diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index e9b628985..0f039d20f 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -209,8 +209,8 @@ Pose3 Pose3::Expmap(const Vector6& xi, OptionalJacobian<6, 6> Hxi) {
   if (Hxi) {
     // The Jacobian of expmap is given by the right Jacobian of SO(3):
     const Matrix3 Jr = local.rightJacobian();
-    // We multiply H, the derivative of applyLeftJacobian in omega, with R^T
-    // to translate from left to right for our right expmap convention:
+    // We are creating a Pose3, so we still need to chain H with R^T, the
+    // Jacobian of Pose3::Create with respect to t.
     const Matrix3 Q = R.matrix().transpose() * H;
     *Hxi << Jr, Z_3x3,  //
         Q, Jr;
@@ -288,8 +288,9 @@ Matrix3 Pose3::ComputeQforExpmapDerivative(const Vector6& xi,
   Matrix3 H;
   local.applyLeftJacobian(v, H);
 
-  // Multiply with R^T, translates from left to right for our expmap convention:
-  return local.expmap().transpose() * H;
+  // Multiply with R^T to account for the Pose3::Create Jacobian.
+  const Matrix3 R = local.expmap();
+  return R.transpose() * H;
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp
index a0514c679..8bdddb198 100644
--- a/gtsam/navigation/NavState.cpp
+++ b/gtsam/navigation/NavState.cpp
@@ -134,8 +134,9 @@ NavState NavState::Expmap(const Vector9& xi, OptionalJacobian<9, 9> Hxi) {
   const Vector3 v = local.applyLeftJacobian(nu, Hxi ? &H_v_w : nullptr);
 
   if (Hxi) {
-    // See Pose3::Expamp for explanation of the Jacobians
     const Matrix3 Jr = local.rightJacobian();
+    // We are creating a NavState, so we still need to chain H_t_w and H_v_w
+    // with R^T, the Jacobian of Navstate::Create with respect to both t and v.
     const Matrix3 M = R.matrix();
     *Hxi << Jr, Z_3x3, Z_3x3,  //
         M.transpose() * H_t_w, Jr, Z_3x3,  //
@@ -250,11 +251,12 @@ Matrix9 NavState::LogmapDerivative(const NavState& state) {
   local.applyLeftJacobian(rho, H_t_w);
   local.applyLeftJacobian(nu, H_v_w);
 
-  // Multiply with R^T, translates from left to right for our expmap convention:
+  // Multiply with R^T to account for NavState::Create Jacobian.
   const Matrix3 R = local.expmap();
   const Matrix3 Qt = R.transpose() * H_t_w;
   const Matrix3 Qv = R.transpose() * H_v_w;
 
+  // Now compute the blocks of the LogmapDerivative Jacobian
   const Matrix3 Jw = Rot3::LogmapDerivative(w);
   const Matrix3 Qt2 = -Jw * Qt * Jw;
   const Matrix3 Qv2 = -Jw * Qv * Jw;