diff --git a/asyncua/client/ha/common.py b/asyncua/client/ha/common.py
index 29e732419..e11a2eb20 100644
--- a/asyncua/client/ha/common.py
+++ b/asyncua/client/ha/common.py
@@ -5,6 +5,7 @@
 
 from itertools import chain, islice
 
+from asyncua.common.utils import wait_for
 
 _logger = logging.getLogger(__name__)
 
@@ -15,7 +16,7 @@ class ClientNotFound(Exception):
 
 async def event_wait(evt, timeout) -> bool:
     try:
-        await asyncio.wait_for(evt.wait(), timeout)
+        await wait_for(evt.wait(), timeout)
     except asyncio.TimeoutError:
         pass
     return evt.is_set()
diff --git a/asyncua/client/ua_client.py b/asyncua/client/ua_client.py
index e2d39d264..a846fe9ec 100644
--- a/asyncua/client/ua_client.py
+++ b/asyncua/client/ua_client.py
@@ -8,6 +8,7 @@
 
 from asyncua import ua
 from asyncua.common.session_interface import AbstractSession
+from ..common.utils import wait_for
 from ..ua.ua_binary import struct_from_binary, uatcp_to_binary, struct_to_binary, nodeid_from_binary, header_from_binary
 from ..ua.uaerrors import BadTimeout, BadNoSubscription, BadSessionClosed, BadUserAccessDenied, UaStructParsingError
 from ..ua.uaprotocol_auto import OpenSecureChannelResult, SubscriptionAcknowledgement
@@ -165,7 +166,7 @@ async def send_request(self, request, timeout: Optional[float] = None, message_t
             # time out then.
             await self.pre_request_hook()
         try:
-            data = await asyncio.wait_for(self._send_request(request, timeout, message_type), timeout if timeout else None)
+            data = await wait_for(self._send_request(request, timeout, message_type), timeout if timeout else None)
         except Exception:
             if self.state != self.OPEN:
                 raise ConnectionError("Connection is closed") from None
@@ -221,7 +222,7 @@ async def send_hello(self, url, max_messagesize: int = 0, max_chunkcount: int =
         self._callbackmap[0] = ack
         if self.transport is not None:
             self.transport.write(uatcp_to_binary(ua.MessageType.Hello, hello))
-        return await asyncio.wait_for(ack, self.timeout)
+        return await wait_for(ack, self.timeout)
 
     async def open_secure_channel(self, params) -> OpenSecureChannelResult:
         self.logger.info("open_secure_channel")
@@ -230,7 +231,7 @@ async def open_secure_channel(self, params) -> OpenSecureChannelResult:
         if self._open_secure_channel_exchange is not None:
             raise RuntimeError('Two Open Secure Channel requests can not happen too close to each other. ' 'The response must be processed and returned before the next request can be sent.')
         self._open_secure_channel_exchange = params
-        await asyncio.wait_for(self._send_request(request, message_type=ua.MessageType.SecureOpen), self.timeout)
+        await wait_for(self._send_request(request, message_type=ua.MessageType.SecureOpen), self.timeout)
         _return = self._open_secure_channel_exchange.Parameters # type: ignore[union-attr]
         self._open_secure_channel_exchange = None
         return _return
diff --git a/asyncua/common/utils.py b/asyncua/common/utils.py
index 4d87e3c23..cb112588d 100644
--- a/asyncua/common/utils.py
+++ b/asyncua/common/utils.py
@@ -2,12 +2,13 @@
 Helper function and classes that do not rely on asyncua library.
 Helper function and classes depending on ua object are in ua_utils.py
 """
-
-import os
+import asyncio
 import logging
+import os
 import sys
 from dataclasses import Field, fields
-from typing import get_type_hints, Dict, Tuple, Any, Optional
+from typing import Any, Awaitable, Dict, get_type_hints, Optional, Tuple, TypeVar, Union
+
 from ..ua.uaerrors import UaError
 
 _logger = logging.getLogger(__name__)
@@ -132,3 +133,22 @@ def fields_with_resolved_types(
             pass
 
     return fields_
+
+
+_T = TypeVar('_T')
+
+
+async def wait_for(aw: Awaitable[_T], timeout: Union[int, float, None]) -> _T:
+    """
+    Wrapped version of asyncio.wait_for that does not swallow cancellations
+
+    There is a bug in asyncio.wait_for before Python version 3.12 that prevents the inner awaitable from being cancelled
+    when the task is cancelled from the outside.
+
+    See https://github.com/python/cpython/issues/87555 and https://github.com/python/cpython/issues/86296
+    """
+    if sys.version_info >= (3, 12):
+        return await asyncio.wait_for(aw, timeout)
+
+    import wait_for2
+    return await wait_for2.wait_for(aw, timeout)
diff --git a/setup.cfg b/setup.cfg
index aeebdd92c..990476d4e 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -11,6 +11,7 @@ max-line-length = 160
 disable_error_code = misc, arg-type, assignment, var-annotated
 show_error_codes = True
 check_untyped_defs = False
+mypy_path = ./stubs
 [mypy-asyncua.ua.uaprotocol_auto.*]
 # Autogenerated file
 disable_error_code = literal-required
diff --git a/setup.py b/setup.py
index 92bab3182..6e4776fb9 100644
--- a/setup.py
+++ b/setup.py
@@ -20,10 +20,10 @@
     author="Olivier Roulet-Dubonnet",
     author_email="olivier.roulet@gmail.com",
     url='http://freeopcua.github.io/',
-    packages=find_packages(exclude=["tests"]),
+    packages=find_packages(exclude=["tests", "stubs"]),
     provides=["asyncua"],
     license="GNU Lesser General Public License v3 or later",
-    install_requires=["aiofiles", "aiosqlite", "python-dateutil", "pytz", "cryptography>42.0.0", "sortedcontainers", "importlib-metadata;python_version<'3.8'", "pyOpenSSL>23.2.0", "typing-extensions"],
+    install_requires=["aiofiles", "aiosqlite", "python-dateutil", "pytz", "cryptography>42.0.0", "sortedcontainers", "importlib-metadata;python_version<'3.8'", "pyOpenSSL>23.2.0", "typing-extensions", 'wait_for2==0.3.2'],
     classifiers=[
         "Programming Language :: Python :: 3.7",
         "Programming Language :: Python :: 3.8",
diff --git a/stubs/wait_for2/__init__.pyi b/stubs/wait_for2/__init__.pyi
new file mode 100644
index 000000000..cede48a67
--- /dev/null
+++ b/stubs/wait_for2/__init__.pyi
@@ -0,0 +1,14 @@
+import asyncio
+from typing import Any, Awaitable, Callable, TypeVar, Union
+
+_T = TypeVar('_T')
+
+
+async def wait_for(
+    fut: Awaitable[_T],
+    timeout: Union[int, float, None],
+    *,
+    loop: asyncio.AbstractEventLoop = None,
+    race_handler: Callable[[Union[_T, BaseException], bool], Any] = None,
+):
+    ...