diff --git a/main/tasks/sub_pub_unsub/sub_pub_unsub.c b/main/tasks/sub_pub_unsub/sub_pub_unsub.c
index 4cd8815..64e3b6c 100644
--- a/main/tasks/sub_pub_unsub/sub_pub_unsub.c
+++ b/main/tasks/sub_pub_unsub/sub_pub_unsub.c
@@ -540,8 +540,24 @@ static void prvPublishToTopic(MQTTQoS_t xQoS,
             (ulNotifiedValue != ulPublishMessageId))
         {
             ESP_LOGW(TAG,
-                     "Error or timed out waiting for ack for publish message %" PRIu32 ". Re-attempting publish.",
+                     "Error or timed out waiting for ack for publish message %" PRIu32 ".",
                      ulPublishMessageId);
+
+            /* Generate a new publish ID so that we can differentiate late
+             * acknowledgements. */
+            xSemaphoreTake(xMessageIdSemaphore, portMAX_DELAY);
+            {
+                ++ulMessageId;
+                ulPublishMessageId = ulMessageId;
+            }
+            xSemaphoreGive(xMessageIdSemaphore);
+
+            ESP_LOGW(TAG,
+                     "Re-attempting publish with new ID %" PRIu32 ".",
+                     ulPublishMessageId);
+
+            /* Update publish ID in the command context. */
+            xCommandContext.ulNotificationValue = ulPublishMessageId;
         }
         else
         {