diff --git a/Barotrauma/BarotraumaClient/Source/Characters/Animation/Ragdoll.cs b/Barotrauma/BarotraumaClient/Source/Characters/Animation/Ragdoll.cs
index 667d29d62..7951bcf8e 100644
--- a/Barotrauma/BarotraumaClient/Source/Characters/Animation/Ragdoll.cs
+++ b/Barotrauma/BarotraumaClient/Source/Characters/Animation/Ragdoll.cs
@@ -98,7 +98,7 @@ namespace Barotrauma
                         if (distSqrd > 10.0f || !character.AllowInput)
                         {
                             Collider.TargetRotation = newRotation;
-                            SetPosition(newPosition, lerp: distSqrd < 5.0f);
+                            SetPosition(newPosition, lerp: distSqrd < 5.0f, ignorePlatforms: false);
                         }
                         else
                         {
@@ -149,6 +149,62 @@ namespace Barotrauma
                             character.MemLocalState[i].TransformOutToInside(currentHull.Submarine);
                         }
                     }
+
+                    if (localPos.Animation != serverPos.Animation)
+                    {
+                        if (serverPos.Animation == AnimController.Animation.CPR)
+                        {
+                            character.AnimController.Anim = AnimController.Animation.CPR;
+                        }
+                        else if (character.AnimController.Anim == AnimController.Animation.CPR) 
+                        {
+                            character.AnimController.Anim = AnimController.Animation.None;
+                        }
+                    }
+
+                    Hull serverHull = Hull.FindHull(ConvertUnits.ToDisplayUnits(serverPos.Position), character.CurrentHull, serverPos.Position.Y < lowestSubPos);
+                    Hull clientHull = Hull.FindHull(ConvertUnits.ToDisplayUnits(localPos.Position), serverHull, localPos.Position.Y < lowestSubPos);
+                    
+                    if (serverHull != null && clientHull != null && serverHull.Submarine != clientHull.Submarine)
+                    {
+                        //hull subs don't match => teleport the camera to the other sub
+                        character.Submarine = serverHull.Submarine;
+                        character.CurrentHull = currentHull = serverHull;
+                        SetPosition(serverPos.Position);
+                        character.MemLocalState.Clear();
+                    }
+                    else
+                    {
+                        Vector2 positionError = serverPos.Position - localPos.Position;
+                        float rotationError = serverPos.Rotation.HasValue && localPos.Rotation.HasValue ?
+                            serverPos.Rotation.Value - localPos.Rotation.Value :
+                            0.0f;
+
+                        for (int i = localPosIndex; i < character.MemLocalState.Count; i++)
+                        {
+                            Hull pointHull = Hull.FindHull(ConvertUnits.ToDisplayUnits(character.MemLocalState[i].Position), clientHull, character.MemLocalState[i].Position.Y < lowestSubPos);
+                            if (pointHull != clientHull && ((pointHull == null) || (clientHull == null) || (pointHull.Submarine == clientHull.Submarine))) break;
+                            character.MemLocalState[i].Translate(positionError, rotationError);
+                        }
+
+                        float errorMagnitude = positionError.Length();
+                        if (errorMagnitude > 0.01f)
+                        {
+                            Collider.TargetPosition = Collider.SimPosition + positionError;
+                            Collider.TargetRotation = Collider.Rotation + rotationError;
+                            Collider.MoveToTargetPosition(lerp: true);
+                            if (errorMagnitude > 0.5f)
+                            {
+                                character.MemLocalState.Clear();                 
+                                foreach (Limb limb in Limbs)
+                                {
+                                    limb.body.TargetPosition = limb.body.SimPosition + positionError;
+                                    limb.body.MoveToTargetPosition(lerp: true);
+                                }
+                            }
+                        }
+                    }
+
                 }
 
                 if (character.MemState.Count < 1) return;
@@ -238,20 +294,16 @@ namespace Barotrauma
                         }
 
                         float errorMagnitude = positionError.Length();
-                        if (errorMagnitude > 0.01f)
+                        if (errorMagnitude > 0.5f)
+                        {
+                            character.MemLocalState.Clear();
+                            SetPosition(serverPos.Position, lerp: true, ignorePlatforms: false);
+                        }
+                        else if (errorMagnitude > 0.01f)
                         {
                             Collider.TargetPosition = Collider.SimPosition + positionError;
                             Collider.TargetRotation = Collider.Rotation + rotationError;
                             Collider.MoveToTargetPosition(lerp: true);
-                            if (errorMagnitude > 0.5f)
-                            {
-                                character.MemLocalState.Clear();                 
-                                foreach (Limb limb in Limbs)
-                                {
-                                    limb.body.TargetPosition = limb.body.SimPosition + positionError;
-                                    limb.body.MoveToTargetPosition(lerp: true);
-                                }
-                            }
                         }
                     }
 
diff --git a/Barotrauma/BarotraumaShared/Source/Characters/AI/EnemyAIController.cs b/Barotrauma/BarotraumaShared/Source/Characters/AI/EnemyAIController.cs
index f54998194..279c7b90e 100644
--- a/Barotrauma/BarotraumaShared/Source/Characters/AI/EnemyAIController.cs
+++ b/Barotrauma/BarotraumaShared/Source/Characters/AI/EnemyAIController.cs
@@ -1060,6 +1060,8 @@ namespace Barotrauma
 
         private bool IsProperlyLatchedOnSub => LatchOntoAI != null && LatchOntoAI.IsAttachedToSub && SelectedAiTarget?.Entity == wallTarget?.Structure;
 
+        private bool IsProperlyLatchedOnSub => LatchOntoAI != null && LatchOntoAI.IsAttachedToSub && SelectedAiTarget?.Entity == wallTarget?.Structure;
+
         //goes through all the AItargets, evaluates how preferable it is to attack the target,
         //whether the Character can see/hear the target and chooses the most preferable target within
         //sight/hearing range
diff --git a/Barotrauma/BarotraumaShared/Source/Characters/Animation/HumanoidAnimController.cs b/Barotrauma/BarotraumaShared/Source/Characters/Animation/HumanoidAnimController.cs
index ef7dcecf5..3530df734 100644
--- a/Barotrauma/BarotraumaShared/Source/Characters/Animation/HumanoidAnimController.cs
+++ b/Barotrauma/BarotraumaShared/Source/Characters/Animation/HumanoidAnimController.cs
@@ -379,7 +379,6 @@ namespace Barotrauma
                 {
                     //rotate collider back upright
                     Collider.AngularVelocity = MathUtils.GetShortestAngle(Collider.Rotation, 0.0f) * 10.0f;
-
                     Collider.FarseerBody.FixedRotation = false;
                 }
                 else
@@ -387,6 +386,14 @@ namespace Barotrauma
                     Collider.FarseerBody.FixedRotation = true;
                 }
             }
+            else
+            {
+                float angleDiff = MathUtils.GetShortestAngle(Collider.Rotation, 0.0f);
+                if (Math.Abs(angleDiff) > 0.001f)
+                {
+                    Collider.SetTransform(Collider.SimPosition, Collider.Rotation + angleDiff);
+                }
+            }
 
             if (character.LockHands)
             {
diff --git a/Barotrauma/BarotraumaShared/Source/Characters/Animation/Ragdoll.cs b/Barotrauma/BarotraumaShared/Source/Characters/Animation/Ragdoll.cs
index 8eaca9be2..05ef1b83f 100644
--- a/Barotrauma/BarotraumaShared/Source/Characters/Animation/Ragdoll.cs
+++ b/Barotrauma/BarotraumaShared/Source/Characters/Animation/Ragdoll.cs
@@ -1450,7 +1450,7 @@ namespace Barotrauma
             }
         }
 
-        public void SetPosition(Vector2 simPosition, bool lerp = false)
+        public void SetPosition(Vector2 simPosition, bool lerp = false, bool ignorePlatforms = true)
         {
             if (!MathUtils.IsValid(simPosition))
             {
@@ -1481,18 +1481,18 @@ namespace Barotrauma
                 //check visibility from the new position of the collider to the new position of this limb
                 Vector2 movePos = limb.SimPosition + limbMoveAmount;
 
-                TrySetLimbPosition(limb, simPosition, movePos, lerp);
+                TrySetLimbPosition(limb, simPosition, movePos, lerp, ignorePlatforms);
             }
         }
 
-        protected void TrySetLimbPosition(Limb limb, Vector2 original, Vector2 simPosition, bool lerp = false)
+        protected void TrySetLimbPosition(Limb limb, Vector2 original, Vector2 simPosition, bool lerp = false, bool ignorePlatforms = true)
         {
             Vector2 movePos = simPosition;
 
             if (Vector2.DistanceSquared(original, simPosition) > 0.0001f)
             {
                 Category collisionCategory = Physics.CollisionWall | Physics.CollisionLevel;
-                //if (!ignorePlatforms) collisionCategory |= Physics.CollisionPlatform;
+                if (!ignorePlatforms) { collisionCategory |= Physics.CollisionPlatform; }
 
                 Body body = Submarine.PickBody(original, simPosition, null, collisionCategory);