diff --git a/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp b/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp
index 3d875dbb50f..6d44b552b8d 100644
--- a/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp
+++ b/wpilibc/src/test/native/cpp/event/BooleanEventTest.cpp
@@ -31,6 +31,78 @@ TEST(BooleanEventTest, BinaryCompositions) {
   EXPECT_EQ(1, orCounter);
 }
 
+TEST(BooleanEventTest, BinaryCompositionLoopSemantics) {
+  EventLoop loop1;
+  EventLoop loop2;
+  bool boolean1 = true;
+  bool boolean2 = true;
+  int counter1 = 0;
+  int counter2 = 0;
+
+  (BooleanEvent(&loop1, [&] { return boolean1; }) && BooleanEvent(&loop2, [&] {
+     return boolean2;
+   })).IfHigh([&] { ++counter1; });
+  (BooleanEvent(&loop2, [&] { return boolean1; }) && BooleanEvent(&loop1, [&] {
+     return boolean2;
+   })).IfHigh([&] { ++counter2; });
+
+  EXPECT_EQ(0, counter1);
+  EXPECT_EQ(0, counter2);
+
+  loop1.Poll();
+
+  EXPECT_EQ(1, counter1);
+  EXPECT_EQ(0, counter2);
+
+  loop2.Poll();
+
+  EXPECT_EQ(1, counter1);
+  EXPECT_EQ(1, counter2);
+
+  boolean2 = false;
+  loop1.Poll();
+
+  EXPECT_EQ(2, counter1);
+  EXPECT_EQ(1, counter2);
+
+  loop2.Poll();
+
+  EXPECT_EQ(2, counter1);
+  EXPECT_EQ(1, counter2);
+
+  loop1.Poll();
+
+  EXPECT_EQ(2, counter1);
+  EXPECT_EQ(1, counter2);
+
+  boolean2 = true;
+  loop2.Poll();
+
+  EXPECT_EQ(2, counter1);
+  EXPECT_EQ(1, counter2);
+
+  loop1.Poll();
+
+  EXPECT_EQ(3, counter1);
+  EXPECT_EQ(1, counter2);
+
+  boolean1 = false;
+  loop2.Poll();
+
+  EXPECT_EQ(3, counter1);
+  EXPECT_EQ(1, counter2);
+
+  loop1.Poll();
+
+  EXPECT_EQ(3, counter1);
+  EXPECT_EQ(1, counter2);
+
+  loop2.Poll();
+
+  EXPECT_EQ(3, counter1);
+  EXPECT_EQ(1, counter2);
+}
+
 /**
  * When a BooleanEvent is constructed, an action is bound to the event loop to
  * update an internal state variable. This state variable is checked during loop
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/event/BooleanEventTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/event/BooleanEventTest.java
index 90f94051578..e8388c329ce 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/event/BooleanEventTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/event/BooleanEventTest.java
@@ -30,6 +30,80 @@ void testBinaryCompositions() {
     assertEquals(1, orCounter.get());
   }
 
+  @Test
+  void testBinaryCompositionLoopSemantics() {
+    var loop1 = new EventLoop();
+    var loop2 = new EventLoop();
+    var bool1 = new AtomicBoolean(true);
+    var bool2 = new AtomicBoolean(true);
+    var counter1 = new AtomicInteger(0);
+    var counter2 = new AtomicInteger(0);
+
+    new BooleanEvent(loop1, bool1::get)
+        .and(new BooleanEvent(loop2, bool2::get))
+        .ifHigh(counter1::incrementAndGet);
+
+    new BooleanEvent(loop2, bool1::get)
+        .and(new BooleanEvent(loop1, bool2::get))
+        .ifHigh(counter2::incrementAndGet);
+
+    assertEquals(0, counter1.get());
+    assertEquals(0, counter2.get());
+
+    loop1.poll();
+
+    assertEquals(1, counter1.get());
+    assertEquals(0, counter2.get());
+
+    loop2.poll();
+
+    assertEquals(1, counter1.get());
+    assertEquals(1, counter2.get());
+
+    bool2.set(false);
+    loop1.poll();
+
+    assertEquals(2, counter1.get());
+    assertEquals(1, counter2.get());
+
+    loop2.poll();
+
+    assertEquals(2, counter1.get());
+    assertEquals(1, counter2.get());
+
+    loop1.poll();
+
+    assertEquals(2, counter1.get());
+    assertEquals(1, counter2.get());
+
+    bool2.set(true);
+    loop2.poll();
+
+    assertEquals(2, counter1.get());
+    assertEquals(1, counter2.get());
+    
+    loop1.poll();
+
+    assertEquals(3, counter1.get());
+    assertEquals(1, counter2.get());
+    
+    bool1.set(false);
+    loop2.poll();
+    
+    assertEquals(3, counter1.get());
+    assertEquals(1, counter2.get());
+    
+    loop1.poll();
+    
+    assertEquals(3, counter1.get());
+    assertEquals(1, counter2.get());
+    
+    loop2.poll();
+    
+    assertEquals(3, counter1.get());
+    assertEquals(1, counter2.get());
+  }
+
   /**
    * When a BooleanEvent is constructed, an action is bound to the event loop to update an internal
    * state variable. This state variable is checked during loop polls to determine whether or not to