diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 484fb9ca9..5a3b20782 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -79,22 +79,23 @@ Vector6 Pose3::Adjoint(const Vector6& xi_b, OptionalJacobian<6, 6> H_this,
   Rw = R_.rotate(w, H_this ? &Rw_H_R : nullptr, H_xib ? &Rw_H_w : nullptr);
   const Vector3 Rv =
       R_.rotate(v, H_this ? &Rv_H_R : nullptr, H_xib ? &Rv_H_v : nullptr);
-  // Since we use the Point3 version of cross, the jacobian of pRw wrpt t
-  // (pRw_H_t) needs special treatment as detailed below.
   const Vector3 pRw =
-      cross(t_, Rw, boost::none, (H_this || H_xib) ? &pRw_H_Rw : nullptr);
+      cross(t_, Rw, pRw_H_t, (H_this || H_xib) ? &pRw_H_Rw : nullptr);
   result.tail<3>() = pRw + Rv;
 
   // Jacobians
   if (H_this) {
-    // By applying the chain rule to the matrix-matrix product of [t]R, we can
-    // compute a simplified derivative which is the same as Rw_H_R. Details:
-    // https://github.com/borglab/gtsam/pull/885#discussion_r726591370
-    pRw_H_t = Rw_H_R;
-
     *H_this = (Matrix6() << Rw_H_R, /*               */ Z_3x3,  //
                /*        */ pRw_H_Rw * Rw_H_R + Rv_H_R, pRw_H_t)
                   .finished();
+    /* This is the "full" calculation:
+    Matrix36 R_H_this, t_H_this;
+    rotation(R_H_this);     // I_3x3, Z_3x3
+    translation(t_H_this);  // Z_3x3, R
+    (*H_this) *= (Matrix6() << R_H_this, t_H_this).finished();
+    */
+    // But we can simplify those calculations since it's mostly I and Z:
+    H_this->bottomRightCorner<3, 3>() *= R_.matrix();
   }
   if (H_xib) {
     *H_xib = (Matrix6() << Rw_H_w, /*      */ Z_3x3,  //
@@ -130,9 +131,11 @@ Vector6 Pose3::AdjointTranspose(const Vector6& x, OptionalJacobian<6, 6> H_this,
 
   // Jacobians
   if (H_this) {
-    *H_this = (Matrix6() << Rw_H_R - Rtv_H_R, Rv_H_R,  // -Rtv_H_tv * tv_H_t
+    *H_this = (Matrix6() << Rw_H_R - Rtv_H_R, -Rtv_H_tv * tv_H_t,
                /*        */ Rv_H_R, /*     */ Z_3x3)
                   .finished();
+    // See Adjoint(xi) jacobian calculation for why we multiply by R
+    H_this->topRightCorner<3, 3>() *= R_.matrix();
   }
   if (H_x) {
     *H_x = (Matrix6() << Rw_H_w, -Rtv_H_tv * tv_H_v,  //