diff --git a/rclcpp/test/rclcpp/executors/test_executors.cpp b/rclcpp/test/rclcpp/executors/test_executors.cpp
index cea0900a39..a137d8181c 100644
--- a/rclcpp/test/rclcpp/executors/test_executors.cpp
+++ b/rclcpp/test/rclcpp/executors/test_executors.cpp
@@ -714,6 +714,13 @@ TYPED_TEST(TestExecutors, notifyTwiceWhileSpinning)
       sub1_msg_count++;
     });
 
+  // Wait for the subscription to be matched
+  size_t tries = 10000;
+  while (this->publisher->get_subscription_count() < 2 && tries-- > 0) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
+  ASSERT_EQ(this->publisher->get_subscription_count(), 2);
+
   // Publish a message and verify it's received
   this->publisher->publish(test_msgs::msg::Empty());
   auto start = std::chrono::steady_clock::now();
@@ -731,6 +738,13 @@ TYPED_TEST(TestExecutors, notifyTwiceWhileSpinning)
       sub2_msg_count++;
     });
 
+  // Wait for the subscription to be matched
+  tries = 10000;
+  while (this->publisher->get_subscription_count() < 3 && tries-- > 0) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
+  ASSERT_EQ(this->publisher->get_subscription_count(), 3);
+
   // Publish a message and verify it's received by both subscriptions
   this->publisher->publish(test_msgs::msg::Empty());
   start = std::chrono::steady_clock::now();
diff --git a/rclcpp/test/rclcpp/test_client_common.cpp b/rclcpp/test/rclcpp/test_client_common.cpp
index 65475bd8fc..62aa2c05d2 100644
--- a/rclcpp/test/rclcpp/test_client_common.cpp
+++ b/rclcpp/test/rclcpp/test_client_common.cpp
@@ -431,7 +431,7 @@ TYPED_TEST(TestAllClientTypesWithServer, client_qos)
 
   rclcpp::ServicesQoS qos_profile;
   qos_profile.liveliness(rclcpp::LivelinessPolicy::Automatic);
-  rclcpp::Duration duration(std::chrono::nanoseconds(1));
+  rclcpp::Duration duration(std::chrono::milliseconds(1));
   qos_profile.deadline(duration);
   qos_profile.lifespan(duration);
   qos_profile.liveliness_lease_duration(duration);
diff --git a/rclcpp/test/rclcpp/test_generic_service.cpp b/rclcpp/test/rclcpp/test_generic_service.cpp
index 554fdf0c0f..dd75120c1b 100644
--- a/rclcpp/test/rclcpp/test_generic_service.cpp
+++ b/rclcpp/test/rclcpp/test_generic_service.cpp
@@ -320,7 +320,7 @@ TEST_F(TestGenericService, rcl_service_request_subscription_get_actual_qos_error
 TEST_F(TestGenericService, generic_service_qos) {
   rclcpp::ServicesQoS qos_profile;
   qos_profile.liveliness(rclcpp::LivelinessPolicy::Automatic);
-  rclcpp::Duration duration(std::chrono::nanoseconds(1));
+  rclcpp::Duration duration(std::chrono::milliseconds(1));
   qos_profile.deadline(duration);
   qos_profile.lifespan(duration);
   qos_profile.liveliness_lease_duration(duration);
diff --git a/rclcpp/test/rclcpp/test_service.cpp b/rclcpp/test/rclcpp/test_service.cpp
index c6b3d3ace1..fc3756a0bc 100644
--- a/rclcpp/test/rclcpp/test_service.cpp
+++ b/rclcpp/test/rclcpp/test_service.cpp
@@ -335,7 +335,7 @@ TEST_F(TestService, rcl_service_request_subscription_get_actual_qos_error) {
 TEST_F(TestService, server_qos) {
   rclcpp::ServicesQoS qos_profile;
   qos_profile.liveliness(rclcpp::LivelinessPolicy::Automatic);
-  rclcpp::Duration duration(std::chrono::nanoseconds(1));
+  rclcpp::Duration duration(std::chrono::milliseconds(1));
   qos_profile.deadline(duration);
   qos_profile.lifespan(duration);
   qos_profile.liveliness_lease_duration(duration);
diff --git a/rclcpp/test/rclcpp/test_service_introspection.cpp b/rclcpp/test/rclcpp/test_service_introspection.cpp
index af60eec281..d037be3d08 100644
--- a/rclcpp/test/rclcpp/test_service_introspection.cpp
+++ b/rclcpp/test/rclcpp/test_service_introspection.cpp
@@ -92,9 +92,16 @@ TEST_F(TestServiceIntrospection, service_introspection_nominal)
   request->set__int64_value(42);
 
   client->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
   service->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
+
+  // Wait for the introspection to attach to our subscription
+  size_t tries = 1000;
+  while (this->sub->get_publisher_count() < 2 && tries-- > 0) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
+  ASSERT_EQ(sub->get_publisher_count(), 2u);
 
   auto future = client->async_send_request(request);
   ASSERT_EQ(
@@ -163,9 +170,11 @@ TEST_F(TestServiceIntrospection, service_introspection_nominal)
 TEST_F(TestServiceIntrospection, service_introspection_enable_disable_events)
 {
   client->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_OFF);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_OFF);
   service->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_OFF);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_OFF);
+
+  ASSERT_EQ(sub->get_publisher_count(), 0);
 
   auto request = std::make_shared<BasicTypes::Request>();
   request->set__bool_value(true);
@@ -183,9 +192,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_events)
   events.clear();
 
   client->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
   service->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_OFF);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_OFF);
+
+  // Wait for the introspection to attach to our subscription
+  size_t tries = 1000;
+  while (this->sub->get_publisher_count() < 1 && tries-- > 0) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
+  ASSERT_EQ(sub->get_publisher_count(), 1u);
 
   future = client->async_send_request(request);
   ASSERT_EQ(
@@ -200,9 +216,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_events)
   events.clear();
 
   client->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_OFF);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_OFF);
   service->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
+
+  // Wait for the introspection to attach to our subscription
+  tries = 1000;
+  while (this->sub->get_publisher_count() < 1 && tries-- > 0) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
+  ASSERT_EQ(sub->get_publisher_count(), 1u);
 
   future = client->async_send_request(request);
   ASSERT_EQ(
@@ -217,9 +240,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_events)
   events.clear();
 
   client->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
   service->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
+
+  // Wait for the introspection to attach to our subscription
+  tries = 1000;
+  while (this->sub->get_publisher_count() < 2 && tries-- > 0) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
+  ASSERT_EQ(sub->get_publisher_count(), 2u);
 
   future = client->async_send_request(request);
   ASSERT_EQ(
@@ -235,9 +265,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_events)
 TEST_F(TestServiceIntrospection, service_introspection_enable_disable_event_content)
 {
   client->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
   service->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
+
+  // Wait for the introspection to attach to our subscription
+  size_t tries = 1000;
+  while (this->sub->get_publisher_count() < 2 && tries-- > 0) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
+  ASSERT_EQ(sub->get_publisher_count(), 2u);
 
   auto request = std::make_shared<BasicTypes::Request>();
   request->set__bool_value(true);
@@ -259,9 +296,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_event_cont
   events.clear();
 
   client->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
   service->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
+
+  // Wait for the introspection to attach to our subscription
+  tries = 1000;
+  while (this->sub->get_publisher_count() < 2 && tries-- > 0) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
+  ASSERT_EQ(sub->get_publisher_count(), 2u);
 
   future = client->async_send_request(request);
   ASSERT_EQ(
@@ -292,9 +336,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_event_cont
   events.clear();
 
   client->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_METADATA);
   service->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
+
+  // Wait for the introspection to attach to our subscription
+  tries = 1000;
+  while (this->sub->get_publisher_count() < 2 && tries-- > 0) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
+  ASSERT_EQ(sub->get_publisher_count(), 2u);
 
   future = client->async_send_request(request);
   ASSERT_EQ(
@@ -325,9 +376,16 @@ TEST_F(TestServiceIntrospection, service_introspection_enable_disable_event_cont
   events.clear();
 
   client->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
   service->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
+    node->get_clock(), rclcpp::ServicesQoS(), RCL_SERVICE_INTROSPECTION_CONTENTS);
+
+  // Wait for the introspection to attach to our subscription
+  tries = 1000;
+  while (this->sub->get_publisher_count() < 2 && tries-- > 0) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+  }
+  ASSERT_EQ(sub->get_publisher_count(), 2u);
 
   future = client->async_send_request(request);
   ASSERT_EQ(