diff --git a/example/__typechecks__/common.check.tsx b/example/__typechecks__/common.check.tsx
index 5ec8d9a1a3..7fe69fd395 100644
--- a/example/__typechecks__/common.check.tsx
+++ b/example/__typechecks__/common.check.tsx
@@ -8,11 +8,12 @@ import type {
   DrawerNavigationOptions,
   DrawerScreenProps,
 } from '@react-navigation/drawer';
-import type {
-  CompositeScreenProps,
-  NavigationAction,
-  NavigationHelpers,
-  NavigatorScreenParams,
+import {
+  type CompositeScreenProps,
+  type LinkingOptions,
+  type NavigationAction,
+  type NavigationHelpers,
+  type NavigatorScreenParams,
 } from '@react-navigation/native';
 import {
   createStackNavigator,
@@ -498,3 +499,34 @@ const FourthStack = createStackNavigator<FourthParamList, 'MyID'>();
 expectTypeOf(FourthStack.Navigator).parameter(0).toMatchTypeOf<{
   id: 'MyID';
 }>();
+
+/**
+ * Infer correct LinkingOptions
+ */
+export const linkingOptions: LinkingOptions<RootStackParamList> = {
+  prefixes: ['reactnavigation://'],
+  config: {
+    screens: {
+      Home: {
+        screens: {
+          Feed: {
+            screens: {
+              Popular: 'popular',
+              Latest: 'latest',
+              // @ts-expect-error "NonExistingRoute" does not exist in the FeedTabParamList
+              NonExistingRoute: 'non-existing',
+            },
+          },
+          Account: 'account',
+        },
+      },
+      PostDetails: 'post/:id',
+      Login: {
+        path: 'login',
+        // @ts-expect-error The Login route is not a nested navigator and should not have a screens object
+        screens: {},
+      },
+      NotFound: '*',
+    },
+  },
+};
diff --git a/example/src/Screens/NotFound.tsx b/example/src/Screens/NotFound.tsx
index 2dca303fb9..8293f23cb4 100644
--- a/example/src/Screens/NotFound.tsx
+++ b/example/src/Screens/NotFound.tsx
@@ -14,7 +14,7 @@ export const NotFound = ({
       <Text style={styles.title}>404 Not Found ({route.path})</Text>
       <Button
         variant="filled"
-        onPress={() => navigation.navigate('Home')}
+        onPress={() => navigation.navigate('Home', { screen: 'Examples' })}
         style={styles.button}
       >
         Go to home
diff --git a/example/src/screens.tsx b/example/src/screens.tsx
index 542ac9aefb..bfa2f89c65 100644
--- a/example/src/screens.tsx
+++ b/example/src/screens.tsx
@@ -76,7 +76,7 @@ export type RootDrawerParamList = {
 };
 
 export type RootStackParamList = ExampleScreensParamList & {
-  Home: NavigatorScreenParams<RootDrawerParamList> | undefined;
+  Home: NavigatorScreenParams<RootDrawerParamList>;
   NotFound: undefined;
 };
 
diff --git a/packages/core/src/types.tsx b/packages/core/src/types.tsx
index 9eacac89e5..4386c3e0a9 100644
--- a/packages/core/src/types.tsx
+++ b/packages/core/src/types.tsx
@@ -1005,9 +1005,9 @@ export type PathConfig<ParamList extends {}> = {
 };
 
 export type PathConfigMap<ParamList extends {}> = {
-  [RouteName in keyof ParamList]?: NonNullable<
-    ParamList[RouteName]
-  > extends NavigatorScreenParams<infer T extends {}>
+  [RouteName in keyof ParamList]?: ParamList[RouteName] extends NavigatorScreenParams<
+    infer T
+  >
     ? string | PathConfig<T>
     : string | Omit<PathConfig<{}>, 'screens' | 'initialRouteName'>;
 };