diff --git a/addons/sale/models/res_config_settings.py b/addons/sale/models/res_config_settings.py
index 5fb6c501115..5baf02910b7 100644
--- a/addons/sale/models/res_config_settings.py
+++ b/addons/sale/models/res_config_settings.py
@@ -17,7 +17,6 @@ class ResConfigSettings(models.TransientModel):
     group_sale_delivery_address = fields.Boolean("Customer Addresses", implied_group='sale.group_delivery_invoice_address')
     group_proforma_sales = fields.Boolean(string="Pro-Forma Invoice", implied_group='sale.group_proforma_sales',
         help="Allows you to send pro-forma invoice.")
-    group_sale_order_dates = fields.Boolean("Delivery Date", implied_group='sale.group_sale_order_dates')
     default_invoice_policy = fields.Selection([
         ('order', 'Invoice what is ordered'),
         ('delivery', 'Invoice what is delivered')
diff --git a/addons/sale/models/sale.py b/addons/sale/models/sale.py
index d26af3a50a3..d6bb0f9ce30 100644
--- a/addons/sale/models/sale.py
+++ b/addons/sale/models/sale.py
@@ -179,7 +179,7 @@ class SaleOrder(models.Model):
     signed_by = fields.Char('Signed By', help='Name of the person that signed the SO.', copy=False)
     signed_on = fields.Datetime('Signed On', help='Date of the signature.', copy=False)
 
-    commitment_date = fields.Datetime('Commitment Date',
+    commitment_date = fields.Datetime('Delivery Date',
                                       states={'draft': [('readonly', False)], 'sent': [('readonly', False)]},
                                       copy=False, readonly=True,
                                       help="This is the delivery date promised to the customer. "
@@ -367,8 +367,8 @@ class SaleOrder(models.Model):
             return {
                 'warning': {
                     'title': _('Requested date is too soon.'),
-                    'message': _("The commitment date is sooner than the expected date."
-                                 "You may be unable to honor the commitment date.")
+                    'message': _("The delivery date is sooner than the expected date."
+                                 "You may be unable to honor the delivery date.")
                 }
             }
 
diff --git a/addons/sale/security/sale_security.xml b/addons/sale/security/sale_security.xml
index 0ecefa2bda8..da8ebdec931 100644
--- a/addons/sale/security/sale_security.xml
+++ b/addons/sale/security/sale_security.xml
@@ -21,12 +21,6 @@
         <field name="category_id" ref="base.module_category_hidden"/>
     </record>
 
-    <record id="group_sale_order_dates" model="res.groups">
-        <field name="name">Manage delivery dates from sales orders.</field>
-        <field name="category_id" ref="base.module_category_hidden"/>
-        <field name="comment">This option introduces extra fields in the sales order to easily schedule product deliveries on your own: expected date, commitment date, effective date.</field>
-    </record>
-
     <record model="res.users" id="base.user_root">
         <field eval="[(4,ref('base.group_partner_manager'))]" name="groups_id"/>
     </record>
diff --git a/addons/sale/views/res_config_settings_views.xml b/addons/sale/views/res_config_settings_views.xml
index edf58709d42..b5b4e7eccfd 100644
--- a/addons/sale/views/res_config_settings_views.xml
+++ b/addons/sale/views/res_config_settings_views.xml
@@ -273,17 +273,6 @@
                                 </div>
                             </div>
                         </div>
-                        <div class="col-12 col-lg-6 o_setting_box" title="This option introduces extra fields in the sales order to easily schedule product deliveries on your own: expected date, commitment date, effective date." id="sale_order_dates">
-                            <div class="o_setting_left_pane">
-                                <field name="group_sale_order_dates"/>
-                            </div>
-                            <div class="o_setting_right_pane">
-                                <label for="group_sale_order_dates"/>
-                                <div class="text-muted">
-                                    Manage delivery dates from sales orders
-                                </div>
-                            </div>
-                        </div>
                         <div class="col-12 col-lg-6 o_setting_box" id="ups">
                             <div class="o_setting_left_pane">
                                 <field name="module_delivery_ups" widget="upgrade_boolean"/>
diff --git a/addons/sale/views/sale_views.xml b/addons/sale/views/sale_views.xml
index 24a927347a4..a5be54233b5 100644
--- a/addons/sale/views/sale_views.xml
+++ b/addons/sale/views/sale_views.xml
@@ -190,8 +190,8 @@
                     <field name="message_needaction" invisible="1"/>
                     <field name="name" string="Order Number"/>
                     <field name="date_order" string="Order Date"/>
-                    <field name="commitment_date" groups="sale.group_sale_order_dates"/>
-                    <field name="expected_date" groups="sale.group_sale_order_dates"/>
+                    <field name="commitment_date"/>
+                    <field name="expected_date"/>
                     <field name="partner_id"/>
                     <field name="user_id" optional="show"/>
                     <field name="team_id" optional="hide"/>
@@ -216,8 +216,8 @@
                     <field name="message_needaction" invisible="1"/>
                     <field name="name" string="Quotation Number"/>
                     <field name="create_date" string="Create Date"/>
-                    <field name="commitment_date" groups="sale.group_sale_order_dates"/>
-                    <field name="expected_date" groups="sale.group_sale_order_dates"/>
+                    <field name="commitment_date"/>
+                    <field name="expected_date"/>
                     <field name="partner_id"/>
                     <field name="user_id" optional="show"/>
                     <field name="team_id" optional="hide"/>
@@ -641,9 +641,11 @@
                                 </group>
                             </group>
                             <group>
-                                <group name="sale_shipping" groups="sale.group_sale_order_dates">
-                                    <field name="expected_date"/>
-                                    <field name="commitment_date"/>
+                                <group name="sale_shipping">
+                                    <label for="commitment_date" string="Delivery Date"/>
+                                    <div class="o_row">
+                                        <field name="commitment_date"/> <span class="text-muted">Expected: <field name="expected_date" widget="date"/></span>
+                                    </div>
                                 </group>
                                 <group string="Reporting" name="sale_reporting" groups="base.group_no_one">
                                     <group name="technical" colspan="2" class="mb-0">
diff --git a/addons/sale_stock/views/res_config_settings_views.xml b/addons/sale_stock/views/res_config_settings_views.xml
index af5ffed16fe..c286f33cc8b 100644
--- a/addons/sale_stock/views/res_config_settings_views.xml
+++ b/addons/sale_stock/views/res_config_settings_views.xml
@@ -6,7 +6,7 @@
         <field name="model">res.config.settings</field>
         <field name="inherit_id" ref="sale.res_config_settings_view_form"/>
         <field name="arch" type="xml">
-            <xpath expr="//div[@id='sale_order_dates']" position="after">
+            <xpath expr="//div[@id='ups']" position="after">
                 <div class="col-12 col-lg-6 o_setting_box">
                     <div class="o_setting_left_pane">
                         <field name="group_display_incoterm"/>
diff --git a/addons/sale_stock/views/sale_order_views.xml b/addons/sale_stock/views/sale_order_views.xml
index 0e081f80a42..d342368fb84 100644
--- a/addons/sale_stock/views/sale_order_views.xml
+++ b/addons/sale_stock/views/sale_order_views.xml
@@ -20,13 +20,13 @@
                     <attribute name="groups"></attribute><!-- Remove the res.group on the group and set it on the field directly-->
                     <attribute name="string">Delivery</attribute>
                 </xpath>
-                <xpath expr="//field[@name='expected_date']" position="before">
+                <xpath expr="//label[@for='commitment_date']" position="before">
                     <field name="warehouse_id" options="{'no_create': True}" groups="stock.group_stock_multi_warehouses" force_save="1"/>
                     <field name="incoterm" widget="selection" groups="sale_stock.group_display_incoterm"/>
                     <field name="picking_policy" required="True"/>
                 </xpath>
-                <xpath expr="//field[@name='commitment_date']" position="after">
-                    <field name="effective_date" groups="sale.group_sale_order_dates"/>
+                <xpath expr="//group[@name='sale_shipping']" position="inside">
+                    <field name="effective_date"/>
                 </xpath>
                 <xpath expr="//page/field[@name='order_line']/form/group/group/field[@name='price_unit']" position="before">
                     <field name="product_packaging" attrs="{'invisible': [('product_id', '=', False)]}" context="{'default_product_id': product_id, 'tree_view_ref':'product.product_packaging_tree_view', 'form_view_ref':'product.product_packaging_form_view'}" domain="[('product_id','=',product_id)]" groups="product.group_stock_packaging" />