diff --git a/spring-kafka/src/main/java/org/springframework/kafka/listener/KafkaMessageListenerContainer.java b/spring-kafka/src/main/java/org/springframework/kafka/listener/KafkaMessageListenerContainer.java
index 6dfaf4a488..6272330601 100644
--- a/spring-kafka/src/main/java/org/springframework/kafka/listener/KafkaMessageListenerContainer.java
+++ b/spring-kafka/src/main/java/org/springframework/kafka/listener/KafkaMessageListenerContainer.java
@@ -2858,7 +2858,12 @@ private void commitOffsetsIfNeeded(final ConsumerRecord<K, V> cRecord) {
 				}
 				if (this.remainingRecords == null
 						|| !cRecord.equals(this.remainingRecords.iterator().next())) {
-					ackCurrent(cRecord);
+					if (this.offsetsInThisBatch != null) { // NOSONAR (sync)
+						ackInOrder(cRecord);
+					}
+					else {
+						ackCurrent(cRecord);
+					}
 				}
 				if (this.isManualAck) {
 					this.commitRecovered = false;
diff --git a/spring-kafka/src/test/java/org/springframework/kafka/listener/AsyncAckAfterHandleTests.java b/spring-kafka/src/test/java/org/springframework/kafka/listener/AsyncAckAfterHandleTests.java
new file mode 100644
index 0000000000..ab436e457e
--- /dev/null
+++ b/spring-kafka/src/test/java/org/springframework/kafka/listener/AsyncAckAfterHandleTests.java
@@ -0,0 +1,143 @@
+/*
+ * Copyright 2023 the original author or authors.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      https://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.springframework.kafka.listener;
+
+import static org.assertj.core.api.Assertions.assertThat;
+
+import java.util.Map;
+import java.util.concurrent.CountDownLatch;
+import java.util.concurrent.TimeUnit;
+
+import org.apache.kafka.clients.consumer.Consumer;
+import org.apache.kafka.clients.consumer.ConsumerConfig;
+import org.apache.kafka.clients.consumer.ConsumerRecord;
+import org.apache.kafka.clients.producer.ProducerConfig;
+import org.junit.jupiter.api.Test;
+
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.kafka.annotation.EnableKafka;
+import org.springframework.kafka.annotation.KafkaListener;
+import org.springframework.kafka.config.ConcurrentKafkaListenerContainerFactory;
+import org.springframework.kafka.core.ConsumerFactory;
+import org.springframework.kafka.core.DefaultKafkaConsumerFactory;
+import org.springframework.kafka.core.DefaultKafkaProducerFactory;
+import org.springframework.kafka.core.KafkaTemplate;
+import org.springframework.kafka.core.ProducerFactory;
+import org.springframework.kafka.support.Acknowledgment;
+import org.springframework.kafka.support.LogIfLevelEnabled;
+import org.springframework.kafka.test.EmbeddedKafkaBroker;
+import org.springframework.kafka.test.context.EmbeddedKafka;
+import org.springframework.kafka.test.utils.KafkaTestUtils;
+import org.springframework.test.annotation.DirtiesContext;
+import org.springframework.test.context.junit.jupiter.SpringJUnitConfig;
+
+/**
+ * @author Gary Russell
+ * @since 3.0
+ *
+ */
+@SpringJUnitConfig
+@DirtiesContext
+@EmbeddedKafka(topics = "asaah")
+public class AsyncAckAfterHandleTests {
+
+	@Test
+	void testAckAfterHandlerAsync(@Autowired
+	Config config, @Autowired
+	KafkaTemplate<Integer, String> template)
+			throws InterruptedException {
+
+		for (int i = 0; i < 6; i++) {
+			template.send("asaah", 0, null, "message contents");
+		}
+		assertThat(config.latch.await(10, TimeUnit.SECONDS))
+				.describedAs("CountDownLatch.count=%d", config.latch.getCount())
+				.isTrue();
+	}
+
+	@Configuration
+	@EnableKafka
+	public static class Config {
+
+		private final CountDownLatch latch = new CountDownLatch(6);
+
+		@KafkaListener(id = "asaah.id", topics = "asaah")
+		public void onTestTopic(final ConsumerRecord<byte[], byte[]> record,
+				final Acknowledgment acknowledgment) {
+			accept(record, acknowledgment);
+		}
+
+		private void accept(final ConsumerRecord<byte[], byte[]> record,
+				final Acknowledgment acknowledgment) {
+			if (record.offset() == 1) {
+				throw new RuntimeException("Exception for error handler");
+			}
+			else {
+				this.latch.countDown();
+				acknowledgment.acknowledge();
+			}
+		}
+
+		@Bean
+		public ConcurrentKafkaListenerContainerFactory<Integer, String> kafkaListenerContainerFactory(
+				ConsumerFactory<Integer, String> consumerFactory) {
+
+			ConcurrentKafkaListenerContainerFactory<Integer, String> factory = new ConcurrentKafkaListenerContainerFactory<>();
+			factory.setConsumerFactory(consumerFactory);
+			factory.setConcurrency(1);
+			factory.setCommonErrorHandler(new MreErrorHandler());
+			factory.getContainerProperties().setAsyncAcks(true);
+			factory.getContainerProperties().setAckMode(ContainerProperties.AckMode.MANUAL);
+			factory.getContainerProperties().setCommitLogLevel(LogIfLevelEnabled.Level.TRACE);
+			return factory;
+		}
+
+		@Bean
+		ConsumerFactory<Integer, String> consumerFactory(EmbeddedKafkaBroker broker) {
+			Map<String, Object> props = KafkaTestUtils.consumerProps("asaac.grp", "false", broker);
+			props.put(ConsumerConfig.MAX_POLL_RECORDS_CONFIG, 3);
+			return new DefaultKafkaConsumerFactory<>(
+					props);
+		}
+
+		@Bean
+		ProducerFactory<Integer, String> producerFactory(EmbeddedKafkaBroker broker) {
+			Map<String, Object> props = KafkaTestUtils.producerProps(broker);
+			props.put(ProducerConfig.LINGER_MS_CONFIG, 100L);
+			return new DefaultKafkaProducerFactory<>(props);
+		}
+
+		@Bean
+		KafkaTemplate<Integer, String> template(ProducerFactory<Integer, String> pf) {
+			return new KafkaTemplate<>(pf);
+		}
+
+		public class MreErrorHandler implements CommonErrorHandler {
+
+			@Override
+			public boolean handleOne(Exception thrownException, ConsumerRecord<?, ?> record, Consumer<?, ?> consumer,
+					MessageListenerContainer container) {
+				Config.this.latch.countDown();
+				return true;
+			}
+		}
+
+	}
+
+}