diff --git a/packages/dev/core/src/Behaviors/Meshes/baseSixDofDragBehavior.ts b/packages/dev/core/src/Behaviors/Meshes/baseSixDofDragBehavior.ts
index 4b301de0c94..bb9b53ae1f7 100644
--- a/packages/dev/core/src/Behaviors/Meshes/baseSixDofDragBehavior.ts
+++ b/packages/dev/core/src/Behaviors/Meshes/baseSixDofDragBehavior.ts
@@ -297,7 +297,7 @@ export class BaseSixDofDragBehavior implements Behavior<Mesh> {
                 this._virtualMeshesInfo[pointerId] = this._createVirtualMeshInfo();
             }
             const virtualMeshesInfo = this._virtualMeshesInfo[pointerId];
-            const isXRNearPointer = (<IPointerEvent>pointerInfo.event).pointerType === "xr-near";
+            const isXRPointer = (<IPointerEvent>pointerInfo.event).pointerType === "xr-near" || (<IPointerEvent>pointerInfo.event).pointerType === "xr";
 
             if (pointerInfo.type == PointerEventTypes.POINTERDOWN) {
                 if (
@@ -307,10 +307,10 @@ export class BaseSixDofDragBehavior implements Behavior<Mesh> {
                     pointerInfo.pickInfo.pickedMesh &&
                     pointerInfo.pickInfo.pickedPoint &&
                     pointerInfo.pickInfo.ray &&
-                    (!isXRNearPointer || pointerInfo.pickInfo.aimTransform) &&
+                    (!isXRPointer || pointerInfo.pickInfo.aimTransform) &&
                     pickPredicate(pointerInfo.pickInfo.pickedMesh)
                 ) {
-                    if (!this.allowMultiPointer && this.currentDraggingPointerIds.length > 0) {
+                    if ((!this.allowMultiPointer || isXRPointer) && this.currentDraggingPointerIds.length > 0) {
                         return;
                     }
 
@@ -326,7 +326,7 @@ export class BaseSixDofDragBehavior implements Behavior<Mesh> {
                     this._ownerNode.computeWorldMatrix(true);
                     const virtualMeshesInfo = this._virtualMeshesInfo[pointerId];
 
-                    if (isXRNearPointer) {
+                    if (isXRPointer) {
                         this._dragging = pointerInfo.pickInfo.originMesh ? this._dragType.NEAR_DRAG : this._dragType.DRAG_WITH_CONTROLLER;
                         virtualMeshesInfo.originMesh.position.copyFrom(pointerInfo.pickInfo.aimTransform!.position);
                         if (this._dragging === this._dragType.NEAR_DRAG && pointerInfo.pickInfo.gripTransform) {
@@ -352,7 +352,7 @@ export class BaseSixDofDragBehavior implements Behavior<Mesh> {
                     virtualMeshesInfo.startingOrientation.copyFrom(virtualMeshesInfo.dragMesh.rotationQuaternion!);
                     virtualMeshesInfo.startingPivotOrientation.copyFrom(virtualMeshesInfo.pivotMesh.rotationQuaternion!);
 
-                    if (isXRNearPointer) {
+                    if (isXRPointer) {
                         virtualMeshesInfo.originMesh.addChild(virtualMeshesInfo.dragMesh);
                         virtualMeshesInfo.originMesh.addChild(virtualMeshesInfo.pivotMesh);
                     } else {
@@ -416,7 +416,7 @@ export class BaseSixDofDragBehavior implements Behavior<Mesh> {
                     }
 
                     this._ownerNode.computeWorldMatrix(true);
-                    if (!isXRNearPointer) {
+                    if (!isXRPointer) {
                         this._pointerUpdate2D(pointerInfo.pickInfo.ray!, pointerId, zDragFactor);
                     } else {
                         this._pointerUpdateXR(pointerInfo.pickInfo.aimTransform!, pointerInfo.pickInfo.gripTransform, pointerId, zDragFactor);
diff --git a/packages/dev/core/src/Behaviors/Meshes/sixDofDragBehavior.ts b/packages/dev/core/src/Behaviors/Meshes/sixDofDragBehavior.ts
index 20b6aeb01f5..137a7a9d67d 100644
--- a/packages/dev/core/src/Behaviors/Meshes/sixDofDragBehavior.ts
+++ b/packages/dev/core/src/Behaviors/Meshes/sixDofDragBehavior.ts
@@ -66,12 +66,17 @@ export class SixDofDragBehavior extends BaseSixDofDragBehavior {
 
     /**
      * Attaches the six DoF drag behavior
+     * In XR mode the mesh and its children will have their isNearGrabbable property set to true
      * @param ownerNode The mesh that will be dragged around once attached
      */
     public attach(ownerNode: Mesh): void {
         super.attach(ownerNode);
 
         ownerNode.isNearGrabbable = true;
+        // if it has children, make sure they are grabbable too
+        ownerNode.getChildMeshes().forEach((m) => {
+            m.isNearGrabbable = true;
+        });
 
         // Node that will save the owner's transform
         this._virtualTransformNode = new TransformNode("virtual_sixDof", BaseSixDofDragBehavior._virtualScene);
@@ -255,7 +260,6 @@ export class SixDofDragBehavior extends BaseSixDofDragBehavior {
         super.detach();
 
         if (this._ownerNode) {
-            (this._ownerNode as Mesh).isNearGrabbable = false;
             this._ownerNode.getScene().onBeforeRenderObservable.remove(this._sceneRenderObserver);
         }
 
diff --git a/packages/dev/core/src/Meshes/abstractMesh.ts b/packages/dev/core/src/Meshes/abstractMesh.ts
index 25d7e222e6f..b782a7d7be5 100644
--- a/packages/dev/core/src/Meshes/abstractMesh.ts
+++ b/packages/dev/core/src/Meshes/abstractMesh.ts
@@ -432,12 +432,15 @@ export class AbstractMesh extends TransformNode implements IDisposable, ICullabl
     public isPickable = true;
 
     /**
-     * Gets or sets a boolean indicating if the mesh can be near picked. Default is false
+     * Gets or sets a boolean indicating if the mesh can be near picked (touched by the XR controller or hands). Default is false
      */
     public isNearPickable = false;
 
     /**
-     * Gets or sets a boolean indicating if the mesh can be near grabbed. Default is false
+     * Gets or sets a boolean indicating if the mesh can be grabbed. Default is false.
+     * Setting this to true, while using the XR near interaction feature, will trigger a pointer event when the mesh is grabbed.
+     * Grabbing means that the controller is using the squeeze or main trigger button to grab the mesh.
+     * This is different from nearPickable which only triggers the event when the mesh is touched by the controller
      */
     public isNearGrabbable = false;
 
diff --git a/packages/dev/core/src/XR/features/WebXRControllerPointerSelection.ts b/packages/dev/core/src/XR/features/WebXRControllerPointerSelection.ts
index 6d196730d1c..43464637618 100644
--- a/packages/dev/core/src/XR/features/WebXRControllerPointerSelection.ts
+++ b/packages/dev/core/src/XR/features/WebXRControllerPointerSelection.ts
@@ -700,6 +700,17 @@ export class WebXRControllerPointerSelection extends WebXRAbstractFeature {
                             }
                         } else {
                             if (pressed && !this._options.enablePointerSelectionOnAllControllers && !this._options.disableSwitchOnClick) {
+                                // force a pointer up if switching controllers
+                                // get the controller that was attached before
+                                const prevController = this._controllers[this._attachedController];
+                                if (prevController && prevController.pointerDownTriggered && !prevController.finalPointerUpTriggered) {
+                                    this._augmentPointerInit(pointerEventInit, prevController.id, prevController.screenCoordinates);
+                                    this._scene.simulatePointerUp(new PickingInfo(), {
+                                        pointerId: prevController.id,
+                                        pointerType: "xr",
+                                    });
+                                    prevController.finalPointerUpTriggered = true;
+                                }
                                 this._attachedController = xrController.uniqueId;
                             }
                         }