@ -11,28 +8,10 @@ import java.util.concurrent.TimeUnit
  */
 open class AutoArrivalController : ArrivalController {
 
-    private var routeLegCompletedTime: Long? = null
-    private var currentRouteLeg: RouteLeg? = null
-
     /**
-     * Moves onto the next leg after 5 seconds have passed.
+     * Moves onto the next immediately.
      */
     override fun navigateNextRouteLeg(routeLegProgress: RouteLegProgress): Boolean {
-        if (currentRouteLeg != routeLegProgress.routeLeg) {
-            currentRouteLeg = routeLegProgress.routeLeg
-            routeLegCompletedTime = SystemClock.elapsedRealtimeNanos()
-        }
-
-        val elapsedTimeNanos = SystemClock.elapsedRealtimeNanos() - (routeLegCompletedTime ?: 0L)
-        val shouldNavigateNextRouteLeg = elapsedTimeNanos >= AUTO_ARRIVAL_NANOS
-        if (shouldNavigateNextRouteLeg) {
-            currentRouteLeg = null
-            routeLegCompletedTime = null
-        }
-        return shouldNavigateNextRouteLeg
-    }
-
-    internal companion object {
-        val AUTO_ARRIVAL_NANOS = TimeUnit.SECONDS.toNanos(5L)
+        return true
     }
 }
diff --git a/libnavigation-core/src/main/java/com/mapbox/navigation/core/directions/ForkPointPassedObserver.kt b/libnavigation-core/src/main/java/com/mapbox/navigation/core/directions/ForkPointPassedObserver.kt
new file mode 100644
index 00000000000..8df21d2ccf6
--- /dev/null
+++ b/libnavigation-core/src/main/java/com/mapbox/navigation/core/directions/ForkPointPassedObserver.kt
@@ -0,0 +1,62 @@
+package com.mapbox.navigation.core.directions
+
+import com.mapbox.navigation.base.internal.extensions.internalAlternativeRouteIndices
+import com.mapbox.navigation.base.trip.model.RouteProgress
+import com.mapbox.navigation.core.SetRoutes
+import com.mapbox.navigation.core.directions.session.DirectionsSession
+import com.mapbox.navigation.core.directions.session.DirectionsSessionRoutes
+import com.mapbox.navigation.core.directions.session.IgnoredRoute
+import com.mapbox.navigation.core.directions.session.routesPlusIgnored
+import com.mapbox.navigation.core.trip.session.RouteProgressObserver
+import com.mapbox.navigation.utils.internal.logD
+
+internal class ForkPointPassedObserver(
+    private val directionsSession: DirectionsSession,
+    private val currentLegIndex: () -> Int,
+) : RouteProgressObserver {
+    override fun onRouteProgressChanged(routeProgress: RouteProgress) {
+        val allCurrentRoutes = directionsSession.routesPlusIgnored
+
+        if (allCurrentRoutes.isEmpty()) return
+
+        val needToHideAlternatives = routeProgress
+            .internalAlternativeRouteIndices()
+            .filter { it.value.isForkPointPassed }
+
+        val newRoutes = DirectionsSessionRoutes(
+            acceptedRoutes = allCurrentRoutes.filter { it.id !in needToHideAlternatives },
+            ignoredRoutes = allCurrentRoutes.filter { it.id in needToHideAlternatives }
+                .map { IgnoredRoute(it, REASON_ALTERNATIVE_FORK_POINT_PASSED) },
+            setRoutesInfo = SetRoutes.Alternatives(currentLegIndex()),
+        )
+
+        when {
+            newRoutes.ignoredRoutes == directionsSession.ignoredRoutes &&
+                newRoutes.acceptedRoutes == directionsSession.routes -> return
+            else -> {
+                if (newRoutes.ignoredRoutes.isNotEmpty()) {
+                    logD(
+                        "Hiding alternatives due to fork point has passed: " +
+                            "${newRoutes.ignoredRoutes}",
+                        TAG,
+                    )
+                }
+
+                if (newRoutes.acceptedRoutes != directionsSession.routes) {
+                    logD(
+                        "Settigns new routes due to fork point changes: " +
+                            "${newRoutes.acceptedRoutes}",
+                        TAG,
+                    )
+                }
+
+                directionsSession.setNavigationRoutesFinished(newRoutes)
+            }
+        }
+    }
+
+    companion object {
+        private const val TAG = "ForkPointPassedObserver"
+        internal const val REASON_ALTERNATIVE_FORK_POINT_PASSED = "Alternative fork point passed"
+    }
+}
diff --git a/libnavigation-core/src/main/java/com/mapbox/navigation/core/directions/session/DirectionsSession.kt b/libnavigation-core/src/main/java/com/mapbox/navigation/core/directions/session/DirectionsSession.kt
index bdbd91b451c..e5e0e393353 100644
--- a/libnavigation-core/src/main/java/com/mapbox/navigation/core/directions/session/DirectionsSession.kt
+++ b/libnavigation-core/src/main/java/com/mapbox/navigation/core/directions/session/DirectionsSession.kt
@@ -1,5 +1,6 @@
 package com.mapbox.navigation.core.directions.session
 
+import androidx.annotation.VisibleForTesting
 import com.mapbox.api.directions.v5.models.RouteOptions
 import com.mapbox.navigation.base.route.NavigationRoute
 import com.mapbox.navigation.base.route.NavigationRouterCallback
@@ -9,9 +10,19 @@ import com.mapbox.navigation.core.internal.utils.mapToReason
 
 internal interface DirectionsSession : RouteRefresh {
 
+    @VisibleForTesting
     val routesUpdatedResult: RoutesUpdatedResult?
+
     val routes: List<NavigationRoute>
 
+    /**
+     * A list of routes that have been ignored.
+     *
+     * Ignored routes are those that are not currently being used for navigation,
+     * but are still kept in memory for potential future use.
+     */
+    val ignoredRoutes: List<IgnoredRoute>
+
     val initialLegIndex: Int
 
     fun setNavigationRoutesStarted(params: RoutesSetStartedParams)
@@ -72,6 +83,12 @@ internal interface DirectionsSession : RouteRefresh {
     fun shutdown()
 }
 
+internal val DirectionsSession.routesPlusIgnored: List<NavigationRoute>
+    get() = routes + ignoredRoutes.map { it.navigationRoute }
+
+internal fun DirectionsSession.findRoute(routeId: String): NavigationRoute? =
+    routesPlusIgnored.find { it.id == routeId }
+
 internal data class DirectionsSessionRoutes(
     val acceptedRoutes: List<NavigationRoute>,
     val ignoredRoutes: List<IgnoredRoute>,
diff --git a/libnavigation-core/src/main/java/com/mapbox/navigation/core/directions/session/MapboxDirectionsSession.kt b/libnavigation-core/src/main/java/com/mapbox/navigation/core/directions/session/MapboxDirectionsSession.kt
index bcd1801b0ac..ee74584d9e6 100644
--- a/libnavigation-core/src/main/java/com/mapbox/navigation/core/directions/session/MapboxDirectionsSession.kt
+++ b/libnavigation-core/src/main/java/com/mapbox/navigation/core/directions/session/MapboxDirectionsSession.kt
@@ -1,5 +1,6 @@
 package com.mapbox.navigation.core.directions.session
 
+import androidx.annotation.VisibleForTesting
 import com.mapbox.api.directions.v5.models.DirectionsRoute
 import com.mapbox.api.directions.v5.models.RouteOptions
 import com.mapbox.navigation.base.internal.RouteRefreshRequestData
@@ -26,10 +27,15 @@ internal class MapboxDirectionsSession(
     private val onSetNavigationRoutesStartedObservers =
         CopyOnWriteArraySet<SetNavigationRoutesStartedObserver>()
 
+    @VisibleForTesting
     override var routesUpdatedResult: RoutesUpdatedResult? = null
+
     override val routes: List<NavigationRoute>
         get() = routesUpdatedResult?.navigationRoutes ?: emptyList()
 
+    override val ignoredRoutes: List<IgnoredRoute>
+        get() = routesUpdatedResult?.ignoredRoutes ?: emptyList()
+
     override var initialLegIndex = DEFAULT_INITIAL_LEG_INDEX
         private set
 
@@ -39,6 +45,7 @@ internal class MapboxDirectionsSession(
 
     override fun setNavigationRoutesFinished(routes: DirectionsSessionRoutes) {
         this.initialLegIndex = routes.setRoutesInfo.initialLegIndex()
+
         if (
             routesUpdatedResult?.navigationRoutes?.isEmpty() == true &&
             routes.acceptedRoutes.isEmpty()
@@ -46,7 +53,10 @@ internal class MapboxDirectionsSession(
             return
         }
 
-        val result = routes.toRoutesUpdatedResult().also { routesUpdatedResult = it }
+        val result = routes.toRoutesUpdatedResult().also {
+            routesUpdatedResult = it
+        }
+
         onSetNavigationRoutesFinishedObservers.forEach {
             it.onRoutesChanged(result)
         }
diff --git a/libnavigation-core/src/main/java/com/mapbox/navigation/core/internal/utils/Bitmap.kt b/libnavigation-core/src/main/java/com/mapbox/navigation/core/internal/utils/Bitmap.kt
index 46cc9dce70c..96dba812881 100644
--- a/libnavigation-core/src/main/java/com/mapbox/navigation/core/internal/utils/Bitmap.kt
+++ b/libnavigation-core/src/main/java/com/mapbox/navigation/core/internal/utils/Bitmap.kt
@@ -1,30 +1,11 @@
 package com.mapbox.navigation.core.internal.utils
 
 import android.graphics.Bitmap
-import android.util.Base64
-import com.mapbox.bindgen.DataRef
 import com.mapbox.navigation.core.telemetry.events.BitmapEncodeOptions
-import com.mapbox.navigator.ScreenshotFormat
 import java.io.ByteArrayOutputStream
-import java.nio.ByteBuffer
-import java.nio.charset.Charset
 import kotlin.math.min
 import kotlin.math.roundToInt
 
-@JvmSynthetic
-internal fun String.encodedBitmapToNativeScreenshotFormat(): ScreenshotFormat {
-    val encoded = toByteArray(Charset.defaultCharset())
-
-    val byteBuffer = ByteBuffer.allocateDirect(encoded.size)
-    byteBuffer.put(encoded)
-    val dataRef = DataRef(byteBuffer)
-
-    return ScreenshotFormat(
-        dataRef,
-        Base64.encodeToString(encoded, Base64.DEFAULT),
-    )
-}
-
 @JvmSynthetic
 internal fun Bitmap.encode(
     options: BitmapEncodeOptions = BitmapEncodeOptions.Builder().build(),
diff --git a/libnavigation-core/src/main/java/com/mapbox/navigation/core/navigator/NavigatorMapper.kt b/libnavigation-core/src/main/java/com/mapbox/navigation/core/navigator/NavigatorMapper.kt
index 23f1564c910..cf541015c34 100644
--- a/libnavigation-core/src/main/java/com/mapbox/navigation/core/navigator/NavigatorMapper.kt
+++ b/libnavigation-core/src/main/java/com/mapbox/navigation/core/navigator/NavigatorMapper.kt
@@ -192,6 +192,7 @@ private fun NavigationStatus.getRouteProgress(
             it.geometryIndex,
             it.shapeIndex,
             it.intersectionIndex,
+            it.isForkPointPassed,
         )
     }
 
diff --git a/libnavigation-core/src/main/java/com/mapbox/navigation/core/reroute/MapboxRerouteController.kt b/libnavigation-core/src/main/java/com/mapbox/navigation/core/reroute/MapboxRerouteController.kt
index 08e051d3330..85649274a64 100644
--- a/libnavigation-core/src/main/java/com/mapbox/navigation/core/reroute/MapboxRerouteController.kt
+++ b/libnavigation-core/src/main/java/com/mapbox/navigation/core/reroute/MapboxRerouteController.kt
@@ -19,6 +19,7 @@ import com.mapbox.navigation.base.route.ResponseOriginAPI
 import com.mapbox.navigation.base.route.RouterFailure
 import com.mapbox.navigation.base.route.RouterOrigin
 import com.mapbox.navigation.core.directions.session.DirectionsSession
+import com.mapbox.navigation.core.directions.session.routesPlusIgnored
 import com.mapbox.navigation.core.ev.EVDynamicDataHolder
 import com.mapbox.navigation.core.internal.router.GetRouteSignature
 import com.mapbox.navigation.core.routeoptions.RouteOptionsUpdater
@@ -142,7 +143,7 @@ internal class MapboxRerouteController @VisibleForTesting constructor(
 
         val routeProgress = tripSession.getRouteProgress()
         val routeAlternativeId = routeProgress?.routeAlternativeId
-        val routes = directionsSession.routes
+        val routes = directionsSession.routesPlusIgnored
         if (!ignoreDeviationToAlternatives && routeAlternativeId != null) {
             val relevantAlternative = routes.find { it.id == routeAlternativeId }
             if (relevantAlternative != null) {
diff --git a/libnavigation-core/src/main/java/com/mapbox/navigation/core/routealternatives/RouteAlternativesController.kt b/libnavigation-core/src/main/java/com/mapbox/navigation/core/routealternatives/RouteAlternativesController.kt
index b5db829155b..4887486e6f1 100644
--- a/libnavigation-core/src/main/java/com/mapbox/navigation/core/routealternatives/RouteAlternativesController.kt
+++ b/libnavigation-core/src/main/java/com/mapbox/navigation/core/routealternatives/RouteAlternativesController.kt
@@ -1,6 +1,5 @@
 package com.mapbox.navigation.core.routealternatives
 
-import com.mapbox.bindgen.Expected
 import com.mapbox.bindgen.ExpectedFactory
 import com.mapbox.navigation.base.internal.utils.AlternativesInfo
 import com.mapbox.navigation.base.internal.utils.AlternativesParsingResult
@@ -12,6 +11,8 @@ import com.mapbox.navigation.base.route.NavigationRoute
 import com.mapbox.navigation.base.route.RouteAlternativesOptions
 import com.mapbox.navigation.base.route.RouterOrigin
 import com.mapbox.navigation.base.trip.model.RouteProgress
+import com.mapbox.navigation.core.directions.session.DirectionsSession
+import com.mapbox.navigation.core.directions.session.findRoute
 import com.mapbox.navigation.core.internal.routealternatives.NavigationRouteAlternativesObserver
 import com.mapbox.navigation.core.trip.session.TripSession
 import com.mapbox.navigation.navigator.internal.MapboxNativeNavigator
@@ -37,6 +38,7 @@ internal class RouteAlternativesController(
     private val tripSession: TripSession,
     private val threadController: ThreadController,
     private val routeParsingManager: RouteParsingManager,
+    private val directionSession: DirectionsSession,
 ) : AlternativeMetadataProvider {
 
     @RouterOrigin
@@ -63,13 +65,10 @@ internal class RouteAlternativesController(
 
     fun setRouteUpdateSuggestionListener(listener: UpdateRoutesSuggestionObserver?) {
         updateNativeObserver {
-            if (listener == null) {
-                defaultAlternativesHandler = null
+            defaultAlternativesHandler = if (listener == null) {
+                null
             } else {
-                defaultAlternativesHandler =
-                    RouteAlternativesToRouteUpdateSuggestionsAdapter(
-                        listener,
-                    )
+                RouteAlternativesToRouteUpdateSuggestionsAdapter(listener)
             }
         }
     }
@@ -135,21 +134,19 @@ internal class RouteAlternativesController(
             }
 
             observerProcessingJob?.cancel()
-            observerProcessingJob =
-                processRouteAlternatives(
-                    onlinePrimaryRoute,
-                    routeAlternatives,
-                ) { alternatives, origin ->
-                    logD("${alternatives.size} alternatives available", LOG_CATEGORY)
-
-                    val routeProgress = tripSession.getRouteProgress()
-                        ?: run {
-                            logD("skipping alternatives update - no progress", LOG_CATEGORY)
-                            return@processRouteAlternatives
-                        }
-
-                    observerToTrigger?.onRouteAlternatives(routeProgress, alternatives, origin)
+            observerProcessingJob = processRouteAlternatives(
+                onlinePrimaryRoute,
+                routeAlternatives,
+            ) { alternatives, origin ->
+                logD("${alternatives.size} alternatives available", LOG_CATEGORY)
+
+                val routeProgress = tripSession.getRouteProgress() ?: run {
+                    logD("skipping alternatives update - no progress", LOG_CATEGORY)
+                    return@processRouteAlternatives
                 }
+
+                observerToTrigger?.onRouteAlternatives(routeProgress, alternatives, origin)
+            }
         }
 
         override fun onError(message: String) {
@@ -175,20 +172,22 @@ internal class RouteAlternativesController(
         val primaryRoutes = onlinePrimaryRoute?.let { listOf(it) } ?: emptyList()
         val allAlternatives = primaryRoutes + nativeAlternatives.map { it.route }
 
-        val alternatives: List<NavigationRoute> = if (allAlternatives.isNotEmpty()) {
+        val alternatives = if (allAlternatives.isNotEmpty()) {
             val args = AlternativesInfo(
                 RouteResponseInfo.fromResponses(allAlternatives.map { it.responseJsonRef.buffer }),
             )
-            val alternativesParsingResult:
-                AlternativesParsingResult<Expected<Throwable, List<NavigationRoute>>> =
-                routeParsingManager.parseAlternatives(args) {
-                    withContext(ThreadController.DefaultDispatcher) {
-                        parseRouteInterfaces(
-                            allAlternatives,
-                            responseTimeElapsedSeconds,
-                        )
-                    }
+
+            val alternativesParsingResult = routeParsingManager.parseAlternatives(args) {
+                withContext(ThreadController.DefaultDispatcher) {
+                    parseRouteInterfaces(
+                        routes = allAlternatives,
+                        responseTimeElapsedSeconds = responseTimeElapsedSeconds,
+                        routeLookup = directionSession::findRoute,
+                        routeToDirections = routeParsingManager::parseRouteToDirections,
+                    )
                 }
+            }
+
             val expected = when (alternativesParsingResult) {
                 AlternativesParsingResult.NotActual -> {
                     ExpectedFactory.createError(
@@ -248,13 +247,11 @@ internal class RouteAlternativesController(
 
     private class RouteAlternativesToRouteUpdateSuggestionsAdapter(
         private val suggestRouteUpdate: (UpdateRouteSuggestion) -> Unit,
-    ) :
-        NavigationRouteAlternativesObserver {
+    ) : NavigationRouteAlternativesObserver {
         override fun onRouteAlternatives(
             routeProgress: RouteProgress,
             alternatives: List<NavigationRoute>,
-            @RouterOrigin
-            routerOrigin: String,
+            @RouterOrigin routerOrigin: String,
         ) {
             when (routeProgress.navigationRoute.origin) {
                 RouterOrigin.ONLINE -> {
diff --git a/libnavigation-core/src/main/java/com/mapbox/navigation/core/routealternatives/RouteAlternativesControllerProvider.kt b/libnavigation-core/src/main/java/com/mapbox/navigation/core/routealternatives/RouteAlternativesControllerProvider.kt
index 3ca1047bc27..3436a12cb68 100644
--- a/libnavigation-core/src/main/java/com/mapbox/navigation/core/routealternatives/RouteAlternativesControllerProvider.kt
+++ b/libnavigation-core/src/main/java/com/mapbox/navigation/core/routealternatives/RouteAlternativesControllerProvider.kt
@@ -2,6 +2,7 @@ package com.mapbox.navigation.core.routealternatives
 
 import com.mapbox.navigation.base.internal.utils.RouteParsingManager
 import com.mapbox.navigation.base.route.RouteAlternativesOptions
+import com.mapbox.navigation.core.directions.session.DirectionsSession
 import com.mapbox.navigation.core.trip.session.TripSession
 import com.mapbox.navigation.navigator.internal.MapboxNativeNavigator
 import com.mapbox.navigation.utils.internal.ThreadController
@@ -14,11 +15,13 @@ internal object RouteAlternativesControllerProvider {
         tripSession: TripSession,
         threadController: ThreadController,
         routeParsingManager: RouteParsingManager,
+        directionsSession: DirectionsSession,
     ) = RouteAlternativesController(
         options,
         navigator,
         tripSession,
         threadController,
         routeParsingManager,
+        directionsSession,
     )
 }
diff --git a/libnavigation-core/src/main/java/com/mapbox/navigation/core/routerefresh/RouteRefreshController.kt b/libnavigation-core/src/main/java/com/mapbox/navigation/core/routerefresh/RouteRefreshController.kt
index 265cf1e6cd7..acd583eea06 100644
--- a/libnavigation-core/src/main/java/com/mapbox/navigation/core/routerefresh/RouteRefreshController.kt
+++ b/libnavigation-core/src/main/java/com/mapbox/navigation/core/routerefresh/RouteRefreshController.kt
@@ -3,6 +3,7 @@ package com.mapbox.navigation.core.routerefresh
 import com.mapbox.navigation.base.ExperimentalPreviewMapboxNavigationAPI
 import com.mapbox.navigation.base.route.NavigationRoute
 import com.mapbox.navigation.core.RoutesInvalidatedObserver
+import com.mapbox.navigation.core.directions.ForkPointPassedObserver
 import com.mapbox.navigation.core.directions.session.RoutesExtra
 import com.mapbox.navigation.core.directions.session.RoutesObserver
 import com.mapbox.navigation.core.directions.session.RoutesUpdatedResult
@@ -121,7 +122,16 @@ class RouteRefreshController internal constructor(
         if (result.reason != RoutesExtra.ROUTES_UPDATE_REASON_REFRESH) {
             routeRefresherResultProcessor.reset()
             immediateRouteRefreshController.cancel()
-            plannedRouteRefreshController.startRoutesRefreshing(result.navigationRoutes)
+
+            // "fork point passed" routes still have a chance to be useful for navigation,
+            // even if they are on the ignore list. We need to refresh them as well.
+            val validAlternatives = result.ignoredRoutes.filter {
+                it.reason == ForkPointPassedObserver.REASON_ALTERNATIVE_FORK_POINT_PASSED
+            }.map { it.navigationRoute }
+
+            plannedRouteRefreshController.startRoutesRefreshing(
+                result.navigationRoutes + validAlternatives,
+            )
         }
     }
 }
diff --git a/libnavigation-core/src/main/java/com/mapbox/navigation/core/telemetry/UserFeedback.kt b/libnavigation-core/src/main/java/com/mapbox/navigation/core/telemetry/UserFeedback.kt
index 04cebfe9698..51cbf4d5bfa 100644
--- a/libnavigation-core/src/main/java/com/mapbox/navigation/core/telemetry/UserFeedback.kt
+++ b/libnavigation-core/src/main/java/com/mapbox/navigation/core/telemetry/UserFeedback.kt
@@ -5,10 +5,10 @@ import com.mapbox.geojson.Point
 import com.mapbox.navigation.base.ExperimentalPreviewMapboxNavigationAPI
 import com.mapbox.navigation.core.MapboxNavigation
 import com.mapbox.navigation.core.internal.telemetry.ExtendedUserFeedback
-import com.mapbox.navigation.core.internal.utils.encodedBitmapToNativeScreenshotFormat
 import com.mapbox.navigation.core.telemetry.events.FeedbackEvent
 import com.mapbox.navigation.core.telemetry.events.FeedbackHelper
 import com.mapbox.navigation.core.telemetry.events.FeedbackMetadata
+import com.mapbox.navigator.ScreenshotFormat
 
 /**
  * Class for user feedbacks, contains properties that were passed to
@@ -17,7 +17,7 @@ import com.mapbox.navigation.core.telemetry.events.FeedbackMetadata
  * @property feedbackType feedback type, one of [FeedbackEvent.Type] or a custom one
  * @property feedbackSubTypes list of [FeedbackEvent.SubType] and/or custom feedback subtypes
  * @property description description message
- * @property screenshot screenshot that will be attached to feedback
+ * @property screenshot base64-encoded screenshot that will be attached to feedback
  * @property feedbackMetadata use it to attach feedback to a specific passed location.
  */
 @ExperimentalPreviewMapboxNavigationAPI
@@ -110,7 +110,7 @@ class UserFeedback private constructor(
         }
 
         /**
-         * Screenshot that will be attached to feedback
+         * Base64-encoded screenshot that will be attached to feedback
          */
         fun screenshot(screenshot: String?): Builder = apply {
             this.screenshot = screenshot
@@ -143,7 +143,7 @@ class UserFeedback private constructor(
                 feedbackType,
                 feedbackSubTypes,
                 description,
-                screenshot?.encodedBitmapToNativeScreenshotFormat(),
+                ScreenshotFormat(null, screenshot),
             )
         }
 
diff --git a/libnavigation-core/src/test/java/com/mapbox/navigation/core/MapboxNavigationBaseTest.kt b/libnavigation-core/src/test/java/com/mapbox/navigation/core/MapboxNavigationBaseTest.kt
index aeff304de2c..bb181c80c62 100644
--- a/libnavigation-core/src/test/java/com/mapbox/navigation/core/MapboxNavigationBaseTest.kt
+++ b/libnavigation-core/src/test/java/com/mapbox/navigation/core/MapboxNavigationBaseTest.kt
@@ -209,7 +209,7 @@ internal open class MapboxNavigationBaseTest {
         } returns evDynamicDataHolder
         mockkObject(RouteAlternativesControllerProvider)
         every {
-            RouteAlternativesControllerProvider.create(any(), any(), any(), any(), any())
+            RouteAlternativesControllerProvider.create(any(), any(), any(), any(), any(), any())
         } returns routeAlternativesController
         mockkObject(MapMatchingAPIProvider)
         every {
diff --git a/libnavigation-core/src/test/java/com/mapbox/navigation/core/MapboxNavigationTest.kt b/libnavigation-core/src/test/java/com/mapbox/navigation/core/MapboxNavigationTest.kt
index 7913a8b47c8..92a491d28a8 100644
--- a/libnavigation-core/src/test/java/com/mapbox/navigation/core/MapboxNavigationTest.kt
+++ b/libnavigation-core/src/test/java/com/mapbox/navigation/core/MapboxNavigationTest.kt
@@ -12,6 +12,7 @@ import com.mapbox.navigation.base.trip.model.RouteLegProgress
 import com.mapbox.navigation.base.trip.model.RouteProgress
 import com.mapbox.navigation.core.arrival.ArrivalController
 import com.mapbox.navigation.core.arrival.ArrivalProgressObserver
+import com.mapbox.navigation.core.directions.ForkPointPassedObserver
 import com.mapbox.navigation.core.directions.session.DirectionsSessionRoutes
 import com.mapbox.navigation.core.directions.session.IgnoredRoute
 import com.mapbox.navigation.core.directions.session.RoutesExtra
@@ -2301,6 +2302,19 @@ internal class MapboxNavigationTest : MapboxNavigationBaseTest() {
         }
     }
 
+    @Test
+    fun `ForkPointPassedObserver is registered during instantiation`() {
+        val forkPassedObserverMock = mockk<ForkPointPassedObserver>(relaxed = true)
+
+        every {
+            NavigationComponentProvider.createForkPointPassedObserver(any(), any())
+        } returns forkPassedObserverMock
+
+        createMapboxNavigation()
+
+        verify { tripSession.registerRouteProgressObserver(refEq(forkPassedObserverMock)) }
+    }
+
     private fun interceptRefreshObserver(): RouteRefreshObserver {
         val observers = mutableListOf<RouteRefreshObserver>()
         verify { routeRefreshController.registerRouteRefreshObserver(capture(observers)) }
diff --git a/libnavigation-core/src/test/java/com/mapbox/navigation/core/RoutesProgressDataProviderTest.kt b/libnavigation-core/src/test/java/com/mapbox/navigation/core/RoutesProgressDataProviderTest.kt
index dcc5c165179..d0070094ecf 100644
--- a/libnavigation-core/src/test/java/com/mapbox/navigation/core/RoutesProgressDataProviderTest.kt
+++ b/libnavigation-core/src/test/java/com/mapbox/navigation/core/RoutesProgressDataProviderTest.kt
@@ -49,6 +49,7 @@ class RoutesProgressDataProviderTest {
                 altRouteGeometryIndex1,
                 altLegGeometryIndex1,
                 1,
+                false,
             ),
             altId2 to RouteIndicesFactory.buildRouteIndices(
                 altLegIndex2,
@@ -56,6 +57,7 @@ class RoutesProgressDataProviderTest {
                 altRouteGeometryIndex2,
                 altLegGeometryIndex2,
                 2,
+                false,
             ),
         )
     }
diff --git a/libnavigation-core/src/test/java/com/mapbox/navigation/core/arrival/AutoArrivalControllerTest.kt b/libnavigation-core/src/test/java/com/mapbox/navigation/core/arrival/AutoArrivalControllerTest.kt
index c9e68a987fd..70448122f01 100644
--- a/libnavigation-core/src/test/java/com/mapbox/navigation/core/arrival/AutoArrivalControllerTest.kt
+++ b/libnavigation-core/src/test/java/com/mapbox/navigation/core/arrival/AutoArrivalControllerTest.kt
@@ -1,66 +1,17 @@
 package com.mapbox.navigation.core.arrival
 
-import android.os.SystemClock
-import com.mapbox.api.directions.v5.models.RouteLeg
-import com.mapbox.navigation.base.trip.model.RouteLegProgress
-import com.mapbox.navigation.core.arrival.AutoArrivalController.Companion.AUTO_ARRIVAL_NANOS
-import io.mockk.every
 import io.mockk.mockk
-import io.mockk.mockkStatic
-import io.mockk.unmockkObject
-import org.junit.After
-import org.junit.Assert.assertFalse
 import org.junit.Assert.assertTrue
-import org.junit.Before
 import org.junit.Test
 
 class AutoArrivalControllerTest {
 
     private val arrivalController = AutoArrivalController()
 
-    @Before
-    fun setup() {
-        mockkStatic(SystemClock::class)
-    }
-
-    @After
-    fun teardown() {
-        unmockkObject(SystemClock.elapsedRealtimeNanos())
-    }
-
-    @Test
-    fun `should navigate next at predicted arrival`() {
-        val routeLeg = mockk<RouteLeg>()
-
-        mockNanos(100)
-        assertFalse(arrivalController.navigateNextRouteLeg(mockProgress(routeLeg)))
-        mockNanos(100 + AUTO_ARRIVAL_NANOS - 1)
-        assertFalse(arrivalController.navigateNextRouteLeg(mockProgress(routeLeg)))
-        mockNanos(100 + AUTO_ARRIVAL_NANOS)
-        assertTrue(arrivalController.navigateNextRouteLeg(mockProgress(routeLeg)))
-    }
-
     @Test
-    fun `should restart timer if rerouted`() {
-        val routeLeg = mockk<RouteLeg>()
-
-        mockNanos(100)
-        assertFalse(arrivalController.navigateNextRouteLeg(mockProgress(routeLeg)))
-        mockNanos(100L + AUTO_ARRIVAL_NANOS)
-        val reroutedRouteLeg = mockk<RouteLeg>()
-        assertFalse(arrivalController.navigateNextRouteLeg(mockProgress(reroutedRouteLeg)))
-        mockNanos(100 + AUTO_ARRIVAL_NANOS + AUTO_ARRIVAL_NANOS - 1)
-        assertFalse(arrivalController.navigateNextRouteLeg(mockProgress(reroutedRouteLeg)))
-
-        mockNanos(100 + AUTO_ARRIVAL_NANOS + AUTO_ARRIVAL_NANOS)
-        assertTrue(arrivalController.navigateNextRouteLeg(mockProgress(reroutedRouteLeg)))
-    }
-
-    private fun mockNanos(nanos: Long) = every {
-        SystemClock.elapsedRealtimeNanos()
-    } returns nanos
+    fun `navigateNextRouteLeg fire true`() {
+        val result = arrivalController.navigateNextRouteLeg(mockk())
 
-    private fun mockProgress(mockedRouteLeg: RouteLeg) = mockk<RouteLegProgress> {
-        every { routeLeg } returns mockedRouteLeg
+        assertTrue(result)
     }
 }
diff --git a/libnavigation-core/src/test/java/com/mapbox/navigation/core/directions/ForkPointPassedObserverTest.kt b/libnavigation-core/src/test/java/com/mapbox/navigation/core/directions/ForkPointPassedObserverTest.kt
new file mode 100644
index 00000000000..f90a9bbf2ca
--- /dev/null
+++ b/libnavigation-core/src/test/java/com/mapbox/navigation/core/directions/ForkPointPassedObserverTest.kt
@@ -0,0 +1,209 @@
+package com.mapbox.navigation.core.directions
+
+import com.mapbox.navigation.base.internal.extensions.internalAlternativeRouteIndices
+import com.mapbox.navigation.base.route.NavigationRoute
+import com.mapbox.navigation.base.trip.model.RouteProgress
+import com.mapbox.navigation.core.SetRoutes
+import com.mapbox.navigation.core.directions.session.DirectionsSession
+import com.mapbox.navigation.core.directions.session.DirectionsSessionRoutes
+import com.mapbox.navigation.core.directions.session.IgnoredRoute
+import com.mapbox.navigation.testing.LoggingFrontendTestRule
+import io.mockk.every
+import io.mockk.mockk
+import io.mockk.verify
+import org.junit.Before
+import org.junit.Rule
+import org.junit.Test
+
+class ForkPointPassedObserverTest {
+    @get:Rule
+    val logRule = LoggingFrontendTestRule()
+
+    private lateinit var directionsSession: DirectionsSession
+    private lateinit var currentLegIndex: () -> Int
+    private lateinit var observer: ForkPointPassedObserver
+
+    @Before
+    fun setUp() {
+        directionsSession = mockk(relaxed = true)
+        currentLegIndex = mockk()
+        observer = ForkPointPassedObserver(directionsSession, currentLegIndex)
+    }
+
+    @Test
+    fun `onRouteProgressChanged hides alternatives when fork point passed`() {
+        val routeProgress: RouteProgress = mockk {
+            every { internalAlternativeRouteIndices() } returns mapOf(
+                "route1" to mockk { every { isForkPointPassed } returns true },
+                "route2" to mockk { every { isForkPointPassed } returns false },
+            )
+        }
+
+        val route1 = mockk<NavigationRoute> { every { id } returns "route1" }
+        val route2 = mockk<NavigationRoute> { every { id } returns "route2" }
+        val routes = listOf(route1, route2)
+
+        every { directionsSession.routes } returns routes
+        every { currentLegIndex.invoke() } returns 0
+
+        observer.onRouteProgressChanged(routeProgress)
+
+        verify {
+            directionsSession.setNavigationRoutesFinished(
+                DirectionsSessionRoutes(
+                    listOf(route2),
+                    listOf(
+                        IgnoredRoute(
+                            route1,
+                            ForkPointPassedObserver.REASON_ALTERNATIVE_FORK_POINT_PASSED,
+                        ),
+                    ),
+                    SetRoutes.Alternatives(0),
+                ),
+            )
+        }
+    }
+
+    @Test
+    fun `onRouteProgressChanged does nothing when no fork point passed`() {
+        val mainRoute = mockk<NavigationRoute> { every { id } returns "route1" }
+        val alternativeRoute = mockk<NavigationRoute> { every { id } returns "route2" }
+
+        val routeProgress: RouteProgress = mockk {
+            every { navigationRoute } returns mainRoute
+            every { internalAlternativeRouteIndices() } returns mapOf(
+                "route2" to mockk { every { isForkPointPassed } returns false },
+            )
+        }
+
+        val routes = listOf<NavigationRoute>(
+            mainRoute,
+            alternativeRoute,
+        )
+
+        every { directionsSession.routes } returns routes
+        every { currentLegIndex.invoke() } returns 0
+
+        observer.onRouteProgressChanged(routeProgress)
+
+        verify(exactly = 0) { directionsSession.setNavigationRoutesFinished(any()) }
+    }
+
+    @Test
+    fun `onRouteProgressChanged does nothing when no routes`() {
+        val routeProgress: RouteProgress = mockk {
+            every { internalAlternativeRouteIndices() } returns mapOf(
+                "route1" to mockk { every { isForkPointPassed } returns true },
+            )
+        }
+
+        every { currentLegIndex.invoke() } returns 0
+        every { directionsSession.routes } returns emptyList()
+
+        observer.onRouteProgressChanged(routeProgress)
+
+        verify(exactly = 0) { directionsSession.setNavigationRoutesFinished(any()) }
+    }
+
+    @Test
+    fun `ignored alternative becomes available and is returned to routes list`() {
+        val route1 = mockk<NavigationRoute> { every { id } returns "route1" }
+        val route2 = mockk<NavigationRoute> { every { id } returns "route2" }
+        val currentRotues = listOf(route1, route2)
+
+        val ignoredRoute = IgnoredRoute(
+            navigationRoute = mockk<NavigationRoute> { every { id } returns "ignored_route" },
+            reason = ForkPointPassedObserver.REASON_ALTERNATIVE_FORK_POINT_PASSED,
+        )
+
+        every { directionsSession.routes } returns currentRotues
+        every { directionsSession.ignoredRoutes } returns listOf(ignoredRoute)
+        every { currentLegIndex.invoke() } returns 0
+
+        val routeProgress: RouteProgress = mockk {
+            every { internalAlternativeRouteIndices() } returns mapOf(
+                "route1" to mockk(relaxed = true),
+                "route2" to mockk(relaxed = true),
+                "ignored_route" to mockk(relaxed = true),
+            )
+        }
+
+        observer.onRouteProgressChanged(routeProgress)
+
+        verify {
+            directionsSession.setNavigationRoutesFinished(
+                DirectionsSessionRoutes(
+                    currentRotues + ignoredRoute.navigationRoute,
+                    emptyList(),
+                    SetRoutes.Alternatives(0),
+                ),
+            )
+        }
+    }
+
+    @Test
+    fun `the same available and ignored routes should not trigger direction session update`() {
+        val route1 = mockk<NavigationRoute> { every { id } returns "route1" }
+        val route2 = mockk<NavigationRoute> { every { id } returns "route2" }
+        val currentRotues = listOf(route1, route2)
+
+        val ignoredRoute = IgnoredRoute(
+            navigationRoute = mockk<NavigationRoute> { every { id } returns "ignored_route" },
+            reason = ForkPointPassedObserver.REASON_ALTERNATIVE_FORK_POINT_PASSED,
+        )
+
+        every { directionsSession.routes } returns currentRotues
+        every { directionsSession.ignoredRoutes } returns listOf(ignoredRoute)
+        every { currentLegIndex.invoke() } returns 0
+
+        val routeProgress: RouteProgress = mockk {
+            every { internalAlternativeRouteIndices() } returns mapOf(
+                "route1" to mockk(relaxed = true),
+                "route2" to mockk(relaxed = true),
+                "ignored_route" to mockk(relaxed = true) {
+                    every { isForkPointPassed } returns true
+                },
+            )
+        }
+
+        observer.onRouteProgressChanged(routeProgress)
+
+        verify(exactly = 0) {
+            directionsSession.setNavigationRoutesFinished(any())
+        }
+    }
+
+    @Test
+    fun `alternative route with fork point passed from true to false returns to main routes`() {
+        val route1 = mockk<NavigationRoute> { every { id } returns "route1" }
+        val route2 = mockk<NavigationRoute> { every { id } returns "route2" }
+        val ignoredRoute = IgnoredRoute(
+            navigationRoute = mockk<NavigationRoute> { every { id } returns "ignored_route" },
+            reason = ForkPointPassedObserver.REASON_ALTERNATIVE_FORK_POINT_PASSED,
+        )
+
+        every { directionsSession.routes } returns listOf(route1, route2)
+        every { directionsSession.ignoredRoutes } returns listOf(ignoredRoute)
+        every { currentLegIndex.invoke() } returns 0
+
+        val routeProgress: RouteProgress = mockk {
+            every { internalAlternativeRouteIndices() } returns mapOf(
+                "route1" to mockk { every { isForkPointPassed } returns false },
+                "route2" to mockk { every { isForkPointPassed } returns false },
+                "ignored_route" to mockk { every { isForkPointPassed } returns false },
+            )
+        }
+
+        observer.onRouteProgressChanged(routeProgress)
+
+        verify {
+            directionsSession.setNavigationRoutesFinished(
+                DirectionsSessionRoutes(
+                    listOf(route1, route2, ignoredRoute.navigationRoute),
+                    emptyList(),
+                    SetRoutes.Alternatives(0),
+                ),
+            )
+        }
+    }
+}
diff --git a/libnavigation-core/src/test/java/com/mapbox/navigation/core/navigator/NavigatorMapperTest.kt b/libnavigation-core/src/test/java/com/mapbox/navigation/core/navigator/NavigatorMapperTest.kt
index 1a198250e94..3b6ddbe9b8d 100644
--- a/libnavigation-core/src/test/java/com/mapbox/navigation/core/navigator/NavigatorMapperTest.kt
+++ b/libnavigation-core/src/test/java/com/mapbox/navigation/core/navigator/NavigatorMapperTest.kt
@@ -106,8 +106,8 @@ class NavigatorMapperTest {
             currentRouteGeometryIndex = routeGeometryIndex,
             inParkingAisle = true,
             alternativeRoutesIndices = mapOf(
-                "id#2" to RouteIndicesFactory.buildRouteIndices(2, 4, 6, 8, 10),
-                "id#3" to RouteIndicesFactory.buildRouteIndices(3, 7, 5, 11, 9),
+                "id#2" to RouteIndicesFactory.buildRouteIndices(2, 4, 6, 8, 10, false),
+                "id#3" to RouteIndicesFactory.buildRouteIndices(3, 7, 5, 11, 9, false),
             ),
         )
 
diff --git a/libnavigation-core/src/test/java/com/mapbox/navigation/core/routealternatives/RouteAlternativesControllerTest.kt b/libnavigation-core/src/test/java/com/mapbox/navigation/core/routealternatives/RouteAlternativesControllerTest.kt
index 2820fd6c617..7b0c907befe 100644
--- a/libnavigation-core/src/test/java/com/mapbox/navigation/core/routealternatives/RouteAlternativesControllerTest.kt
+++ b/libnavigation-core/src/test/java/com/mapbox/navigation/core/routealternatives/RouteAlternativesControllerTest.kt
@@ -9,6 +9,8 @@ import com.mapbox.navigation.base.route.NavigationRoute
 import com.mapbox.navigation.base.route.RouteAlternativesOptions
 import com.mapbox.navigation.base.route.RouterOrigin
 import com.mapbox.navigation.base.trip.model.RouteProgress
+import com.mapbox.navigation.core.directions.session.DirectionsSession
+import com.mapbox.navigation.core.directions.session.findRoute
 import com.mapbox.navigation.core.internal.routealternatives.NavigationRouteAlternativesObserver
 import com.mapbox.navigation.core.trip.session.TripSession
 import com.mapbox.navigation.navigator.internal.MapboxNativeNavigator
@@ -25,14 +27,18 @@ import com.mapbox.navigation.testing.factories.createRouteOptions
 import com.mapbox.navigation.utils.internal.ThreadController
 import com.mapbox.navigator.RouteAlternative
 import com.mapbox.navigator.RouteAlternativesControllerInterface
+import com.mapbox.navigator.RouteAlternativesObserver
 import com.mapbox.navigator.RouteIntersection
 import io.mockk.every
 import io.mockk.just
 import io.mockk.mockk
 import io.mockk.mockkObject
+import io.mockk.mockkStatic
 import io.mockk.runs
 import io.mockk.slot
+import io.mockk.spyk
 import io.mockk.unmockkObject
+import io.mockk.unmockkStatic
 import io.mockk.verify
 import kotlinx.coroutines.ExperimentalCoroutinesApi
 import kotlinx.coroutines.test.pauseDispatcher
@@ -71,6 +77,8 @@ class RouteAlternativesControllerTest {
     }
     private val tripSession: TripSession = mockk(relaxed = true)
 
+    private val directionSession: DirectionsSession = mockk(relaxed = true)
+
     private fun createRouteAlternativesController(
         options: RouteAlternativesOptions = RouteAlternativesOptions.Builder().build(),
         routeParsingManager: RouteParsingManager = createParsingManagerForTest(),
@@ -80,11 +88,16 @@ class RouteAlternativesControllerTest {
         tripSession,
         ThreadController(),
         routeParsingManager,
+        directionSession,
     )
 
     @Before
     fun setup() {
         mockkObject(ThreadController)
+
+        mockkStatic(DirectionsSession::findRoute)
+        every { directionSession.findRoute(any()) } returns null
+
         every { ThreadController.IODispatcher } returns coroutineRule.testDispatcher
         every { ThreadController.DefaultDispatcher } returns coroutineRule.testDispatcher
     }
@@ -92,6 +105,7 @@ class RouteAlternativesControllerTest {
     @After
     fun tearDown() {
         unmockkObject(ThreadController)
+        unmockkStatic(DirectionsSession::findRoute)
     }
 
     @Test
@@ -1488,6 +1502,126 @@ class RouteAlternativesControllerTest {
             verify(exactly = 1) { controllerInterface.removeObserver(any()) }
         }
 
+    @Test
+    fun `during alternatives parsing should look up for existing route`() = coroutineRule.runBlockingTest {
+        fun createRouteWithId(
+            newRouteId: String,
+        ) = createNativeAlternativeMock().apply {
+            val spyk = spyk(route) {
+                every { routeId } returns newRouteId
+            }
+            every { route } returns spyk
+        }
+
+        val nativeRoute = createRouteWithId("route")
+        val firstAlternative = createRouteWithId("alternative_route_1")
+        val secondAlternative = createRouteWithId("alternative_route_2")
+
+        every { directionSession.findRoute(any()) } returns null
+
+        val routeAlternativesController = createRouteAlternativesController()
+
+        val nativeObserver = slot<RouteAlternativesObserver>()
+        every { controllerInterface.addObserver(capture(nativeObserver)) } just runs
+
+        var ignore: UpdateRouteSuggestion? = null
+        routeAlternativesController.setRouteUpdateSuggestionListener {
+            ignore = it
+        }
+
+        nativeObserver.captured.onRouteAlternativesUpdated(
+            nativeRoute.route,
+            listOf(firstAlternative, secondAlternative),
+            emptyList(),
+        )
+
+        listOf(
+            nativeRoute.route.routeId,
+            firstAlternative.route.routeId,
+            secondAlternative.route.routeId,
+        ).forEach { routeId ->
+            verify(exactly = 1) {
+                directionSession.findRoute(routeId)
+            }
+        }
+    }
+
+    @Test
+    fun `during alternatives parsing if route already exist should not parse again`() = coroutineRule.runBlockingTest {
+        fun createRouteWithId(
+            newRouteId: String,
+            newResponseUUID: String,
+        ) = createNativeAlternativeMock().apply {
+            val spyk = spyk(route) {
+                every { routeId } returns newRouteId
+                every { responseUuid } returns newResponseUUID
+            }
+            every { route } returns spyk
+        }
+
+        val nativeRoute = createRouteWithId("route", "uuid1").route
+        val firstAlternative = createRouteWithId("alternative_route_1", "uuid2")
+        val secondAlternative = createRouteWithId("alternative_route_2", "uuid2")
+
+        val firstAlternativeRoute = firstAlternative.route
+        val secondAlternativeRoute = secondAlternative.route
+
+        every { directionSession.findRoute(eq("route")) } returns null
+        every { directionSession.findRoute(eq("alternative_route_1")) } returns null
+        every {
+            directionSession.findRoute(eq("alternative_route_2"))
+        } returns mockk<NavigationRoute>(
+            relaxed = true,
+        )
+
+        val routeParsingMock = spyk(createParsingManagerForTest()) {
+            val fromJson = DirectionsResponse.fromJson(
+                FileUtils.loadJsonFixture("route_alternative_from_native.json"),
+            )
+            every { parseRouteToDirections(any()) } returns fromJson
+        }
+
+        val routeAlternativesController = createRouteAlternativesController(
+            routeParsingManager = routeParsingMock,
+        )
+
+        val nativeObserver = slot<com.mapbox.navigator.RouteAlternativesObserver>()
+        every { controllerInterface.addObserver(capture(nativeObserver)) } just runs
+
+        var ignore: UpdateRouteSuggestion? = null
+        routeAlternativesController.setRouteUpdateSuggestionListener {
+            ignore = it
+        }
+
+        nativeObserver.captured.onRouteAlternativesUpdated(
+            nativeRoute,
+            listOf(firstAlternative, secondAlternative),
+            emptyList(),
+        )
+
+        listOf(
+            nativeRoute.routeId,
+            firstAlternativeRoute.routeId,
+            secondAlternativeRoute.routeId,
+        ).forEach { routeId ->
+            verify(exactly = 1) {
+                directionSession.findRoute(routeId)
+            }
+        }
+
+        verify(exactly = 1) {
+            routeParsingMock.parseRouteToDirections(refEq(nativeRoute))
+        }
+
+        verify(exactly = 1) {
+            routeParsingMock.parseRouteToDirections(refEq(firstAlternativeRoute))
+        }
+
+        verify(exactly = 0) {
+            routeParsingMock.parseRouteToDirections(refEq(secondAlternativeRoute))
+        }
+    }
+
     private val nativeInfoFork = com.mapbox.navigator.AlternativeRouteInfo(
         100.0, // distance
         200.0, // duration
@@ -1541,12 +1675,13 @@ class RouteAlternativesControllerTest {
         val responseJson = FileUtils.loadJsonFixture(fileName)
         val response = DirectionsResponse.fromJson(responseJson)
         val nativeRoute = createRouteInterface(
-            responseJson = FileUtils.loadJsonFixture(fileName),
+            responseJson = responseJson,
             requestURI = routeRequestUrl.toString(),
             routerOrigin = routerOrigin,
             responseUUID = response.uuid()!!,
             routeIndex = routeIndex,
         )
+
         return mockk {
             every { route } returns nativeRoute
             every { isNew } returns true
diff --git a/libnavigation-core/src/test/java/com/mapbox/navigation/core/telemetry/UserFeedbackTest.kt b/libnavigation-core/src/test/java/com/mapbox/navigation/core/telemetry/UserFeedbackTest.kt
new file mode 100644
index 00000000000..7106827e6bc
--- /dev/null
+++ b/libnavigation-core/src/test/java/com/mapbox/navigation/core/telemetry/UserFeedbackTest.kt
@@ -0,0 +1,32 @@
+package com.mapbox.navigation.core.telemetry
+
+import com.mapbox.navigation.base.ExperimentalPreviewMapboxNavigationAPI
+import com.mapbox.navigation.core.telemetry.UserFeedback.Companion.mapToNative
+import com.mapbox.navigation.core.telemetry.events.FeedbackEvent
+import com.mapbox.navigator.ScreenshotFormat
+import org.junit.Assert.assertEquals
+import org.junit.Test
+
+@OptIn(ExperimentalPreviewMapboxNavigationAPI::class)
+class UserFeedbackTest {
+
+    @Test
+    fun `test mapToNative()`() {
+        val userFeedback = UserFeedback.Builder(
+            feedbackType = FeedbackEvent.ARRIVAL_FEEDBACK_GOOD,
+            description = "test-description",
+        )
+            .feedbackSubTypes(listOf(FeedbackEvent.MANEUVER_INCORRECT))
+            .screenshot("test-base-64")
+            .build()
+
+        val nativeUserFeedback = com.mapbox.navigator.UserFeedback(
+            FeedbackEvent.ARRIVAL_FEEDBACK_GOOD,
+            listOf(FeedbackEvent.MANEUVER_INCORRECT),
+            "test-description",
+            ScreenshotFormat(null, "test-base-64"),
+        )
+
+        assertEquals(nativeUserFeedback, userFeedback.mapToNative())
+    }
+}
diff --git a/libnavigation-metrics/gradle.properties b/libnavigation-metrics/gradle.properties
index c2468ece0c3..abc7e13424f 100644
--- a/libnavigation-metrics/gradle.properties
+++ b/libnavigation-metrics/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=metrics
 POM_ARTIFACT_TITLE=Mapbox Navigation Metrics
 POM_DESCRIPTION=Artifact that provides the default implementation of the metrics integration
\ No newline at end of file
diff --git a/libnavigation-tripdata/gradle.properties b/libnavigation-tripdata/gradle.properties
index dfe7a1662a6..b8492a60b7b 100644
--- a/libnavigation-tripdata/gradle.properties
+++ b/libnavigation-tripdata/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=tripdata
 POM_ARTIFACT_TITLE=Mapbox Navigation SDK
 POM_DESCRIPTION=Artifact that provides trip related data
diff --git a/libnavigation-util/gradle.properties b/libnavigation-util/gradle.properties
index 7e8671f346a..d38ea4fb26e 100644
--- a/libnavigation-util/gradle.properties
+++ b/libnavigation-util/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=utils
 POM_ARTIFACT_TITLE=Mapbox Navigation Utils
 POM_DESCRIPTION=Artifact that provides basic navigation utilities
diff --git a/libnavigation-voice/gradle.properties b/libnavigation-voice/gradle.properties
index a92178d0f04..121e0561b19 100644
--- a/libnavigation-voice/gradle.properties
+++ b/libnavigation-voice/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=voice
 POM_ARTIFACT_TITLE=Mapbox Navigation SDK
 POM_DESCRIPTION=Artifact that allows users to call into Voice API
\ No newline at end of file
diff --git a/libnavigator/gradle.properties b/libnavigator/gradle.properties
index 5b4cf9d53fa..43500037981 100644
--- a/libnavigator/gradle.properties
+++ b/libnavigator/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=navigator
 POM_ARTIFACT_TITLE=Mapbox Navigation Native wrapper
 POM_DESCRIPTION=Artifact that provides the native capabilities of the SDK
diff --git a/libnavigator/gradlew.bat b/libnavigator/gradlew.bat
index e95643d6a2c..f9553162f12 100644
--- a/libnavigator/gradlew.bat
+++ b/libnavigator/gradlew.bat
@@ -1,84 +1,84 @@
-@if "%DEBUG%" == "" @echo off
-@rem ##########################################################################
-@rem
-@rem  Gradle startup script for Windows
-@rem
-@rem ##########################################################################
-
-@rem Set local scope for the variables with windows NT shell
-if "%OS%"=="Windows_NT" setlocal
-
-set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
-set APP_BASE_NAME=%~n0
-set APP_HOME=%DIRNAME%
-
-@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-set DEFAULT_JVM_OPTS=
-
-@rem Find java.exe
-if defined JAVA_HOME goto findJavaFromJavaHome
-
-set JAVA_EXE=java.exe
-%JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
-
-echo.
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
-
-goto fail
-
-:findJavaFromJavaHome
-set JAVA_HOME=%JAVA_HOME:"=%
-set JAVA_EXE=%JAVA_HOME%/bin/java.exe
-
-if exist "%JAVA_EXE%" goto init
-
-echo.
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
-echo.
-echo Please set the JAVA_HOME variable in your environment to match the
-echo location of your Java installation.
-
-goto fail
-
-:init
-@rem Get command-line arguments, handling Windows variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-
-:execute
-@rem Setup the command line
-
-set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
-
-@rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
-
-:end
-@rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
-
-:fail
-rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
-rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
-exit /b 1
-
-:mainEnd
-if "%OS%"=="Windows_NT" endlocal
-
-:omega
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS=
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/libnavui-base/gradle.properties b/libnavui-base/gradle.properties
index 28de95a23f5..6a9b46d19b4 100644
--- a/libnavui-base/gradle.properties
+++ b/libnavui-base/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=ui-base
 POM_ARTIFACT_TITLE=Mapbox Navigation SDK
 POM_DESCRIPTION=Artifact that provides the set of interface definitions and DTOs used in the modular UI components
\ No newline at end of file
diff --git a/libnavui-maps/build.gradle b/libnavui-maps/build.gradle
index 78a0369771b..7ced9e341c1 100644
--- a/libnavui-maps/build.gradle
+++ b/libnavui-maps/build.gradle
@@ -46,7 +46,7 @@ android {
 dependencies {
     api project(":libnavui-base")
 
-    api (dependenciesList.mapboxMapSdk)
+    api(dependenciesList.mapboxMapSdk)
     api dependenciesList.mapboxSdkTurf
 
     implementation dependenciesList.androidXAppCompat
diff --git a/libnavui-maps/gradle.properties b/libnavui-maps/gradle.properties
index 8037f4a7ade..42561356720 100644
--- a/libnavui-maps/gradle.properties
+++ b/libnavui-maps/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=ui-maps
 POM_ARTIFACT_TITLE=Mapbox Navigation SDK
 POM_DESCRIPTION=Artifact that allows users to call into Maps API
\ No newline at end of file
diff --git a/libnavui-util/gradle.properties b/libnavui-util/gradle.properties
index 9a7639a26c1..29298699210 100644
--- a/libnavui-util/gradle.properties
+++ b/libnavui-util/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=ui-utils
 POM_ARTIFACT_TITLE=Mapbox Navigation SDK
 POM_DESCRIPTION=Artifact that provides basic navigation utilities
\ No newline at end of file
diff --git a/libtesting-navigation-core-utils/src/main/java/com/mapbox/navigation/testing/utils/routes/RoutesProvider.kt b/libtesting-navigation-core-utils/src/main/java/com/mapbox/navigation/testing/utils/routes/RoutesProvider.kt
index 3d7c108b256..4ade6acaec6 100644
--- a/libtesting-navigation-core-utils/src/main/java/com/mapbox/navigation/testing/utils/routes/RoutesProvider.kt
+++ b/libtesting-navigation-core-utils/src/main/java/com/mapbox/navigation/testing/utils/routes/RoutesProvider.kt
@@ -196,6 +196,29 @@ object RoutesProvider {
         )
     }
 
+    fun dc_short_alternative_with_fork_point(context: Context): MockRoute {
+        val jsonResponse =
+            readRawFileText(context, R.raw.route_response_alternative_and_fork_point)
+
+        val coordinates = listOf(
+            Point.fromLngLat(-77.02949848947188, 38.90802940158288),
+            Point.fromLngLat(-77.028611, 38.910507),
+        )
+
+        return MockRoute(
+            jsonResponse,
+            DirectionsResponse.fromJson(jsonResponse),
+            listOf(
+                MockDirectionsRequestHandler(
+                    profile = DirectionsCriteria.PROFILE_DRIVING_TRAFFIC,
+                    jsonResponse = jsonResponse,
+                    expectedCoordinates = coordinates,
+                ),
+            ),
+            coordinates,
+        )
+    }
+
     fun dc_short_with_alternative_reroute(context: Context): MockRoute {
         val jsonResponse =
             readRawFileText(context, R.raw.route_response_dc_short_with_alternative_reroute)
diff --git a/libtesting-resources/src/main/res/raw/route_response_alternative_and_fork_point.json b/libtesting-resources/src/main/res/raw/route_response_alternative_and_fork_point.json
new file mode 100644
index 00000000000..e1095870f06
--- /dev/null
+++ b/libtesting-resources/src/main/res/raw/route_response_alternative_and_fork_point.json
@@ -0,0 +1,941 @@
+{
+  "routes": [
+    {
+      "weight_name": "auto",
+      "weight": 276.351,
+      "duration": 137.477,
+      "distance": 389.138,
+      "legs": [
+        {
+          "via_waypoints": [],
+          "admins": [{"iso_3166_1_alpha3": "USA", "iso_3166_1": "US"}],
+          "weight": 276.351,
+          "duration": 137.477,
+          "steps": [
+            {
+              "intersections": [
+                {
+                  "entry": [true],
+                  "bearings": [360],
+                  "duration": 16.533,
+                  "mapbox_streets_v8": {"class": "secondary"},
+                  "is_urban": true,
+                  "admin_index": 0,
+                  "out": 0,
+                  "weight": 20.253,
+                  "geometry_index": 0,
+                  "location": [-77.029628, 38.908013]
+                },
+                {
+                  "entry": [true, false, false, false],
+                  "in": 2,
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+                    {"indications": ["right"], "valid": false, "active": false}
+                  ],
+                  "turn_duration": 0.041,
+                  "mapbox_streets_v8": {"class": "roundabout"},
+                  "is_urban": true,
+                  "admin_index": 0,
+                  "out": 2,
+                  "weight": 3.408,
+                  "geometry_index": 28,
+                  "location": [-77.028943, 38.909729]
+                },
+                {
+                  "entry": [false, false, false, true],
+                  "in": 1,
+                  "bearings": [68, 161, 246, 326],
+                  "duration": 3.357,
+                  "turn_duration": 0.048,
+                  "mapbox_streets_v8": {"class": "roundabout"},
+                  "is_urban": true,
+                  "admin_index": 0,
+                  "out": 3,
+                  "weight": 4.043,
+                  "geometry_index": 33,
+                  "location": [-77.029007, 38.90987]
+                },
+                {
+                  "entry": [false, false, true],
+                  "in": 1,
+                  "bearings": [106, 145, 311],
+                  "duration": 0.175,
+                  "turn_duration": 0.052,
+                  "mapbox_streets_v8": {"class": "roundabout"},
+                  "is_urban": true,
+                  "admin_index": 0,
+                  "out": 2,
+                  "weight": 0.11,
+                  "geometry_index": 38,
+                  "location": [-77.029151, 38.910033]
+                },
+                {
+                  "lanes": [
+                    {
+                      "indications": ["straight"],
+                      "valid": false,
+                      "active": false
+                    },
+                    {
+                      "indications": ["straight", "right"],
+                      "valid_indication": "right",
+                      "valid": true,
+                      "active": true
+                    }
+                  ],
+                  "location": [-77.029163, 38.910041],
+                  "geometry_index": 39,
+                  "admin_index": 0,
+                  "weight": 18.86,
+                  "is_urban": true,
+                  "mapbox_streets_v8": {"class": "street"},
+                  "turn_duration": 0.1,
+                  "turn_weight": 5,
+                  "duration": 11.471,
+                  "bearings": [131, 307, 350],
+                  "out": 2,
+                  "in": 0,
+                  "entry": [false, true, true]
+                },
+                {
+                  "entry": [true, false, false, false],
+                  "in": 2,
+                  "bearings": [6, 115, 171, 296],
+                  "duration": 24.736,
+                  "turn_weight": 2,
+                  "turn_duration": 0.02,
+                  "mapbox_streets_v8": {"class": "street"},
+                  "is_urban": true,
+                  "admin_index": 0,
+                  "out": 0,
+                  "weight": 32.24,
+                  "geometry_index": 42,
+                  "location": [-77.029203, 38.910237]
+                },
+                {
+                  "bearings": [25, 205, 296],
+                  "entry": [true, false, true],
+                  "in": 1,
+                  "turn_weight": 1,
+                  "turn_duration": 0.019,
+                  "mapbox_streets_v8": {"class": "street"},
+                  "is_urban": true,
+                  "admin_index": 0,
+                  "out": 0,
+                  "geometry_index": 49,
+                  "location": [-77.029041, 38.910645]
+                }
+              ],
+              "maneuver": {
+                "type": "rotary",
+                "exit": 3,
+                "instruction": "Enter Logan Circle Northwest and take the 3rd exit onto Vermont Avenue Northwest.",
+                "modifier": "straight",
+                "bearing_after": 53,
+                "bearing_before": 52,
+                "location": [-77.029265, 38.909169]
+              },
+              "rotary_name": "Logan Circle Northwest",
+              "name": "Vermont Avenue Northwest",
+              "duration": 68.49,
+              "distance": 207.6,
+              "driving_side": "right",
+              "weight": 94.397,
+              "mode": "driving",
+              "geometry": "anyeiA`xn|qCgA{BmAsBoAiBwAyAcBwA}A}@aFs@wAMs@Is@AiA@y@FYB_@DG@{@P_AVeA^oAr@gAr@cAv@{@r@}@|@_A`AOViGz@y@LcADqACsAKgAMkAQaAW_A_@sJ{EoKkF"
+            },
+            {
+              "intersections": [
+                {
+                  "entry": [true, true, false],
+                  "in": 2,
+                  "bearings": [24, 114, 205],
+                  "duration": 7.776,
+                  "turn_weight": 82,
+                  "turn_duration": 1.908,
+                  "mapbox_streets_v8": {"class": "service"},
+                  "is_urban": true,
+                  "admin_index": 0,
+                  "out": 1,
+                  "weight": 89.35,
+                  "geometry_index": 50,
+                  "location": [-77.028923, 38.910845]
+                },
+                {
+                  "bearings": [25, 115, 206, 294],
+                  "entry": [false, true, false, false],
+                  "in": 3,
+                  "turn_weight": 2,
+                  "turn_duration": 0.007,
+                  "mapbox_streets_v8": {"class": "service"},
+                  "is_urban": true,
+                  "admin_index": 0,
+                  "out": 1,
+                  "geometry_index": 51,
+                  "location": [-77.02882, 38.910809]
+                }
+              ],
+              "maneuver": {
+                "type": "turn",
+                "instruction": "Turn right.",
+                "modifier": "right",
+                "bearing_after": 114,
+                "bearing_before": 25,
+                "location": [-77.028923, 38.910845]
+              },
+              "name": "",
+              "duration": 36.663,
+              "distance": 57.913,
+              "driving_side": "right",
+              "weight": 126.727,
+              "mode": "driving",
+              "geometry": "yv|eiAtbn|qCfAmEzDkO~KA"
+            },
+            {
+              "intersections": [
+                {
+                  "bearings": [0],
+                  "entry": [true],
+                  "in": 0,
+                  "admin_index": 0,
+                  "geometry_index": 53,
+                  "location": [-77.028557, 38.910507]
+                }
+              ],
+              "maneuver": {
+                "type": "arrive",
+                "instruction": "Your destination is on the right.",
+                "modifier": "right",
+                "bearing_after": 0,
+                "bearing_before": 180,
+                "location": [-77.028557, 38.910507]
+              },
+              "name": "",
+              "duration": 0,
+              "distance": 0,
+              "driving_side": "right",
+              "weight": 0,
+              "mode": "driving",
+              "geometry": "ua|eiAxkm|qC??"
+            }
+          ],
+          "distance": 405.4,
+          "summary": "13th Street Northwest, Logan Circle Northwest"
+        }
+      ],
+      "geometry": "yeweiAvno|qC}]DeC?oDcAaAYoF?_BOqAc@mAi@gAm@y@k@{AsAmAmBiA{BkAgCgA{BmAsBoAiBwAyAcBwA}A}@aFs@wAMs@Is@AiA@y@FYB_@DG@{@P_AVeA^oAr@gAr@cAv@{@r@}@|@_A`AOViGz@y@LcADqACsAKgAMkAQaAW_A_@sJ{EoKkFfAmEzDkO~KA"
+    }
+  ],
+  "waypoints": [
+    {
+      "distance": 0.926,
+      "name": "13th Street Northwest",
+      "location": [-77.029628, 38.908013]
+    },
+    {"distance": 4.657, "name": "", "location": [-77.028557, 38.910507]}
+  ],
+  "code": "Ok",
+  "uuid": "mK-PkEwk7pnJBTMJLrqe5BVATqWp2dpaLUwtDXn3UZ42CTXviDma1A=="
+}
\ No newline at end of file
diff --git a/libtesting-router/gradle.properties b/libtesting-router/gradle.properties
index 9fd49e17d9d..c732fe7192a 100644
--- a/libtesting-router/gradle.properties
+++ b/libtesting-router/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=test-router
 POM_ARTIFACT_TITLE=Mapbox Navigation Test Router
 POM_DESCRIPTION=Artifact that provides testing infrastructure to setup routes in test scenarios
\ No newline at end of file
diff --git a/libtrip-notification/gradle.properties b/libtrip-notification/gradle.properties
index 0ad502757d5..46e5bf99058 100644
--- a/libtrip-notification/gradle.properties
+++ b/libtrip-notification/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=notification
 POM_ARTIFACT_TITLE=Mapbox Navigation Notification
 POM_DESCRIPTION=Artifact that provides the default implementation of the navigation notification
diff --git a/ui-components/gradle.properties b/ui-components/gradle.properties
index dcd15b9dd18..c2f5b287403 100644
--- a/ui-components/gradle.properties
+++ b/ui-components/gradle.properties
@@ -1,3 +1,2 @@
-POM_ARTIFACT_ID=ui-components
 POM_ARTIFACT_TITLE=Mapbox Navigation SDK
 POM_DESCRIPTION=Artifact that provides UI compoents
\ No newline at end of file