diff --git a/test/unittest/xtypes/XTypesTests.cpp b/test/unittest/xtypes/XTypesTests.cpp
index ddbaeb8b938..cc811741b04 100644
--- a/test/unittest/xtypes/XTypesTests.cpp
+++ b/test/unittest/xtypes/XTypesTests.cpp
@@ -13,9 +13,8 @@
 // limitations under the License.
 
 #include <array>
+#include <atomic>
 #include <chrono>
-#include <condition_variable>
-#include <mutex>
 #include <set>
 #include <thread>
 
@@ -847,21 +846,24 @@ TEST_F(XTypesTests, MemberDescriptorFullyQualifiedName)
  */
 TEST(XTypesTestsThreadSafety, TypeObjectFactoryGetInstanceIsThreadSafe)
 {
-    constexpr size_t num_threads = 10;
+    const size_t num_threads = 10;
     std::array<TypeObjectFactory*, num_threads> factories;
     std::array<std::thread, num_threads> threads;
-    std::array<std::mutex, num_threads> mutexes;
-    std::condition_variable cv;
+    std::atomic<size_t> n_threads_started{0};
 
     // Create threads that get an instance of the factory
     for (size_t i = 0; i < num_threads; ++i)
     {
         threads[i] = std::thread(
-            [&cv, &mutexes, &factories, i]()
+            [num_threads, &n_threads_started, &factories, i]()
             {
-                // Wait for main thread to notify that all threads are ready
-                std::unique_lock<std::mutex> lock(mutexes[i]);
-                cv.wait(lock);
+                // Indicate this thread started
+                ++n_threads_started;
+                // Wait for all threads to be ready
+                while (num_threads > n_threads_started)
+                {
+                    std::this_thread::sleep_for(std::chrono::milliseconds(1));
+                }
 
                 // Get the instance from all threads at the same time
                 auto factory = TypeObjectFactory::get_instance();
@@ -870,10 +872,6 @@ TEST(XTypesTestsThreadSafety, TypeObjectFactoryGetInstanceIsThreadSafe)
             });
     }
 
-    // Give time for all threads to start and notify that they are ready
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    cv.notify_all();
-
     // Wait for all threads to finish
     for (size_t i = 0; i < num_threads; ++i)
     {