diff --git a/CHANGELOG.md b/CHANGELOG.md
index ffdce1c64c..453e899d1e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -22,6 +22,10 @@ should change the heading of the (upcoming) version to include a major version b
 
 - Fix default value population when switching between options in `MultiSchemaField` [#4375](https://github.com/rjsf-team/react-jsonschema-form/pull/4375). Fixes [#4367](https://github.com/rjsf-team/react-jsonschema-form/issues/4367)
 
+## @rjsf/validator-ajv8
+
+- Fixed issue where `ui:title` in anyOf/oneOf is not shown in error messages. Fixes [#4368](https://github.com/rjsf-team/react-jsonschema-form/issues/4368)
+
 # 5.23.1
 
 ## @rjsf/chakra-ui
diff --git a/packages/validator-ajv8/src/processRawValidationErrors.ts b/packages/validator-ajv8/src/processRawValidationErrors.ts
index cbb9508194..cf3d7411cd 100644
--- a/packages/validator-ajv8/src/processRawValidationErrors.ts
+++ b/packages/validator-ajv8/src/processRawValidationErrors.ts
@@ -40,7 +40,15 @@ export function transformRJSFValidationErrors<
     if ('missingProperty' in params) {
       property = property ? `${property}.${params.missingProperty}` : params.missingProperty;
       const currentProperty: string = params.missingProperty;
-      const uiSchemaTitle = getUiOptions(get(uiSchema, `${property.replace(/^\./, '')}`)).title;
+      let uiSchemaTitle = getUiOptions(get(uiSchema, `${property.replace(/^\./, '')}`)).title;
+      if (uiSchemaTitle === undefined) {
+        const uiSchemaPath = schemaPath
+          .replace(/\/properties\//g, '/')
+          .split('/')
+          .slice(1, -1)
+          .concat([currentProperty]);
+        uiSchemaTitle = getUiOptions(get(uiSchema, uiSchemaPath)).title;
+      }
 
       if (uiSchemaTitle) {
         message = message.replace(`'${currentProperty}'`, `'${uiSchemaTitle}'`);
diff --git a/packages/validator-ajv8/test/validator.test.ts b/packages/validator-ajv8/test/validator.test.ts
index 2688cd6c6c..2ce40017a7 100644
--- a/packages/validator-ajv8/test/validator.test.ts
+++ b/packages/validator-ajv8/test/validator.test.ts
@@ -1344,6 +1344,247 @@ describe('AJV8Validator', () => {
             expect(errorSchema.numberOfChildren!.__errors![0]).toEqual('must match pattern "\\d+"');
           });
         });
+        describe('title is in validation message when it is in the uiSchema ui:title field with anyOf', () => {
+          beforeAll(() => {
+            const schema: RJSFSchema = {
+              anyOf: [
+                {
+                  type: 'object',
+                  required: ['firstName', 'lastName'],
+                  properties: {
+                    firstName: { type: 'string', title: 'First Name' },
+                    lastName: { type: 'string', title: 'Last Name' },
+                  },
+                },
+              ],
+            };
+            const uiSchema: UiSchema = {
+              anyOf: [
+                {
+                  firstName: {
+                    'ui:title': 'uiSchema First Name',
+                  },
+                  lastName: {
+                    'ui:title': 'uiSchema Last Name',
+                  },
+                },
+              ],
+            };
+
+            const formData = { firstName: 'a' };
+            const result = validator.validateFormData(formData, schema, undefined, undefined, uiSchema);
+            errors = result.errors;
+            errorSchema = result.errorSchema;
+          });
+          it('should return an error list', () => {
+            expect(errors).toHaveLength(2);
+
+            const expected = ["must have required property 'uiSchema Last Name'", 'must match a schema in anyOf'];
+
+            const messages = errors.map((e) => e.message);
+            expect(messages).toEqual(expected);
+
+            const stack = errors.map((e) => e.stack);
+            expect(stack).toEqual(expected);
+          });
+          it('should return an errorSchema', () => {
+            expect(errorSchema.lastName!.__errors).toHaveLength(1);
+            expect(errorSchema.lastName!.__errors![0]).toEqual("must have required property 'uiSchema Last Name'");
+
+            expect(errorSchema.__errors).toHaveLength(1);
+            expect(errorSchema.__errors![0]).toEqual('must match a schema in anyOf');
+          });
+        });
+        describe('title is in validation message when it is in the uiSchema ui:title field with oneOf', () => {
+          beforeAll(() => {
+            const schema: RJSFSchema = {
+              oneOf: [
+                {
+                  type: 'object',
+                  required: ['firstName', 'lastName'],
+                  properties: {
+                    firstName: { type: 'string', title: 'First Name' },
+                    lastName: { type: 'string', title: 'Last Name' },
+                  },
+                },
+              ],
+            };
+            const uiSchema: UiSchema = {
+              oneOf: [
+                {
+                  firstName: {
+                    'ui:title': 'uiSchema First Name',
+                  },
+                  lastName: {
+                    'ui:title': 'uiSchema Last Name',
+                  },
+                },
+              ],
+            };
+
+            const formData = { firstName: 'a' };
+            const result = validator.validateFormData(formData, schema, undefined, undefined, uiSchema);
+            errors = result.errors;
+            errorSchema = result.errorSchema;
+          });
+          it('should return an error list', () => {
+            expect(errors).toHaveLength(2);
+
+            const expected = [
+              "must have required property 'uiSchema Last Name'",
+              'must match exactly one schema in oneOf',
+            ];
+
+            const messages = errors.map((e) => e.message);
+            expect(messages).toEqual(expected);
+
+            const stack = errors.map((e) => e.stack);
+            expect(stack).toEqual(expected);
+          });
+          it('should return an errorSchema', () => {
+            expect(errorSchema.lastName!.__errors).toHaveLength(1);
+            expect(errorSchema.lastName!.__errors![0]).toEqual("must have required property 'uiSchema Last Name'");
+
+            expect(errorSchema.__errors).toHaveLength(1);
+            expect(errorSchema.__errors![0]).toEqual('must match exactly one schema in oneOf');
+          });
+        });
+        describe('ui:title is in validation message when it is defined in referrer', () => {
+          beforeAll(() => {
+            const schema: RJSFSchema = {
+              definitions: {
+                address: {
+                  type: 'object',
+                  properties: {
+                    streetAddress: { type: 'string' },
+                    city: { type: 'string' },
+                    state: { type: 'string' },
+                  },
+                  required: ['streetAddress', 'city', 'state'],
+                },
+              },
+              type: 'object',
+              required: ['billingAddress', 'shippingAddress'],
+              properties: {
+                billingAddress: {
+                  $ref: '#/definitions/address',
+                },
+                shippingAddress: {
+                  $ref: '#/definitions/address',
+                },
+              },
+            };
+            const uiSchema: UiSchema = {
+              billingAddress: {
+                'ui:title': 'uiSchema Billing Address',
+              },
+              shippingAddress: {
+                city: {
+                  'ui:title': 'uiSchema City',
+                },
+              },
+            };
+
+            const formData = { shippingAddress: { streetAddress: 'El Camino Real', state: 'California' } };
+            const result = validator.validateFormData(formData, schema, undefined, undefined, uiSchema);
+            errors = result.errors;
+            errorSchema = result.errorSchema;
+          });
+          it('should return an error list', () => {
+            expect(errors).toHaveLength(2);
+
+            const expected = [
+              "must have required property 'uiSchema Billing Address'",
+              "must have required property 'uiSchema City'",
+            ];
+
+            const messages = errors.map((e) => e.message);
+            expect(messages).toEqual(expected);
+
+            const stack = errors.map((e) => e.stack);
+            expect(stack).toEqual(expected);
+          });
+          it('should return an errorSchema', () => {
+            expect(errorSchema.billingAddress!.__errors).toHaveLength(1);
+            expect(errorSchema.billingAddress!.__errors![0]).toEqual(
+              "must have required property 'uiSchema Billing Address'"
+            );
+
+            expect(errorSchema.shippingAddress!.city!.__errors).toHaveLength(1);
+            expect(errorSchema.shippingAddress!.city!.__errors![0]).toEqual(
+              "must have required property 'uiSchema City'"
+            );
+          });
+        });
+        describe('ui:title is in validation message when it is defined in definitions', () => {
+          beforeAll(() => {
+            const schema: RJSFSchema = {
+              definitions: {
+                address: {
+                  type: 'object',
+                  properties: {
+                    streetAddress: { type: 'string' },
+                    city: { type: 'string' },
+                    state: { type: 'string' },
+                  },
+                  required: ['streetAddress', 'city', 'state'],
+                },
+              },
+              type: 'object',
+              required: ['billingAddress', 'shippingAddress'],
+              properties: {
+                billingAddress: {
+                  $ref: '#/definitions/address',
+                },
+                shippingAddress: {
+                  $ref: '#/definitions/address',
+                },
+              },
+            };
+            const uiSchema: UiSchema = {
+              definitions: {
+                address: {
+                  city: {
+                    'ui:title': 'uiSchema City',
+                  },
+                },
+              },
+              billingAddress: {
+                'ui:title': 'uiSchema Billing Address',
+              },
+            };
+
+            const formData = { shippingAddress: { streetAddress: 'El Camino Real', state: 'California' } };
+            const result = validator.validateFormData(formData, schema, undefined, undefined, uiSchema);
+            errors = result.errors;
+            errorSchema = result.errorSchema;
+          });
+          it('should return an error list', () => {
+            expect(errors).toHaveLength(2);
+
+            const expected = [
+              "must have required property 'uiSchema Billing Address'",
+              "must have required property 'uiSchema City'",
+            ];
+
+            const messages = errors.map((e) => e.message);
+            expect(messages).toEqual(expected);
+
+            const stack = errors.map((e) => e.stack);
+            expect(stack).toEqual(expected);
+          });
+          it('should return an errorSchema', () => {
+            expect(errorSchema.billingAddress!.__errors).toHaveLength(1);
+            expect(errorSchema.billingAddress!.__errors![0]).toEqual(
+              "must have required property 'uiSchema Billing Address'"
+            );
+
+            expect(errorSchema.shippingAddress!.city!.__errors).toHaveLength(1);
+            expect(errorSchema.shippingAddress!.city!.__errors![0]).toEqual(
+              "must have required property 'uiSchema City'"
+            );
+          });
+        });
         describe('uiSchema title in validation when defined in nested field', () => {
           beforeAll(() => {
             const schema: RJSFSchema = {