diff --git a/addons/stock_picking_batch/i18n/stock_picking_batch.pot b/addons/stock_picking_batch/i18n/stock_picking_batch.pot
index 76f0430811e..2d1c082e77d 100644
--- a/addons/stock_picking_batch/i18n/stock_picking_batch.pot
+++ b/addons/stock_picking_batch/i18n/stock_picking_batch.pot
@@ -707,14 +707,6 @@ msgstr ""
 msgid "Show all records which has next action date is before today"
 msgstr ""
 
-#. module: stock_picking_batch
-#: code:addons/stock_picking_batch/models/stock_picking_batch.py:0
-#, python-format
-msgid ""
-"Some transfers are still waiting for goods. Please check or force their "
-"availability before setting this batch to done."
-msgstr ""
-
 #. module: stock_picking_batch
 #: model:ir.model.fields,field_description:stock_picking_batch.field_stock_picking_type__batch_group_by_src_loc
 msgid "Source Location"
diff --git a/addons/stock_picking_batch/models/stock_move.py b/addons/stock_picking_batch/models/stock_move.py
index 6cd617e9193..af4b61970f7 100644
--- a/addons/stock_picking_batch/models/stock_move.py
+++ b/addons/stock_picking_batch/models/stock_move.py
@@ -12,3 +12,12 @@ class StockMove(models.Model):
         domain = super()._search_picking_for_assignation_domain()
         domain = expression.AND([domain, ['|', ('batch_id', '=', False), ('batch_id.is_wave', '=', False)]])
         return domain
+
+    def _action_cancel(self):
+        res = super()._action_cancel()
+
+        for picking in self.picking_id:
+            # Remove the picking from the batch if the whole batch isn't cancelled.
+            if picking.state == 'cancel' and picking.batch_id and any(p.state != 'cancel' for p in picking.batch_id.picking_ids):
+                picking.batch_id = None
+        return res
diff --git a/addons/stock_picking_batch/models/stock_picking.py b/addons/stock_picking_batch/models/stock_picking.py
index ca743febc4a..e09148e0de4 100644
--- a/addons/stock_picking_batch/models/stock_picking.py
+++ b/addons/stock_picking_batch/models/stock_picking.py
@@ -117,15 +117,27 @@ class StockPicking(models.Model):
     def action_confirm(self):
         res = super().action_confirm()
         for picking in self:
-            if picking.picking_type_id.auto_batch and not picking.immediate_transfer and not picking.batch_id and picking.move_ids and picking._is_auto_batchable():
-                picking._find_auto_batch()
+            picking._find_auto_batch()
         return res
 
     def _action_done(self):
         res = super()._action_done()
+        to_assign_ids = set()
+        if self and self.env.context.get('pickings_to_detach'):
+            self.env['stock.picking'].browse(self.env.context['pickings_to_detach']).batch_id = False
+            to_assign_ids.update(self.env.context['pickings_to_detach'])
+
         for picking in self:
-            if picking.batch_id and any(picking.state != 'done' for picking in picking.batch_id.picking_ids):
+            # Avoid inconsistencies in states of the same batch when validating a single picking in a batch.
+            if picking.batch_id and any(p.state != 'done' for p in picking.batch_id.picking_ids):
                 picking.batch_id = None
+            # If backorder were made, if auto-batch is enabled, seek a batch for each of them with the selected criterias.
+            to_assign_ids.update(picking.backorder_ids.ids)
+
+        # To avoid inconsistencies, all incorrect pickings must be removed before assigning backorder pickings
+        assignable_pickings = self.env['stock.picking'].browse(to_assign_ids)
+        for picking in assignable_pickings:
+            picking._find_auto_batch()
 
         return res
 
@@ -137,11 +149,16 @@ class StockPicking(models.Model):
         return res
 
     def _should_show_transfers(self):
-        if len(self.batch_id) == 1 and self == self.batch_id.picking_ids:
+        if len(self.batch_id) == 1 and len(self) == (len(self.batch_id.picking_ids) - len(self.env.context.get('pickings_to_detach', []))):
             return False
         return super()._should_show_transfers()
 
     def _find_auto_batch(self):
+        self.ensure_one()
+        # Check if auto_batch is enabled for this picking.
+        if not self.picking_type_id.auto_batch or self.immediate_transfer or self.batch_id or not self.move_ids or not self._is_auto_batchable():
+            return False
+
         # Try to find a compatible batch to insert the picking
         possible_batches = self.env['stock.picking.batch'].sudo().search(self._get_possible_batches_domain())
         for batch in possible_batches:
@@ -169,6 +186,8 @@ class StockPicking(models.Model):
     def _is_auto_batchable(self, picking=None):
         """ Verifies if a picking can be put in a batch with another picking without violating auto_batch constrains.
         """
+        if self.state not in ('waiting', 'confirmed', 'assigned'):
+            return False
         res = True
         if not picking:
             picking = self.env['stock.picking']
diff --git a/addons/stock_picking_batch/models/stock_picking_batch.py b/addons/stock_picking_batch/models/stock_picking_batch.py
index ac63310c7e1..ed13bbac1a2 100644
--- a/addons/stock_picking_batch/models/stock_picking_batch.py
+++ b/addons/stock_picking_batch/models/stock_picking_batch.py
@@ -224,15 +224,19 @@ class StockPickingBatch(models.Model):
         self.picking_ids.filtered("show_clear_qty_button").action_clear_quantities_to_zero()
 
     def action_done(self):
+        def has_no_qty_done(picking):
+            return all(float_is_zero(line.qty_done, precision_rounding=line.product_uom_id.rounding) for line in picking.move_line_ids if line.state not in ('done', 'cancel'))
+
         self.ensure_one()
         self._check_company()
+        # Empty 'waiting for another operation' pickings will be removed from the batch when it is validated.
         pickings = self.mapped('picking_ids').filtered(lambda picking: picking.state not in ('cancel', 'done'))
-        if any(picking.state not in ('assigned', 'confirmed') for picking in pickings):
-            raise UserError(_('Some transfers are still waiting for goods. Please check or force their availability before setting this batch to done.'))
+        empty_waiting_pickings = self.mapped('picking_ids').filtered(lambda p: p.state == 'waiting' and has_no_qty_done(p))
+        pickings = pickings - empty_waiting_pickings
 
         empty_pickings = set()
         for picking in pickings:
-            if all(float_is_zero(line.qty_done, precision_rounding=line.product_uom_id.rounding) for line in picking.move_line_ids if line.state not in ('done', 'cancel')):
+            if has_no_qty_done(picking):
                 empty_pickings.add(picking.id)
             picking.message_post(
                 body="<b>%s:</b> %s <a href=#id=%s&view_type=form&model=stock.picking.batch>%s</a>" % (
@@ -241,14 +245,17 @@ class StockPickingBatch(models.Model):
                     picking.batch_id.id,
                     picking.batch_id.name))
 
+        # Run sanity_check as a batch and ignore the one in button_validate() since it is done here.
+        pickings._sanity_check(separate_pickings=False)
+        # Skip sanity_check in pickings button_validate() & remove 'waiting' pickings from the batch
+        context = {'skip_sanity_check': True, 'pickings_to_detach': empty_waiting_pickings.ids}
         if len(empty_pickings) == len(pickings):
-            return pickings.button_validate()
+            return pickings.with_context(**context).button_validate()
         else:
-            res = pickings.with_context(skip_immediate=True).button_validate()
-            if empty_pickings and res.get('context'):
-                res['context']['pickings_to_detach'] = list(empty_pickings)
-            return res
-
+            # If some pickings are at least partially done, other pickings (empty & waiting) will be removed from batch without being cancelled in case of no backorder
+            pickings = pickings - self.env['stock.picking'].browse(empty_pickings)
+            context['pickings_to_detach'] = context['pickings_to_detach'] + list(empty_pickings)
+            return pickings.with_context(skip_immediate=True, **context).button_validate()
 
     def action_assign(self):
         self.ensure_one()
diff --git a/addons/stock_picking_batch/tests/test_batch_picking.py b/addons/stock_picking_batch/tests/test_batch_picking.py
index a571c016297..a0e597a480d 100644
--- a/addons/stock_picking_batch/tests/test_batch_picking.py
+++ b/addons/stock_picking_batch/tests/test_batch_picking.py
@@ -29,10 +29,12 @@ class TestBatchPicking(TransactionCase):
             'categ_id': cls.env.ref('product.product_category_all').id,
         })
 
+        cls.client_1 = cls.env['res.partner'].create({'name': 'Client 1'})
         cls.picking_client_1 = cls.env['stock.picking'].create({
             'location_id': cls.stock_location.id,
             'location_dest_id': cls.customer_location.id,
             'picking_type_id': cls.picking_type_out,
+            'partner_id': cls.client_1.id,
             'company_id': cls.env.company.id,
         })
 
@@ -46,10 +48,12 @@ class TestBatchPicking(TransactionCase):
             'location_dest_id': cls.customer_location.id,
         })
 
+        cls.client_2 = cls.env['res.partner'].create({'name': 'Client 2'})
         cls.picking_client_2 = cls.env['stock.picking'].create({
             'location_id': cls.stock_location.id,
             'location_dest_id': cls.customer_location.id,
             'picking_type_id': cls.picking_type_out,
+            'partner_id': cls.client_2.id,
             'company_id': cls.env.company.id,
         })
 
@@ -315,7 +319,8 @@ class TestBatchPicking(TransactionCase):
         self.assertTrue(back_order_wizard_dict)
         self.assertEqual(back_order_wizard_dict.get('res_model'), 'stock.backorder.confirmation')
         back_order_wizard = Form(self.env[(back_order_wizard_dict.get('res_model'))].with_context(back_order_wizard_dict['context'])).save()
-        self.assertEqual(len(back_order_wizard.pick_ids), 2)
+        # Empty pickings are excluded from the validation process, to be removed from the batch afterwards.
+        self.assertEqual(len(back_order_wizard.pick_ids), 1)
         back_order_wizard.process()
 
         self.assertEqual(self.picking_client_1.state, 'done', 'Picking 1 should be done')
diff --git a/addons/stock_picking_batch/wizard/__init__.py b/addons/stock_picking_batch/wizard/__init__.py
index dbf459854ca..6a1895555f3 100644
--- a/addons/stock_picking_batch/wizard/__init__.py
+++ b/addons/stock_picking_batch/wizard/__init__.py
@@ -4,4 +4,3 @@
 from . import stock_picking_to_batch
 from . import stock_add_to_wave
 from . import stock_package_destination
-from . import stock_backorder_confirmation
diff --git a/addons/stock_picking_batch/wizard/stock_backorder_confirmation.py b/addons/stock_picking_batch/wizard/stock_backorder_confirmation.py
deleted file mode 100644
index ba587e08ce6..00000000000
--- a/addons/stock_picking_batch/wizard/stock_backorder_confirmation.py
+++ /dev/null
@@ -1,20 +0,0 @@
-# -*- coding: utf-8 -*-
-# Part of Odoo. See LICENSE file for full copyright and licensing details.
-
-from odoo import models
-
-
-class StockBackorderConfirmation(models.TransientModel):
-    _inherit = 'stock.backorder.confirmation'
-
-    def process(self):
-        res = super().process()
-        if self.env.context.get('pickings_to_detach'):
-            self.env['stock.picking'].browse(self.env.context['pickings_to_detach']).batch_id = False
-        return res
-
-    def process_cancel_backorder(self):
-        res = super().process_cancel_backorder()
-        if self.env.context.get('pickings_to_detach'):
-            self.env['stock.picking'].browse(self.env.context['pickings_to_detach']).batch_id = False
-        return res