diff --git a/process.c b/process.c
index e8dcb82e50..c317a4cc2c 100644
--- a/process.c
+++ b/process.c
@@ -1270,6 +1270,7 @@ waitpid_cleanup(VALUE x)
     return Qfalse;
 }
 
+#if RUBY_SIGCHLD
 static void
 waitpid_wait(struct waitpid_state *w)
 {
@@ -1283,10 +1284,17 @@ waitpid_wait(struct waitpid_state *w)
      */
     rb_native_mutex_lock(&vm->waitpid_lock);
 
-    if (w->pid > 0 || ccan_list_empty(&vm->waiting_pids)) {
-        w->ret = do_waitpid(w->pid, &w->status, w->options | WNOHANG);
+    if (w->options & WNOHANG && w->pid <= 0) {
+        /* In the case of WNOHANG wait for a group, make sure there isn't a zombie child
+        * whose PID we are directly waiting for in another call to waitpid. If there is,
+        * we will reap it via a call to waitpid($pid) with this call to waitpid_each. */
+        waitpid_each(vm, &vm->waiting_pids);
+        /* _now_ it's safe to call do_waitpid, without risk of stealing the wait from
+         * another directed call. */
     }
 
+    w->ret = do_waitpid(w->pid, &w->status, w->options | WNOHANG);
+
     if (w->ret) {
         if (w->ret == -1) w->errnum = errno;
     }
@@ -1308,6 +1316,7 @@ waitpid_wait(struct waitpid_state *w)
         rb_ensure(waitpid_sleep, (VALUE)w, waitpid_cleanup, (VALUE)w);
     }
 }
+#endif
 
 static void *
 waitpid_blocking_no_SIGCHLD(void *x)
@@ -1350,12 +1359,11 @@ rb_process_status_wait(rb_pid_t pid, int flags)
     waitpid_state_init(&waitpid_state, pid, flags);
     waitpid_state.ec = GET_EC();
 
-    if (WAITPID_USE_SIGCHLD) {
-        waitpid_wait(&waitpid_state);
-    }
-    else {
-        waitpid_no_SIGCHLD(&waitpid_state);
-    }
+#if WAITPID_USE_SIGCHLD
+    waitpid_wait(&waitpid_state);
+#else
+    waitpid_no_SIGCHLD(&waitpid_state);
+#endif
 
     if (waitpid_state.ret == 0) return Qnil;
 
diff --git a/test/ruby/test_process.rb b/test/ruby/test_process.rb
index 1228f2c0b1..8e1c3a0d47 100644
--- a/test/ruby/test_process.rb
+++ b/test/ruby/test_process.rb
@@ -2659,7 +2659,7 @@ EOS
     end;
   end if Process.respond_to?(:_fork)
 
-  def test_concurrent_group_and_pid_wait
+  def _test_concurrent_group_and_pid_wait(nohang)
     # Use a pair of pipes that will make long_pid exit when this test exits, to avoid
     # leaking temp processes.
     long_rpipe, long_wpipe = IO.pipe
@@ -2681,10 +2681,26 @@ EOS
       end
       # Wait for us to be blocking in a call to waitpid2
       Thread.pass until t1.stop?
+      assert_nil Process.waitpid(-1, Process::WNOHANG)
       short_wpipe.close # Make short_pid exit
 
-      # The short pid has exited, so -1 should pick that up.
-      assert_equal short_pid, Process.waitpid(-1)
+      # The short pid has exited, so waitpid(-1) should pick that up.
+      exited_pid =
+        unless nohang
+          Process.waitpid(-1)
+        else
+          EnvUtil.timeout(5) do
+            loop do
+              pid = Process.waitpid(-1, Process::WNOHANG)
+
+              break pid if pid
+
+              sleep 0.1
+            end
+          end
+        end
+
+      assert_equal short_pid, exited_pid
 
       # Terminate t1 for the next phase of the test.
       t1.kill
@@ -2714,6 +2730,14 @@ EOS
     [long_rpipe, long_wpipe, short_rpipe, short_wpipe].each { _1&.close rescue nil }
   end if defined?(fork)
 
+  def test_concurrent_group_and_pid_wait
+    _test_concurrent_group_and_pid_wait(false)
+  end if defined?(fork)
+
+  def test_concurrent_group_and_pid_wait_nohang
+    _test_concurrent_group_and_pid_wait(true)
+  end if defined?(fork)
+
   def test_handle_interrupt_with_fork
     Thread.handle_interrupt(RuntimeError => :never) do
       Thread.current.raise(RuntimeError, "Queued error")