diff --git a/servers/xr/xr_positional_tracker.cpp b/servers/xr/xr_positional_tracker.cpp
index ffb89fc3858..2dacabe588e 100644
--- a/servers/xr/xr_positional_tracker.cpp
+++ b/servers/xr/xr_positional_tracker.cpp
@@ -153,7 +153,13 @@ void XRPositionalTracker::invalidate_pose(const StringName &p_action_name) {
 void XRPositionalTracker::set_pose(const StringName &p_action_name, const Transform3D &p_transform, const Vector3 &p_linear_velocity, const Vector3 &p_angular_velocity, const XRPose::TrackingConfidence p_tracking_confidence) {
 	Ref<XRPose> new_pose;
 
-	new_pose.instantiate();
+	if (poses.has(p_action_name)) {
+		new_pose = poses[p_action_name];
+	} else {
+		new_pose.instantiate();
+		poses[p_action_name] = new_pose;
+	}
+
 	new_pose->set_name(p_action_name);
 	new_pose->set_has_tracking_data(true);
 	new_pose->set_transform(p_transform);
@@ -161,7 +167,6 @@ void XRPositionalTracker::set_pose(const StringName &p_action_name, const Transf
 	new_pose->set_angular_velocity(p_angular_velocity);
 	new_pose->set_tracking_confidence(p_tracking_confidence);
 
-	poses[p_action_name] = new_pose;
 	emit_signal(SNAME("pose_changed"), new_pose);
 
 	// TODO discuss whether we also want to create and emit an InputEventXRPose event