diff --git a/addons/project/models/project_task.py b/addons/project/models/project_task.py
index 657a4158dca..f23d8661e5b 100644
--- a/addons/project/models/project_task.py
+++ b/addons/project/models/project_task.py
@@ -12,6 +12,7 @@ from odoo.addons.web_editor.controllers.main import handle_history_divergence
 from odoo.exceptions import UserError, ValidationError, AccessError
 from odoo.osv import expression
 from odoo.tools.misc import get_lang
+from odoo.addons.resource.models.utils import filter_domain_leaf
 
 
 PROJECT_TASK_READABLE_FIELDS = {
@@ -1122,6 +1123,39 @@ class Task(models.Model):
             return {'date_end': fields.Datetime.now()}
         return {'date_end': False}
 
+    def _search_on_comodel(self, domain, field, comodel, order=None, additional_domain=None):
+
+        def _change_operator(domain):
+            new_domain = []
+            for dom in domain:
+                if len(dom) == 3:
+                    _, op, value = dom
+                    op = "ilike" if op == "child_of" else op
+                    if isinstance(value, list) and all(isinstance(val, int) for val in value):
+                        new_domain.append(("id", op, value))
+                    if isinstance(value, str) or (isinstance(value, list) and not all(isinstance(val, str) for val in value)):
+                        new_domain.append(("name", op, value))
+                    if isinstance(value, int):
+                        new_domain.append(("id", op, [value]))
+                else:
+                    new_domain.append(dom)
+            return new_domain
+
+        filtered_domain = filter_domain_leaf(domain, lambda field_to_check: field_to_check in [
+            field,
+            f"{field}.id",
+            f"{field}.name",
+        ], {
+            field: "name",
+            f"{field}.id": "id",
+            f"{field}.name": "name",
+        })
+        if not filtered_domain:
+            return False
+        if additional_domain:
+            filtered_domain = expression.AND([filtered_domain, additional_domain])
+        return self.env[comodel].search(_change_operator(filtered_domain), order=order)
+
     # ---------------------------------------------------
     # Subtasks
     # ---------------------------------------------------
diff --git a/addons/resource/models/utils.py b/addons/resource/models/utils.py
index fe435f6395d..8f643fea389 100644
--- a/addons/resource/models/utils.py
+++ b/addons/resource/models/utils.py
@@ -84,8 +84,8 @@ def filter_domain_leaf(domain, field_check, field_name_mapping=None):
         next_elem = domain.pop() # Browsing the domain backward simplifies the filtering
         if is_leaf(next_elem):
             field_name, op, value = next_elem
-            field_name = field_name_mapping.get(field_name, field_name)
             if field_check(field_name):
+                field_name = field_name_mapping.get(field_name, field_name)
                 stack.append((field_name, op, value))
                 ignored_elems.append(False)
             else:
diff --git a/addons/resource/tests/test_utils.py b/addons/resource/tests/test_utils.py
index 2c5db580d6c..e262061d0e7 100644
--- a/addons/resource/tests/test_utils.py
+++ b/addons/resource/tests/test_utils.py
@@ -50,10 +50,10 @@ class TestExpression(TransactionCase):
 
         # Testing field mapping 1
         self.assertEqual(
-            ['&', '!', ('field3', '=', False), ('field3', '!=', 'test')],
+            [('field4', '!=', 'test')],
             normalize_domain(utils.filter_domain_leaf(
                 ['|', ('field1', 'in', [1, 2]), '!', ('field2', '=', False), ('field3', '!=', 'test')],
                 lambda field: field == 'field3',
-                field_name_mapping={'field2': 'field3'},
+                field_name_mapping={'field3': 'field4'},
             ))
         )
diff --git a/addons/sale_project/models/project.py b/addons/sale_project/models/project.py
index 665dc07ddbf..90ffd9ed39d 100755
--- a/addons/sale_project/models/project.py
+++ b/addons/sale_project/models/project.py
@@ -9,6 +9,7 @@ from odoo import api, fields, models, _, _lt
 from odoo.exceptions import ValidationError, AccessError
 from odoo.osv import expression
 from odoo.tools import Query
+
 from functools import reduce
 
 from odoo.addons.project.models.project_task import CLOSED_STATES
@@ -752,7 +753,7 @@ class Project(models.Model):
 class ProjectTask(models.Model):
     _inherit = "project.task"
 
-    sale_order_id = fields.Many2one('sale.order', 'Sales Order', compute='_compute_sale_order_id', store=True, help="Sales order to which the task is linked.")
+    sale_order_id = fields.Many2one('sale.order', 'Sales Order', compute='_compute_sale_order_id', store=True, help="Sales order to which the task is linked.", group_expand="_group_expand_sales_order")
     sale_line_id = fields.Many2one(
         'sale.order.line', 'Sales Order Item',
         copy=True, tracking=True, index='btree_not_null', recursive=True,
@@ -776,6 +777,17 @@ class ProjectTask(models.Model):
     def SELF_READABLE_FIELDS(self):
         return super().SELF_READABLE_FIELDS | {'allow_billable', 'sale_order_id', 'sale_line_id', 'display_sale_order_button'}
 
+    @api.model
+    def _group_expand_sales_order(self, sales_orders, domain, order):
+        start_date = self._context.get('gantt_start_date')
+        scale = self._context.get('gantt_scale')
+        if not (start_date and scale):
+            return sales_orders
+        search_on_comodel = self._search_on_comodel(domain, "sale_order_id", "sale.order", order)
+        if search_on_comodel:
+            return search_on_comodel
+        return sales_orders
+
     @api.depends('sale_line_id', 'project_id', 'partner_id.commercial_partner_id', 'allow_billable')
     def _compute_sale_order_id(self):
         for task in self: