diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
index 3ea0a8f326..3495660005 100644
--- a/rclcpp/include/rclcpp/client.hpp
+++ b/rclcpp/include/rclcpp/client.hpp
@@ -863,7 +863,7 @@ class Client : public ClientBase
         // the server might be available in another process or was configured to not use IPC.
         if (intra_process_server_available) {
           // Send intra-process request
-          ipm->send_intra_process_client_request<ServiceT>(
+          ipm->template send_intra_process_client_request<ServiceT>(
             intra_process_client_id_,
             std::make_pair(std::move(request), std::move(value)));
           return ipc_sequence_number_++;
diff --git a/rclcpp_action/include/rclcpp_action/client.hpp b/rclcpp_action/include/rclcpp_action/client.hpp
index fabdc44168..fcac2e02b3 100644
--- a/rclcpp_action/include/rclcpp_action/client.hpp
+++ b/rclcpp_action/include/rclcpp_action/client.hpp
@@ -516,7 +516,7 @@ class Client : public ClientBase
         ipc_action_client_->store_goal_response_callback(
           hashed_guuid, goal_response_callback);
 
-        intra_process_send_done = ipm->intra_process_action_send_goal_request<ActionT>(
+        intra_process_send_done = ipm->template intra_process_action_send_goal_request<ActionT>(
             ipc_action_client_id_,
             std::move(goal_request),
             hashed_guuid);
@@ -838,7 +838,7 @@ class Client : public ClientBase
           ipc_action_client_->store_result_response_callback(
             hashed_guuid, result_response_callback);
 
-          intra_process_send_done = ipm->intra_process_action_send_result_request<ActionT>(
+          intra_process_send_done = ipm->template intra_process_action_send_result_request<ActionT>(
               ipc_action_client_id_,
               std::move(goal_result_request));
         }
@@ -894,7 +894,7 @@ class Client : public ClientBase
         ipc_action_client_->store_cancel_goal_callback(
           hashed_guuid, cancel_goal_callback);
 
-        intra_process_send_done = ipm->intra_process_action_send_cancel_request<ActionT>(
+        intra_process_send_done = ipm->template intra_process_action_send_cancel_request<ActionT>(
             ipc_action_client_id_,
             std::move(cancel_request));
       }
diff --git a/rclcpp_action/include/rclcpp_action/server.hpp b/rclcpp_action/include/rclcpp_action/server.hpp
index a15b859a9c..0f598270e9 100644
--- a/rclcpp_action/include/rclcpp_action/server.hpp
+++ b/rclcpp_action/include/rclcpp_action/server.hpp
@@ -512,7 +512,7 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
 
     auto ipm = lock_intra_process_manager();
 
-    ipm->intra_process_action_send_goal_response<ActionT>(
+    ipm->template intra_process_action_send_goal_response<ActionT>(
       intra_process_action_client_id,
       std::move(goal_response),
       std::hash<GoalUUID>()(uuid));
@@ -576,7 +576,7 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
 
     GoalUUID uuid = request->goal_info.goal_id.uuid;
 
-    ipm->intra_process_action_send_cancel_response<ActionT>(
+    ipm->template intra_process_action_send_cancel_response<ActionT>(
       intra_process_action_client_id,
       std::move(response),
       std::hash<GoalUUID>()(uuid));
@@ -615,7 +615,7 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
       // Send the result now
       auto ipm = lock_intra_process_manager();
 
-      ipm->intra_process_action_send_result_response<ActionT>(
+      ipm->template intra_process_action_send_result_response<ActionT>(
         intra_process_action_client_id,
         std::move(result_response),
         hashed_uuid);