diff --git a/packages/driver/cypress/fixtures/shadow-dom.html b/packages/driver/cypress/fixtures/shadow-dom.html
index c4c1f240542c..e2e4a4d28310 100644
--- a/packages/driver/cypress/fixtures/shadow-dom.html
+++ b/packages/driver/cypress/fixtures/shadow-dom.html
@@ -35,6 +35,10 @@
     <cy-test-element id="shadow-element-9" content="Shadow Content 9" rootAddition="
       <div class='shadow-div'>Shadow Content 9</div>
     "></cy-test-element>
+    <div class="focusable" tabindex="1">
+      <cy-test-element innerClass="inside-focusable" content="Inside Focusable"></cy-test-element>
+    </div>
+    <cy-test-element id="shadow-element-10" innerClass="inside-non-visible" content="Not Visible" style="display:block; transform-style: preserve-3d; backface-visibility: hidden; transform: rotateY(180deg);"></cy-test-element>
 
     <script type="text/javascript">
       if (window.customElements) {
@@ -43,7 +47,7 @@
             super()
 
             const root = this.attachShadow({ mode: 'open' })
-            const content = this.getAttribute('content')
+            const content = this.getAttribute('content') || 'Shadow Content'
             const className = this.hasAttribute('innerClass') ? this.getAttribute('innerClass') : 'shadow-content'
             const rootAddition = this.hasAttribute('rootAddition') ? this.getAttribute('rootAddition') : 'shadow-content'
 
diff --git a/packages/driver/cypress/integration/commands/actions/click_spec.js b/packages/driver/cypress/integration/commands/actions/click_spec.js
index 674c299ade04..86bc9e47510c 100644
--- a/packages/driver/cypress/integration/commands/actions/click_spec.js
+++ b/packages/driver/cypress/integration/commands/actions/click_spec.js
@@ -3806,6 +3806,11 @@ describe('shadow dom', () => {
     .rightclick()
   })
 
+  it('focuses the correct ancestor when it is outside shadow dom', () => {
+    cy.get('.inside-focusable', { includeShadowDom: true }).click()
+    cy.get('.focusable').should('be.focused')
+  })
+
   // https://github.com/cypress-io/cypress/issues/7679
   it('does not hang when experimentalShadowDomSupport is false and clicking on custom element', () => {
     Cypress.config('experimentalShadowDomSupport', false)
diff --git a/packages/driver/cypress/integration/commands/actions/scroll_spec.js b/packages/driver/cypress/integration/commands/actions/scroll_spec.js
index 4482760c0615..cf495f771e25 100644
--- a/packages/driver/cypress/integration/commands/actions/scroll_spec.js
+++ b/packages/driver/cypress/integration/commands/actions/scroll_spec.js
@@ -799,6 +799,17 @@ describe('src/cy/commands/actions/scroll', () => {
       })
     })
 
+    describe('shadow dom', () => {
+      beforeEach(() => {
+        cy.visit('/fixtures/shadow-dom.html')
+      })
+
+      // https://github.com/cypress-io/cypress/issues/7986
+      it('does not hang', () => {
+        cy.get('.shadow-1', { includeShadowDom: true }).scrollIntoView()
+      })
+    })
+
     describe('assertion verification', () => {
       beforeEach(function () {
         cy.on('log:added', (attrs, log) => {
diff --git a/packages/driver/cypress/integration/e2e/visibility_spec.js b/packages/driver/cypress/integration/e2e/visibility_spec.js
index a3cdaf575a97..d9a036ca1e9e 100644
--- a/packages/driver/cypress/integration/e2e/visibility_spec.js
+++ b/packages/driver/cypress/integration/e2e/visibility_spec.js
@@ -29,11 +29,20 @@ describe('visibility', () => {
     })
   })
 
-  // https://github.com/cypress-io/cypress/issues/7794
-  describe('with shadow dom and fixed position ancestor', () => {
-    it('does not hang when checking visibility', () => {
+  describe('with shadow dom', () => {
+    // https://github.com/cypress-io/cypress/issues/7794
+    it('fixed position ancestor does not hang when checking visibility', () => {
       cy.visit('/fixtures/issue-7794.html')
       cy.get('.container-2').should('be.visible')
     })
+
+    // TODO: move with tests added in this PR when it merges: https://github.com/cypress-io/cypress/pull/8166
+    it('non-visible ancestor causes element to not be visible', () => {
+      cy.visit('/fixtures/shadow-dom.html')
+      cy
+      .get('#shadow-element-10')
+      .find('.shadow-div', { includeShadowDom: true })
+      .should('not.be.visible')
+    })
   })
 })
diff --git a/packages/driver/src/cy/commands/actions/scroll.js b/packages/driver/src/cy/commands/actions/scroll.js
index 79d8bc3d2ccf..f77e9cf96b4c 100644
--- a/packages/driver/src/cy/commands/actions/scroll.js
+++ b/packages/driver/src/cy/commands/actions/scroll.js
@@ -7,7 +7,7 @@ const $utils = require('../../../cypress/utils')
 const $errUtils = require('../../../cypress/error_utils')
 
 const findScrollableParent = ($el, win) => {
-  const $parent = $el.parent()
+  const $parent = $dom.getParent($el)
 
   // if we're at the body, we just want to pass in
   // window into jQuery scrollTo
diff --git a/packages/driver/src/cy/commands/traversals.js b/packages/driver/src/cy/commands/traversals.js
index 82e7145d4085..a0a1d2433095 100644
--- a/packages/driver/src/cy/commands/traversals.js
+++ b/packages/driver/src/cy/commands/traversals.js
@@ -49,7 +49,7 @@ const autoShadowTraversals = {
   },
   parent: (cy, $el) => {
     const parents = $el.map((i, el) => {
-      return $elements.getParent(el)
+      return $elements.getParentNode(el)
     })
 
     return sortedUnique(cy, parents)
diff --git a/packages/driver/src/dom/document.ts b/packages/driver/src/dom/document.ts
index c7598669df7f..5e9bbbc61a02 100644
--- a/packages/driver/src/dom/document.ts
+++ b/packages/driver/src/dom/document.ts
@@ -4,13 +4,15 @@ const docNode = window.Node.DOCUMENT_NODE
 const docFragmentNode = window.Node.DOCUMENT_FRAGMENT_NODE
 
 //TODO: make this not allow jquery
-const isDocument = (obj: Node): obj is Document => {
+const isDocument = (obj: Node | JQuery): obj is Document => {
   try {
+    let node = obj as Node
+
     if ($jquery.isJquery(obj)) {
-      obj = obj[0]
+      node = obj[0]
     }
 
-    return obj?.nodeType === docNode || obj?.nodeType === docFragmentNode
+    return node?.nodeType === docNode || node?.nodeType === docFragmentNode
   } catch (error) {
     return false
   }
diff --git a/packages/driver/src/dom/elements.ts b/packages/driver/src/dom/elements.ts
index 1b581ba3679c..50c6ff7e003d 100644
--- a/packages/driver/src/dom/elements.ts
+++ b/packages/driver/src/dom/elements.ts
@@ -611,7 +611,7 @@ const isWithinShadowRoot = (node: HTMLElement) => {
   return isShadowRoot(node.getRootNode())
 }
 
-const getParent = (el) => {
+const getParentNode = (el) => {
   // if the element has a direct parent element,
   // simply return it.
   if (el.parentElement) {
@@ -629,9 +629,13 @@ const getParent = (el) => {
   return null
 }
 
+const getParent = ($el: JQuery): JQuery => {
+  return $(getParentNode($el[0]))
+}
+
 const getAllParents = (el: HTMLElement, untilSelector?: string) => {
   const collectParents = (parents, node) => {
-    const parent = getParent(node)
+    const parent = getParentNode(node)
 
     if (!parent || untilSelector && $(parent).is(untilSelector)) {
       return parents
@@ -901,7 +905,7 @@ const isDescendent = ($el1, $el2) => {
 
 const findParent = (el, condition) => {
   const collectParent = (node) => {
-    const parent = getParent(node)
+    const parent = getParentNode(node)
 
     if (!parent) return null
 
@@ -925,17 +929,17 @@ const getFirstFocusableEl = ($el: JQuery<HTMLElement>) => {
     return $el
   }
 
-  const parent = $el.parent()
+  const $parent = getParent($el)
 
   // if we have no parent then just return
   // the window since that can receive focus
-  if (!parent.length) {
+  if (!$parent.length) {
     const win = $window.getWindowByElement($el.get(0))
 
     return $(win)
   }
 
-  return getFirstFocusableEl($el.parent())
+  return getFirstFocusableEl(getParent($el))
 }
 
 const getActiveElByDocument = ($el: JQuery<HTMLElement>): HTMLElement | null => {
@@ -1247,6 +1251,12 @@ const elementFromPoint = (doc, x, y) => {
   return elFromPoint
 }
 
+const getShadowRoot = ($el: JQuery): JQuery<Node> => {
+  const root = $el[0].getRootNode()
+
+  return $(root)
+}
+
 const findAllShadowRoots = (root: Node): Node[] => {
   const collectRoots = (roots, nodes, node) => {
     const currentRoot = roots.pop()
@@ -1360,5 +1370,7 @@ export {
   getFirstStickyPositionParent,
   getFirstScrollableParent,
   getParent,
+  getParentNode,
   getAllParents,
+  getShadowRoot,
 }
diff --git a/packages/driver/src/dom/transform.ts b/packages/driver/src/dom/transform.ts
index c7f6ba46e4e0..2724f52703a6 100644
--- a/packages/driver/src/dom/transform.ts
+++ b/packages/driver/src/dom/transform.ts
@@ -1,4 +1,5 @@
 import _ from 'lodash'
+import { getParent } from './elements'
 import { isDocument } from './document'
 
 export const detectVisibility = ($el: any) => {
@@ -39,7 +40,7 @@ const extractTransformInfoFromElements = ($el: any, list: TransformInfo[] = []):
     list.push(info)
   }
 
-  const $parent = $el.parent()
+  const $parent = getParent($el)
 
   if (!$parent.length || isDocument($parent)) {
     return list