diff --git a/include/zenoh-pico/system/common/platform.h b/include/zenoh-pico/system/common/platform.h
index 9a8fa6e7f..4b3937abd 100644
--- a/include/zenoh-pico/system/common/platform.h
+++ b/include/zenoh-pico/system/common/platform.h
@@ -274,7 +274,7 @@ z_result_t _z_condvar_drop(_z_condvar_t *cv);
 z_result_t _z_condvar_signal(_z_condvar_t *cv);
 z_result_t _z_condvar_signal_all(_z_condvar_t *cv);
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m);
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout);
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime);
 
 /**
  * Initializes a condition variable.
@@ -329,19 +329,16 @@ z_result_t z_condvar_wait(z_loaned_condvar_t *cv, z_loaned_mutex_t *m);
  *
  * The calling thread is blocked until the condition variable is signaled or the timeout occurs.
  * The associated mutex must be locked by the calling thread, and it will be automatically unlocked while waiting.
- * The `timeout` bool pointer should either be NULL or point to a valid memory, in which case the function will store a
- * value indicating whether a timeout occurred. If NULL is passed in for `timeout`, it will not be set.
  *
  * Parameters:
  *   cv: Pointer to a :c:type:`z_loaned_condvar_t` on which to wait.
  *   m: Pointer to a :c:type:`z_loaned_mutex_t` that will be unlocked during the wait.
  *   abstime: Absolute end time.
- *   timeout: Whether a timeout occurred.
  *
  * Returns:
- *   ``0`` if the wait is successful, a negative value otherwise.
+ *   ``0`` if the wait is successful, ``Z_ETIMEDOUT`` if a timeout occurred, other negative value otherwise.
  */
-z_result_t z_condvar_wait_until(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime, bool *timeout);
+z_result_t z_condvar_wait_until(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime);
 
 /*------------------ Sleep ------------------*/
 /**
diff --git a/include/zenoh-pico/utils/result.h b/include/zenoh-pico/utils/result.h
index 6b1061d21..7ac80ee1f 100644
--- a/include/zenoh-pico/utils/result.h
+++ b/include/zenoh-pico/utils/result.h
@@ -86,6 +86,7 @@ typedef enum {
     _Z_ERR_OVERFLOW = -74,
     _Z_ERR_SESSION_CLOSED = -73,
     Z_EDESERIALIZE = -72,
+    Z_ETIMEDOUT = -71,
 
     _Z_ERR_GENERIC = -128
 } _z_res_t;
diff --git a/src/system/arduino/esp32/system.c b/src/system/arduino/esp32/system.c
index af58f3383..e0d4a630d 100644
--- a/src/system/arduino/esp32/system.c
+++ b/src/system/arduino/esp32/system.c
@@ -128,19 +128,13 @@ z_result_t _z_condvar_signal(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_s
 
 z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_cond_broadcast(cv)); }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     int error = pthread_cond_timedwait(cv, m, abstime);
 
     if (error == ETIMEDOUT) {
-        if (timeout != NULL) {
-            *timeout = true;
-        }
-        return 0;
+        return Z_ETIMEDOUT;
     }
 
-    if (timeout != NULL) {
-        *timeout = false;
-    }
     _Z_CHECK_SYS_ERR(error);
 }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
diff --git a/src/system/arduino/opencr/system.c b/src/system/arduino/opencr/system.c
index 759a9e7ae..ab49a1e5c 100644
--- a/src/system/arduino/opencr/system.c
+++ b/src/system/arduino/opencr/system.c
@@ -97,9 +97,7 @@ z_result_t _z_condvar_signal(_z_condvar_t *cv) { return -1; }
 z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { return -1; }
 
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { return -1; }
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
-    return -1;
-}
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) { return -1; }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
 /*------------------ Sleep ------------------*/
diff --git a/src/system/common/platform.c b/src/system/common/platform.c
index f4b2ad9e0..9d042a4f9 100644
--- a/src/system/common/platform.c
+++ b/src/system/common/platform.c
@@ -61,8 +61,8 @@ z_result_t z_condvar_drop(z_moved_condvar_t *cv) { return _z_condvar_drop(&cv->_
 
 z_result_t z_condvar_signal(z_loaned_condvar_t *cv) { return _z_condvar_signal(cv); }
 z_result_t z_condvar_wait(z_loaned_condvar_t *cv, z_loaned_mutex_t *m) { return _z_condvar_wait(cv, m); }
-z_result_t z_condvar_wait_until(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
-    return _z_condvar_wait_until(cv, m, abstime, timeout);
+z_result_t z_condvar_wait_until(z_loaned_condvar_t *cv, z_loaned_mutex_t *m, const z_clock_t *abstime) {
+    return _z_condvar_wait_until(cv, m, abstime);
 }
 
 #endif  // Z_FEATURE_MULTI_THREAD == 1
diff --git a/src/system/emscripten/system.c b/src/system/emscripten/system.c
index aa1399f82..b224c0f6b 100644
--- a/src/system/emscripten/system.c
+++ b/src/system/emscripten/system.c
@@ -85,7 +85,7 @@ z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_co
 
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_cond_wait(cv, m)); }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     struct timespec ts;
     ts.tv_sec = (time_t)(*abstime / 1000);
     ts.tv_nsec = (long)((*abstime - (ts.tv_sec * 1000)) * 1000000);
@@ -93,15 +93,9 @@ z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_
     int error = pthread_cond_timedwait(cv, m, &ts);
 
     if (error == ETIMEDOUT) {
-        if (timeout != NULL) {
-            *timeout = true;
-        }
-        return 0;
+        return Z_ETIMEDOUT;
     }
 
-    if (timeout != NULL) {
-        *timeout = false;
-    }
     _Z_CHECK_SYS_ERR(error);
 }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
diff --git a/src/system/espidf/system.c b/src/system/espidf/system.c
index 2c95afd63..648679a59 100644
--- a/src/system/espidf/system.c
+++ b/src/system/espidf/system.c
@@ -158,19 +158,13 @@ z_result_t _z_condvar_signal_all(_z_condvar_t *cv) { _Z_CHECK_SYS_ERR(pthread_co
 
 z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) { _Z_CHECK_SYS_ERR(pthread_cond_wait(cv, m)); }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     int error = pthread_cond_timedwait(cv, m, abstime);
 
     if (error == ETIMEDOUT) {
-        if (timeout != NULL) {
-            *timeout = true;
-        }
-        return 0;
+        return Z_ETIMEDOUT;
     }
 
-    if (timeout != NULL) {
-        *timeout = false;
-    }
     _Z_CHECK_SYS_ERR(error);
 }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
diff --git a/src/system/flipper/system.c b/src/system/flipper/system.c
index 0498c334f..92c1091ca 100644
--- a/src/system/flipper/system.c
+++ b/src/system/flipper/system.c
@@ -153,9 +153,7 @@ z_result_t _z_condvar_signal_all(_z_condvar_t* cv) { return -1; }
 
 z_result_t _z_condvar_wait(_z_condvar_t* cv, _z_mutex_t* m) { return -1; }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t* cv, _z_mutex_t* m, const z_clock_t* abstime, bool* timeout) {
-    return -1;
-}
+z_result_t _z_condvar_wait_until(_z_condvar_t* cv, _z_mutex_t* m, const z_clock_t* abstime) { return -1; }
 
 /*------------------ Sleep ------------------*/
 z_result_t z_sleep_us(size_t time) {
diff --git a/src/system/freertos_plus_tcp/system.c b/src/system/freertos_plus_tcp/system.c
index e57873378..c1740843d 100644
--- a/src/system/freertos_plus_tcp/system.c
+++ b/src/system/freertos_plus_tcp/system.c
@@ -265,7 +265,7 @@ z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
     return _Z_RES_OK;
 }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     if (!cv || !m) {
         return _Z_ERR_GENERIC;
     }
@@ -288,10 +288,7 @@ z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_
         xSemaphoreTake(cv->mutex, portMAX_DELAY);
         cv->waiters--;
         xSemaphoreGive(cv->mutex);
-    }
-
-    if (timeout != NULL) {
-        *timeout = timed_out;
+        return Z_ETIMEDOUT;
     }
 
     return _Z_RES_OK;
diff --git a/src/system/mbed/system.cpp b/src/system/mbed/system.cpp
index 425fb1e4d..5ab66242c 100644
--- a/src/system/mbed/system.cpp
+++ b/src/system/mbed/system.cpp
@@ -172,7 +172,7 @@ z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
     return _Z_RES_OK;
 }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     if (!cv || !m) {
         return _Z_ERR_GENERIC;
     }
@@ -196,10 +196,7 @@ z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_
         cond_var.mutex.lock();
         cond_var.waiters--;
         cond_var.mutex.unlock();
-    }
-
-    if (timeout != NULL) {
-        *timeout = timed_out;
+        return Z_ETIMEDOUT;
     }
 
     return _Z_RES_OK;
diff --git a/src/system/rpi_pico/system.c b/src/system/rpi_pico/system.c
index 3f825fefe..26f3b011a 100644
--- a/src/system/rpi_pico/system.c
+++ b/src/system/rpi_pico/system.c
@@ -207,7 +207,7 @@ z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
     return _z_mutex_lock(m);
 }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     if (!cv || !m) {
         return _Z_ERR_GENERIC;
     }
@@ -230,10 +230,7 @@ z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_
         xSemaphoreTake(cv->mutex, portMAX_DELAY);
         cv->waiters--;
         xSemaphoreGive(cv->mutex);
-    }
-
-    if (timeout != NULL) {
-        *timeout = timed_out;
+        return Z_ETIMEDOUT;
     }
 
     return _Z_RES_OK;
diff --git a/src/system/unix/system.c b/src/system/unix/system.c
index e8ebe6526..c85b5bf94 100644
--- a/src/system/unix/system.c
+++ b/src/system/unix/system.c
@@ -149,15 +149,9 @@ z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_
     int error = pthread_cond_timedwait(cv, m, abstime);
 
     if (error == ETIMEDOUT) {
-        if (timeout != NULL) {
-            *timeout = true;
-        }
-        return 0;
+        return Z_ETIMEDOUT;
     }
 
-    if (timeout != NULL) {
-        *timeout = false;
-    }
     _Z_CHECK_SYS_ERR(error);
 }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
diff --git a/src/system/windows/system.c b/src/system/windows/system.c
index f7a2b8761..78086a6c0 100644
--- a/src/system/windows/system.c
+++ b/src/system/windows/system.c
@@ -159,7 +159,7 @@ z_result_t _z_condvar_wait(_z_condvar_t *cv, _z_mutex_t *m) {
     return ret;
 }
 
-z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime, bool *timeout) {
+z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_t *abstime) {
     z_clock_t now = z_clock_now();
     LARGE_INTEGER frequency;
     QueryPerformanceFrequency(&frequency);  // ticks per second
@@ -172,22 +172,15 @@ z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_
     double remaining = (double)(abstime->QuadPart - now.QuadPart) / frequency.QuadPart * 1000.0;
     DWORD block_duration = remaining > 0.0 ? (DWORD)remaining : 0;
 
-    z_result_t ret = _Z_RES_OK;
     if (SleepConditionVariableSRW(cv, m, block_duration, 0) == 0) {
         if (GetLastError() == ERROR_TIMEOUT) {
-            if (timeout != NULL) {
-                *timeout = true;
-            }
-            return _Z_RES_OK;
+            return Z_ETIMEDOUT;
         } else {
-            ret = _Z_ERR_GENERIC;
+            return _Z_ERR_GENERIC;
         }
     }
 
-    if (timeout != NULL) {
-        *timeout = false;
-    }
-    return ret;
+    return _Z_RES_OK;
 }
 #endif  // Z_FEATURE_MULTI_THREAD == 1
 
diff --git a/src/system/zephyr/system.c b/src/system/zephyr/system.c
index f808d908a..bcbb5b912 100644
--- a/src/system/zephyr/system.c
+++ b/src/system/zephyr/system.c
@@ -128,15 +128,9 @@ z_result_t _z_condvar_wait_until(_z_condvar_t *cv, _z_mutex_t *m, const z_clock_
     int error = pthread_cond_timedwait(cv, m, abstime);
 
     if (error == ETIMEDOUT) {
-        if (timeout != NULL) {
-            *timeout = true;
-        }
-        return 0;
+        return Z_ETIMEDOUT;
     }
 
-    if (timeout != NULL) {
-        *timeout = false;
-    }
     _Z_CHECK_SYS_ERR(error);
 }
 #endif  // Z_FEATURE_MULTI_THREAD == 1