diff --git a/gtsam/base/types.cpp b/gtsam/base/types.cpp
index 817d697b2..edc449b12 100644
--- a/gtsam/base/types.cpp
+++ b/gtsam/base/types.cpp
@@ -44,7 +44,7 @@ std::string demangle(const char* name) {
   int status = -1; // some arbitrary value to eliminate the compiler warning
   demangled = abi::__cxa_demangle(name, nullptr, nullptr, &status),
   
-  demangled_name = (status == 0) ? std::string(demangled) : name;
+  demangled_name = (status == 0) ? std::string(demangled) : std::string(name);
 
   std::free(demangled);
 
diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp
index c5a7c8c32..98790ccd9 100644
--- a/gtsam/nonlinear/Values.cpp
+++ b/gtsam/nonlinear/Values.cpp
@@ -232,10 +232,21 @@ namespace gtsam {
 
   /* ************************************************************************* */
   const char* ValuesIncorrectType::what() const throw() {
-    if(message_.empty())
-      message_ =
-          "Attempting to retrieve value with key \"" + DefaultKeyFormatter(key_) + "\", type stored in Values is " +
-          std::string(demangle(storedTypeId_.name())) + " but requested type was " + std::string(demangle(requestedTypeId_.name()));
+    if(message_.empty()) {
+      std::string storedTypeName = demangle(storedTypeId_.name());
+      std::string requestedTypeName = demangle(requestedTypeId_.name());
+
+      if (storedTypeName == requestedTypeName) {
+        message_ = "WARNING: Detected types with same name but different `typeid`. \
+          This is usually caused by incorrect linking/inlining settings when compiling libraries using GTSAM. \
+          If you are a user, please report to the author of the library using GTSAM. \
+          If you are a package maintainer, please consult `cmake/GtsamPybindWrap.cmake`, line 74 for details.";
+      } else {
+        message_ =
+        "Attempting to retrieve value with key \"" + DefaultKeyFormatter(key_) + "\", type stored in Values is " +
+         storedTypeName + " but requested type was " + requestedTypeName;
+      }
+    }
     return message_.c_str();
   }