diff --git a/src/Api/Serializer/RestSerializer.php b/src/Api/Serializer/RestSerializer.php
index 7ec7dc71de..e0dfaebd59 100644
--- a/src/Api/Serializer/RestSerializer.php
+++ b/src/Api/Serializer/RestSerializer.php
@@ -243,10 +243,11 @@ function (array $matches) use ($varDefinitions) {
             }
         }
 
-        if (!$isModifiedModel
+        if ((!empty($relative) && $relative !== '/')
+            && !$isModifiedModel
             && $serviceName !== 's3'
         ) {
-            $relative = $this->prependPath($relative, $path);
+            $this->normalizePath($path);
         }
 
         // If endpoint has path, remove leading '/' to preserve URI resolution.
@@ -310,31 +311,17 @@ private function getVarDefinitions($command, $args)
     }
 
     /**
-     * If non-empty path with at least one segment present, compare
-     * with relative and prepend if starting segments are not duplicated
+     * Appends trailing slash to non-empty paths with at least one segment
+     * to ensure proper URI resolution
      *
-     * @param string $relative
      * @param string $path
      *
-     * @return string
+     * @return void
      */
-    private function prependPath(string $relative, string $path): string
+    private function normalizePath(string $path): void
     {
-        if (empty($relative) || $relative === '/'
-            || empty($path) || $path === '/'
-        ) {
-            return $relative;
+        if (!empty($path) && $path !== '/' && substr($path, -1) !== '/') {
+            $this->endpoint = $this->endpoint->withPath($path . '/');
         }
-
-        $normalizedPath = rtrim($path, '/');
-        $normalizedRelative = ltrim($relative, '/');
-
-        // Check if $relative starts with $path
-        if (strpos($normalizedRelative, ltrim($normalizedPath, '/')) === 0) {
-            // $relative already starts with $path, return $relative
-            return $relative;
-        }
-
-        return $normalizedPath . '/' . $normalizedRelative;
     }
 }
diff --git a/tests/Api/Serializer/RestJsonSerializerTest.php b/tests/Api/Serializer/RestJsonSerializerTest.php
index 0660fde503..d0a20fe6b5 100644
--- a/tests/Api/Serializer/RestJsonSerializerTest.php
+++ b/tests/Api/Serializer/RestJsonSerializerTest.php
@@ -220,26 +220,6 @@ public function testPreparesRequestsWithEndpointWithRequestUriAndPath(): void
         );
     }
 
-    /**
-     * Simulates a custom endpoint provided with a starting path segment matching the
-     * modeled `RequestUri` starting path segment
-     */
-    public function testPreparesRequestsWithEndpointWithDuplicateRequestUriAndPath(): void
-    {
-        $request = $this->getPathEndpointRequest(
-            'requestUriOperation',
-            ['PathSegment' => 'bar', 'baz' => 'bar'],
-            ['path' => 'foo']
-        );
-        $this->assertSame('POST', $request->getMethod());
-        $this->assertSame('http://foo.com/foo/bar', (string) $request->getUri());
-        $this->assertSame('{"baz":"bar"}', (string) $request->getBody());
-        $this->assertSame(
-            'application/json',
-            $request->getHeaderLine('Content-Type')
-        );
-    }
-
     public function testPreparesRequestsWithBlobButNoForcedContentType()
     {
         $request = $this->getRequest('bar', ['baz' => 'bar']);