diff --git a/peerconnection.go b/peerconnection.go
index 63bd397b2e6..acdffbf9f86 100644
--- a/peerconnection.go
+++ b/peerconnection.go
@@ -12,7 +12,6 @@ import (
 	"crypto/rand"
 	"errors"
 	"fmt"
-	"io"
 	"slices"
 	"strconv"
 	"strings"
@@ -1688,7 +1687,7 @@ func (pc *PeerConnection) handleNonMediaBandwidthProbe() {
 	}
 }
 
-func (pc *PeerConnection) handleIncomingSSRC(rtpStream io.Reader, ssrc SSRC) error { //nolint:gocyclo,gocognit,cyclop
+func (pc *PeerConnection) handleIncomingSSRC(rtpStream *srtp.ReadStreamSRTP, ssrc SSRC) error { //nolint:gocyclo,gocognit,cyclop,lll
 	remoteDescription := pc.RemoteDescription()
 	if remoteDescription == nil {
 		return errPeerConnRemoteDescriptionNil
@@ -1725,7 +1724,7 @@ func (pc *PeerConnection) handleIncomingSSRC(rtpStream io.Reader, ssrc SSRC) err
 	// We read the RTP packet to determine the payload type
 	b := make([]byte, pc.api.settingEngine.getReceiveMTU())
 
-	i, err := rtpStream.Read(b)
+	i, err := rtpStream.Peek(b)
 	if err != nil {
 		return err
 	}
@@ -1802,6 +1801,8 @@ func (pc *PeerConnection) handleIncomingSSRC(rtpStream io.Reader, ssrc SSRC) err
 		return err
 	}
 
+	peekedPackets := []*peekedPacket{}
+
 	// if the first packet didn't contain simuilcast IDs, then probe more packets
 	var paddingOnly bool
 	for readCount := 0; readCount <= simulcastProbeCount; readCount++ {
@@ -1811,11 +1812,16 @@ func (pc *PeerConnection) handleIncomingSSRC(rtpStream io.Reader, ssrc SSRC) err
 				readCount--
 			}
 
-			i, _, err := interceptor.Read(b, nil)
+			i, attributes, err := interceptor.Read(b, nil)
 			if err != nil {
 				return err
 			}
 
+			peekedPackets = append(peekedPackets, &peekedPacket{
+				payload:    slices.Clone(b[:i]),
+				attributes: attributes,
+			})
+
 			if paddingOnly, err = handleUnknownRTPPacket(
 				b[:i], uint8(midExtensionID), //nolint:gosec // G115
 				uint8(streamIDExtensionID),       //nolint:gosec // G115
@@ -1851,6 +1857,7 @@ func (pc *PeerConnection) handleIncomingSSRC(rtpStream io.Reader, ssrc SSRC) err
 				interceptor,
 				rtcpReadStream,
 				rtcpInterceptor,
+				peekedPackets,
 			)
 			if err != nil {
 				return err
@@ -1930,7 +1937,7 @@ func (pc *PeerConnection) undeclaredRTPMediaProcessor() { //nolint:cyclop
 			continue
 		}
 
-		go func(rtpStream io.Reader, ssrc SSRC) {
+		go func(rtpStream *srtp.ReadStreamSRTP, ssrc SSRC) {
 			if err := pc.handleIncomingSSRC(rtpStream, ssrc); err != nil {
 				pc.log.Errorf(incomingUnhandledRTPSsrc, ssrc, err)
 			}
diff --git a/peerconnection_media_test.go b/peerconnection_media_test.go
index cde1c0f4729..ed995142d75 100644
--- a/peerconnection_media_test.go
+++ b/peerconnection_media_test.go
@@ -10,6 +10,7 @@ import (
 	"bufio"
 	"bytes"
 	"context"
+	"crypto/rand"
 	"errors"
 	"fmt"
 	"io"
@@ -2062,14 +2063,13 @@ func TestPeerConnection_Simulcast_RTX(t *testing.T) { //nolint:cyclop
 	assert.NotZero(t, ridID)
 	assert.NotZero(t, rsid)
 
-	err = signalPairWithModification(pcOffer, pcAnswer, func(sdp string) string {
+	assert.NoError(t, signalPairWithModification(pcOffer, pcAnswer, func(sdp string) string {
 		// Original chrome sdp contains no ssrc info https://pastebin.com/raw/JTjX6zg6
 		re := regexp.MustCompile("(?m)[\r\n]+^.*a=ssrc.*$")
 		res := re.ReplaceAllString(sdp, "")
 
 		return res
-	})
-	assert.NoError(t, err)
+	}))
 
 	// padding only packets should not affect simulcast probe
 	var sequenceNumber uint16
@@ -2493,3 +2493,104 @@ func Test_PeerConnection_RTX_E2E(t *testing.T) { //nolint:cyclop
 	closePairNow(t, pcOffer, pcAnswer)
 	assert.NoError(t, wan.Stop())
 }
+
+// Assert that we don't drop any packets during the probe.
+func TestPeerConnection_Simulcast_Probe_PacketLoss(t *testing.T) { //nolint:cyclop
+	lim := test.TimeOut(time.Second * 30)
+	defer lim.Stop()
+
+	report := test.CheckRoutines(t)
+	defer report()
+
+	const rtpPktCount = 10
+	pcOffer, pcAnswer, wan := createVNetPair(t, nil)
+
+	rids := []string{"a", "b", "c"}
+	vp8WriterA, err := NewTrackLocalStaticRTP(
+		RTPCodecCapability{MimeType: MimeTypeVP8}, "video", "pion2", WithRTPStreamID(rids[0]),
+	)
+	assert.NoError(t, err)
+
+	vp8WriterB, err := NewTrackLocalStaticRTP(
+		RTPCodecCapability{MimeType: MimeTypeVP8}, "video", "pion2", WithRTPStreamID(rids[1]),
+	)
+	assert.NoError(t, err)
+
+	vp8WriterC, err := NewTrackLocalStaticRTP(
+		RTPCodecCapability{MimeType: MimeTypeVP8}, "video", "pion2", WithRTPStreamID(rids[2]),
+	)
+	assert.NoError(t, err)
+
+	sender, err := pcOffer.AddTrack(vp8WriterA)
+	assert.NoError(t, err)
+	assert.NotNil(t, sender)
+
+	assert.NoError(t, sender.AddEncoding(vp8WriterB))
+	assert.NoError(t, sender.AddEncoding(vp8WriterC))
+
+	expectedBuffer := make([]byte, outboundMTU*rtpPktCount)
+	_, err = rand.Read(expectedBuffer)
+	assert.NoError(t, err)
+
+	ctx, cancel := context.WithCancel(context.Background())
+	pcAnswer.OnTrack(func(trackRemote *TrackRemote, _ *RTPReceiver) {
+		actualBuffer := []byte{}
+
+		for i := 0; i < rtpPktCount; i++ {
+			pkt, _, err := trackRemote.ReadRTP()
+			assert.NoError(t, err)
+
+			actualBuffer = append(actualBuffer, pkt.Payload...)
+		}
+
+		assert.Equal(t, actualBuffer, expectedBuffer)
+		cancel()
+	})
+
+	var midID, ridID uint8
+	for _, extension := range sender.GetParameters().HeaderExtensions {
+		switch extension.URI {
+		case sdp.SDESMidURI:
+			midID = uint8(extension.ID) //nolint:gosec // G115
+		case sdp.SDESRTPStreamIDURI:
+			ridID = uint8(extension.ID) //nolint:gosec // G115
+		}
+	}
+	assert.NotZero(t, midID)
+	assert.NotZero(t, ridID)
+
+	assert.NoError(t, signalPairWithModification(pcOffer, pcAnswer, func(sdp string) string {
+		// Original chrome sdp contains no ssrc info https://pastebin.com/raw/JTjX6zg6
+		re := regexp.MustCompile("(?m)[\r\n]+^.*a=ssrc.*$")
+		res := re.ReplaceAllString(sdp, "")
+
+		return res
+	}))
+
+	peerConnectionConnected := untilConnectionState(PeerConnectionStateConnected, pcOffer, pcAnswer)
+	peerConnectionConnected.Wait()
+
+	for sequenceNumber := uint16(0); sequenceNumber < rtpPktCount; sequenceNumber++ {
+		pkt := &rtp.Packet{
+			Header: rtp.Header{
+				Version:        2,
+				PayloadType:    96,
+				SequenceNumber: sequenceNumber,
+			},
+		}
+
+		// Make sure that packets for Stream received before MID/RID don't get dropped
+		if sequenceNumber > 3 {
+			assert.NoError(t, pkt.SetExtension(midID, []byte("0")))
+			assert.NoError(t, pkt.SetExtension(ridID, []byte(vp8WriterA.RID())))
+		}
+
+		offset := int(sequenceNumber) * outboundMTU
+		pkt.Payload = expectedBuffer[offset : offset+outboundMTU]
+		assert.NoError(t, vp8WriterA.WriteRTP(pkt))
+	}
+
+	<-ctx.Done()
+	assert.NoError(t, wan.Stop())
+	closePairNow(t, pcOffer, pcAnswer)
+}
diff --git a/peerconnection_renegotiation_test.go b/peerconnection_renegotiation_test.go
index b6adcec7186..252fc8d0951 100644
--- a/peerconnection_renegotiation_test.go
+++ b/peerconnection_renegotiation_test.go
@@ -1105,12 +1105,6 @@ func TestPeerConnection_Renegotiation_Simulcast(t *testing.T) {
 
 		for _, track := range trackMap {
 			_, _, err := track.ReadRTP()
-
-			// Ignore first Read, this was our peeked data
-			if err == nil {
-				_, _, err = track.ReadRTP()
-			}
-
 			assert.Equal(t, err, io.EOF)
 		}
 	}
diff --git a/rtpreceiver.go b/rtpreceiver.go
index aa0312db2e0..d627668a6f8 100644
--- a/rtpreceiver.go
+++ b/rtpreceiver.go
@@ -12,6 +12,7 @@ import (
 	"io"
 	"math"
 	"sync"
+	"sync/atomic"
 	"time"
 
 	"github.com/pion/interceptor"
@@ -64,8 +65,9 @@ type RTPReceiver struct {
 
 	tracks []trackStreams
 
-	closed, received chan any
-	mu               sync.RWMutex
+	closed               atomic.Bool
+	closedChan, received chan any
+	mu                   sync.RWMutex
 
 	tr *RTPTransceiver
 
@@ -84,12 +86,12 @@ func (api *API) NewRTPReceiver(kind RTPCodecType, transport *DTLSTransport) (*RT
 	}
 
 	rtpReceiver := &RTPReceiver{
-		kind:      kind,
-		transport: transport,
-		api:       api,
-		closed:    make(chan any),
-		received:  make(chan any),
-		tracks:    []trackStreams{},
+		kind:       kind,
+		transport:  transport,
+		api:        api,
+		closedChan: make(chan any),
+		received:   make(chan any),
+		tracks:     []trackStreams{},
 		rtxPool: sync.Pool{New: func() any {
 			return make([]byte, api.settingEngine.getReceiveMTU())
 		}},
@@ -290,7 +292,7 @@ func (r *RTPReceiver) Read(b []byte) (n int, a interceptor.Attributes, err error
 		}
 
 		return r.tracks[0].rtcpInterceptor.Read(b, a)
-	case <-r.closed:
+	case <-r.closedChan:
 		return 0, nil, io.ErrClosedPipe
 	}
 }
@@ -315,7 +317,7 @@ func (r *RTPReceiver) ReadSimulcast(b []byte, rid string) (n int, a interceptor.
 
 		return rtcpInterceptor.Read(b, a)
 
-	case <-r.closed:
+	case <-r.closedChan:
 		return 0, nil, io.ErrClosedPipe
 	}
 }
@@ -359,6 +361,10 @@ func (r *RTPReceiver) haveReceived() bool {
 	}
 }
 
+func (r *RTPReceiver) haveClosed() bool {
+	return r.closed.Load()
+}
+
 // Stop irreversibly stops the RTPReceiver.
 func (r *RTPReceiver) Stop() error { //nolint:cyclop
 	r.mu.Lock()
@@ -366,7 +372,7 @@ func (r *RTPReceiver) Stop() error { //nolint:cyclop
 	var err error
 
 	select {
-	case <-r.closed:
+	case <-r.closedChan:
 		return err
 	default:
 	}
@@ -405,7 +411,8 @@ func (r *RTPReceiver) Stop() error { //nolint:cyclop
 	default:
 	}
 
-	close(r.closed)
+	close(r.closedChan)
+	r.closed.Store(true)
 
 	return err
 }
@@ -519,7 +526,7 @@ func (r *RTPReceiver) streamsForTrack(t *TrackRemote) *trackStreams {
 func (r *RTPReceiver) readRTP(b []byte, reader *TrackRemote) (n int, a interceptor.Attributes, err error) {
 	select {
 	case <-r.received:
-	case <-r.closed:
+	case <-r.closedChan:
 		return 0, nil, io.EOF
 	}
 
@@ -540,6 +547,7 @@ func (r *RTPReceiver) receiveForRid(
 	rtpInterceptor interceptor.RTPReader,
 	rtcpReadStream *srtp.ReadStreamSRTCP,
 	rtcpInterceptor interceptor.RTCPReader,
+	peekedPackets []*peekedPacket,
 ) (*TrackRemote, error) {
 	r.mu.Lock()
 	defer r.mu.Unlock()
@@ -551,6 +559,7 @@ func (r *RTPReceiver) receiveForRid(
 			r.tracks[i].track.codec = params.Codecs[0]
 			r.tracks[i].track.params = params
 			r.tracks[i].track.ssrc = SSRC(streamInfo.SSRC)
+			r.tracks[i].track.peekedPackets = peekedPackets
 			r.tracks[i].track.mu.Unlock()
 
 			r.tracks[i].streamInfo = streamInfo
@@ -651,7 +660,7 @@ func (r *RTPReceiver) receiveForRtx(
 			copy(b[headerLength:i-2], b[headerLength+2:i])
 
 			select {
-			case <-r.closed:
+			case <-r.closedChan:
 				r.rtxPool.Put(b) // nolint:staticcheck
 
 				return
diff --git a/stats_go.go b/stats_go.go
index 95bd20d86bf..e7975632679 100644
--- a/stats_go.go
+++ b/stats_go.go
@@ -215,7 +215,7 @@ func (p *defaultAudioPlayoutStatsProvider) AddTrack(track *TrackRemote) error {
 		}
 
 		select {
-		case <-receiver.closed:
+		case <-receiver.closedChan:
 			p.removeTrackInternal(track)
 		case <-ctx.Done():
 			return
diff --git a/stats_go_test.go b/stats_go_test.go
index 77089062c48..af6f2bee9b0 100644
--- a/stats_go_test.go
+++ b/stats_go_test.go
@@ -2349,7 +2349,7 @@ func TestDefaultAudioPlayoutStatsProvider_AccumulateSnapshot(t *testing.T) {
 }
 
 func TestDefaultAudioPlayoutStatsProvider_AddRemoveTrack(t *testing.T) {
-	receiver := &RTPReceiver{closed: make(chan any)}
+	receiver := &RTPReceiver{closedChan: make(chan any)}
 	track := newTrackRemote(RTPCodecTypeAudio, 1234, 0, "", receiver)
 	samplesPerBatch := 960
 
@@ -2371,7 +2371,7 @@ func TestDefaultAudioPlayoutStatsProvider_AddRemoveTrack(t *testing.T) {
 }
 
 func TestDefaultAudioPlayoutStatsProvider_MultipleProviders(t *testing.T) {
-	receiver := &RTPReceiver{closed: make(chan any)}
+	receiver := &RTPReceiver{closedChan: make(chan any)}
 	track := newTrackRemote(RTPCodecTypeAudio, 5555, 0, "", receiver)
 	samplesPerBatch := 960
 
diff --git a/track_local_static_test.go b/track_local_static_test.go
index 093d177054c..48f4b52400e 100644
--- a/track_local_static_test.go
+++ b/track_local_static_test.go
@@ -827,8 +827,7 @@ func Test_TrackRemote_ReadRTP_UnmarshalError(t *testing.T) {
 	tr := newTrackRemote(RTPCodecTypeVideo, 0, 0, "", recv)
 
 	tr.mu.Lock()
-	tr.peeked = []byte{0x80, 96}
-	tr.peekedAttributes = nil
+	tr.peekedPackets = []*peekedPacket{{payload: []byte{0x80, 96}}}
 	tr.mu.Unlock()
 
 	pkt, attrs, err := tr.ReadRTP()
diff --git a/track_remote.go b/track_remote.go
index ca6160f2e49..4cbecdc9af9 100644
--- a/track_remote.go
+++ b/track_remote.go
@@ -8,6 +8,7 @@ package webrtc
 
 import (
 	"fmt"
+	"io"
 	"sync"
 	"time"
 
@@ -15,6 +16,11 @@ import (
 	"github.com/pion/rtp"
 )
 
+type peekedPacket struct {
+	payload    []byte
+	attributes interceptor.Attributes
+}
+
 // TrackRemote represents a single inbound source of media.
 type TrackRemote struct {
 	mu sync.RWMutex
@@ -30,9 +36,9 @@ type TrackRemote struct {
 	params      RTPParameters
 	rid         string
 
-	receiver         *RTPReceiver
-	peeked           []byte
-	peekedAttributes interceptor.Attributes
+	receiver *RTPReceiver
+
+	peekedPackets []*peekedPacket
 
 	audioPlayoutStatsProviders []AudioPlayoutStatsProvider
 }
@@ -116,25 +122,22 @@ func (t *TrackRemote) Codec() RTPCodecParameters {
 func (t *TrackRemote) Read(b []byte) (n int, attributes interceptor.Attributes, err error) {
 	t.mu.RLock()
 	receiver := t.receiver
-	peeked := t.peeked != nil
+	var peekedPkt *peekedPacket
+	if len(t.peekedPackets) != 0 {
+		peekedPkt = t.peekedPackets[0]
+		t.peekedPackets = t.peekedPackets[1:]
+	}
 	t.mu.RUnlock()
 
-	if peeked {
-		t.mu.Lock()
-		data := t.peeked
-		attributes = t.peekedAttributes
-
-		t.peeked = nil
-		t.peekedAttributes = nil
-		t.mu.Unlock()
-		// someone else may have stolen our packet when we
-		// released the lock.  Deal with it.
-		if data != nil {
-			n = copy(b, data)
-			err = t.checkAndUpdateTrack(b)
-
-			return n, attributes, err
-		}
+	if receiver.haveClosed() {
+		return 0, nil, io.EOF
+	}
+
+	if peekedPkt != nil {
+		n = copy(b, peekedPkt.payload)
+		err = t.checkAndUpdateTrack(b)
+
+		return n, peekedPkt.attributes, err
 	}
 
 	// If there's a separate RTX track and an RTX packet is available, return that
@@ -142,17 +145,15 @@ func (t *TrackRemote) Read(b []byte) (n int, attributes interceptor.Attributes,
 		n = copy(b, rtxPacketReceived.pkt)
 		attributes = rtxPacketReceived.attributes
 		rtxPacketReceived.release()
-		err = nil
-	} else {
-		// If there's no separate RTX track (or there's a separate RTX track but no RTX packet waiting), wait for and return
-		// a packet from the main track
-		n, attributes, err = receiver.readRTP(b, t)
-		if err != nil {
-			return n, attributes, err
-		}
 
-		err = t.checkAndUpdateTrack(b)
+		return n, attributes, nil
+	}
+
+	n, attributes, err = receiver.readRTP(b, t)
+	if err != nil {
+		return n, attributes, err
 	}
+	err = t.checkAndUpdateTrack(b)
 
 	return n, attributes, err
 }
@@ -212,8 +213,7 @@ func (t *TrackRemote) peek(b []byte) (n int, a interceptor.Attributes, err error
 	// that case.
 	data := make([]byte, n)
 	n = copy(data, b[:n])
-	t.peeked = data
-	t.peekedAttributes = a
+	t.peekedPackets = append(t.peekedPackets, &peekedPacket{payload: data, attributes: a})
 	t.mu.Unlock()
 
 	return