diff --git a/system/Autoloader/FileLocator.php b/system/Autoloader/FileLocator.php
index f9734828b692..cfe12b79c2fa 100644
--- a/system/Autoloader/FileLocator.php
+++ b/system/Autoloader/FileLocator.php
@@ -289,6 +289,8 @@ public function findQualifiedNameFromPath(string $path)
     /**
      * Scans the defined namespaces, returning a list of all files
      * that are contained within the subpath specified by $path.
+     *
+     * @return string[] List of file paths
      */
     public function listFiles(string $path): array
     {
@@ -309,6 +311,9 @@ public function listFiles(string $path): array
 
             $tempFiles = get_filenames($fullPath, true);
 
+            // Remove directories
+            $tempFiles = array_filter($tempFiles, static fn ($path) => strtolower(substr($path, -4)) === '.php');
+
             if (! empty($tempFiles)) {
                 $files = array_merge($files, $tempFiles);
             }
@@ -320,6 +325,8 @@ public function listFiles(string $path): array
     /**
      * Scans the provided namespace, returning a list of all files
      * that are contained within the sub path specified by $path.
+     *
+     * @return string[] List of file paths
      */
     public function listNamespaceFiles(string $prefix, string $path): array
     {
diff --git a/system/CLI/Commands.php b/system/CLI/Commands.php
index d153b3aa857a..2714db30bcf9 100644
--- a/system/CLI/Commands.php
+++ b/system/CLI/Commands.php
@@ -76,10 +76,6 @@ public function getCommands()
     /**
      * Discovers all commands in the framework and within user code,
      * and collects instances of them to work with.
-     *
-     * @TODO this approach (find qualified classname from path) causes error,
-     *      when using Composer autoloader.
-     *      See https://github.com/codeigniter4/CodeIgniter4/issues/5818
      */
     public function discoverCommands()
     {
@@ -100,9 +96,9 @@ public function discoverCommands()
         // Loop over each file checking to see if a command with that
         // alias exists in the class.
         foreach ($files as $file) {
-            $className = $locator->findQualifiedNameFromPath($file);
+            $className = $locator->getClassname($file);
 
-            if (empty($className) || ! class_exists($className)) {
+            if ($className === '' || ! class_exists($className)) {
                 continue;
             }
 
diff --git a/tests/system/Autoloader/FileLocatorTest.php b/tests/system/Autoloader/FileLocatorTest.php
index 54a471d74453..3b86cfb7e535 100644
--- a/tests/system/Autoloader/FileLocatorTest.php
+++ b/tests/system/Autoloader/FileLocatorTest.php
@@ -211,6 +211,18 @@ public function testListFilesSimple()
         $this->assertTrue(in_array($expectedWin, $files, true) || in_array($expectedLin, $files, true));
     }
 
+    public function testListFilesDoesNotContainDirectories()
+    {
+        $files = $this->locator->listFiles('Config/');
+
+        $directory = str_replace(
+            '/',
+            DIRECTORY_SEPARATOR,
+            APPPATH . 'Config/Boot'
+        );
+        $this->assertNotContains($directory, $files);
+    }
+
     public function testListFilesWithFileAsInput()
     {
         $files = $this->locator->listFiles('Config/App.php');