diff --git a/CHANGELOG.md b/CHANGELOG.md
index d25d85ee16..0826d50c71 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,12 +17,13 @@ should change the heading of the (upcoming) version to include a major version b
 -->
 # 5.0.0-beta-15
 
-# @rjsf/core
+## @rjsf/core
 - Pass the `schema` along to the `ArrayFieldItemTemplate` as part of the fix for [#3253](https://github.com/rjsf-team/react-jsonschema-form/issues/3253)
 - Tweak Babel configuration to emit ES5-compatible output files, fixing [#3240](https://github.com/rjsf-team/react-jsonschema-form/issues/3240)
 
-# @rjsf/utils
+## @rjsf/utils
 - Update the `ArrayFieldItemTemplate` to add `schema` as part of the fix for [#3253](https://github.com/rjsf-team/react-jsonschema-form/issues/3253)
+- Fix improper merging of nested `allOf`s ([#3025](https://github.com/rjsf-team/react-jsonschema-form/pull/3025), [#3227](https://github.com/rjsf-team/react-jsonschema-form/pull/3227)), fixing [#2923](https://github.com/rjsf-team/react-jsonschema-form/pull/2929)
 
 ## Dev / docs / playground
 - Fixed the documentation for `ArrayFieldItemTemplate` as part of the fix for [#3253](https://github.com/rjsf-team/react-jsonschema-form/issues/3253)
diff --git a/packages/utils/src/schema/getDefaultFormState.ts b/packages/utils/src/schema/getDefaultFormState.ts
index a67ee721a5..be29fd8e2c 100644
--- a/packages/utils/src/schema/getDefaultFormState.ts
+++ b/packages/utils/src/schema/getDefaultFormState.ts
@@ -96,13 +96,14 @@ export function computeDefaults<
   S extends StrictRJSFSchema = RJSFSchema
 >(
   validator: ValidatorType<T, S>,
-  schema: S,
+  rawSchema: S,
   parentDefaults?: T,
   rootSchema: S = {} as S,
   rawFormData?: T,
   includeUndefinedValues: boolean | "excludeObjectChildren" = false
 ): T | T[] | undefined {
   const formData = isObject(rawFormData) ? rawFormData : {};
+  let schema: S = isObject(rawSchema) ? rawSchema : ({} as S);
   // Compute the defaults recursively: give highest priority to deepest nodes.
   let defaults: T | T[] | undefined = parentDefaults;
   if (isObject(defaults) && isObject(schema.default)) {
diff --git a/packages/utils/src/schema/retrieveSchema.ts b/packages/utils/src/schema/retrieveSchema.ts
index d120a5ca11..2da8c4a453 100644
--- a/packages/utils/src/schema/retrieveSchema.ts
+++ b/packages/utils/src/schema/retrieveSchema.ts
@@ -1,6 +1,6 @@
 import get from "lodash/get";
 import set from "lodash/set";
-import mergeAllOf from "json-schema-merge-allof";
+import mergeAllOf, { Options } from "json-schema-merge-allof";
 
 import {
   ADDITIONAL_PROPERTIES_KEY,
@@ -242,40 +242,12 @@ export default function retrieveSchema<
   }
 
   const formData: GenericObjectType = rawFormData || {};
-  // For each level of the dependency, we need to recursively determine the appropriate resolved schema given the current state of formData.
-  // Otherwise, nested allOf subschemas will not be correctly displayed.
-  if (resolvedSchema.properties) {
-    const properties: GenericObjectType = {};
-
-    Object.entries(resolvedSchema.properties).forEach((entries) => {
-      const propName = entries[0];
-      const propSchema = entries[1] as S;
-      const rawPropData = formData[propName];
-      const propData = isObject(rawPropData) ? rawPropData : {};
-      const resolvedPropSchema = retrieveSchema<T, S>(
-        validator,
-        propSchema,
-        rootSchema,
-        propData
-      );
-
-      properties[propName] = resolvedPropSchema;
-
-      if (
-        propSchema !== resolvedPropSchema &&
-        resolvedSchema.properties !== properties
-      ) {
-        resolvedSchema = { ...resolvedSchema, properties };
-      }
-    });
-  }
 
   if (ALL_OF_KEY in schema) {
     try {
-      resolvedSchema = mergeAllOf({
-        ...resolvedSchema,
-        allOf: resolvedSchema.allOf,
-      }) as S;
+      resolvedSchema = mergeAllOf(resolvedSchema, {
+        deep: false,
+      } as Options) as S;
     } catch (e) {
       console.warn("could not merge subschemas in allOf:\n" + e);
       const { allOf, ...resolvedSchemaWithoutAllOf } = resolvedSchema;
diff --git a/packages/utils/src/schema/toPathSchema.ts b/packages/utils/src/schema/toPathSchema.ts
index 7dc7ea7fbd..84279fab8f 100644
--- a/packages/utils/src/schema/toPathSchema.ts
+++ b/packages/utils/src/schema/toPathSchema.ts
@@ -54,7 +54,7 @@ export default function toPathSchema<
 
   if (
     ADDITIONAL_PROPERTIES_KEY in schema &&
-    schema[ADDITIONAL_PROPERTIES_KEY] === true
+    schema[ADDITIONAL_PROPERTIES_KEY] !== false
   ) {
     set(pathSchema, RJSF_ADDITONAL_PROPERTIES_FLAG, true);
   }
diff --git a/packages/utils/test/schema/getDefaultFormStateTest.ts b/packages/utils/test/schema/getDefaultFormStateTest.ts
index aabd14fd84..beb887b34e 100644
--- a/packages/utils/test/schema/getDefaultFormStateTest.ts
+++ b/packages/utils/test/schema/getDefaultFormStateTest.ts
@@ -151,6 +151,24 @@ export default function getDefaultFormStateTest(
           requiredProperty: "foo",
         });
       });
+      it("test computeDefaults handles an invalid property schema", () => {
+        const schema: RJSFSchema = {
+          type: "object",
+          properties: {
+            invalidProperty: "not a valid property value",
+          },
+        } as RJSFSchema;
+        expect(
+          computeDefaults(
+            testValidator,
+            schema,
+            undefined,
+            schema,
+            undefined,
+            "excludeObjectChildren"
+          )
+        ).toEqual({});
+      });
     });
     describe("root default", () => {
       it("should map root schema default to form state, if any", () => {
diff --git a/packages/utils/test/schema/retrieveSchemaTest.ts b/packages/utils/test/schema/retrieveSchemaTest.ts
index eacdfd74b1..adbccfa2fc 100644
--- a/packages/utils/test/schema/retrieveSchemaTest.ts
+++ b/packages/utils/test/schema/retrieveSchemaTest.ts
@@ -1205,14 +1205,52 @@ export default function retrieveSchemaTest(testValidator: TestValidatorType) {
                   title: "Breed name",
                   type: "string",
                 },
-                Spots: {
-                  default: "small",
-                  enum: ["large", "small"],
-                  title: "Spots",
-                  type: "string",
-                },
               },
-              required: ["BreedName", "Spots"],
+              allOf: [
+                {
+                  if: {
+                    required: ["BreedName"],
+                    properties: {
+                      BreedName: {
+                        const: "Alsatian",
+                      },
+                    },
+                  },
+                  then: {
+                    properties: {
+                      Fur: {
+                        default: "brown",
+                        enum: ["black", "brown"],
+                        title: "Fur",
+                        type: "string",
+                      },
+                    },
+                    required: ["Fur"],
+                  },
+                },
+                {
+                  if: {
+                    required: ["BreedName"],
+                    properties: {
+                      BreedName: {
+                        const: "Dalmation",
+                      },
+                    },
+                  },
+                  then: {
+                    properties: {
+                      Spots: {
+                        default: "small",
+                        enum: ["large", "small"],
+                        title: "Spots",
+                        type: "string",
+                      },
+                    },
+                    required: ["Spots"],
+                  },
+                },
+              ],
+              required: ["BreedName"],
               title: "Breed",
             },
           },