diff --git a/RELEASENOTES.md b/RELEASENOTES.md
index 519541359b8..884dbe4c62e 100644
--- a/RELEASENOTES.md
+++ b/RELEASENOTES.md
@@ -25,6 +25,8 @@
   ([#6019](https://github.com/google/ExoPlayer/issues/6019)).
 * Fix application of `maxAudioBitrate` for adaptive audio track groups
   ([#6006](https://github.com/google/ExoPlayer/issues/6006)).
+* Fix decoding problems when seeking back after seeking beyond a mid-roll ad
+  ([#6009](https://github.com/google/ExoPlayer/issues/6009)).
 
 ### 2.10.2 ###
 
diff --git a/library/core/src/main/java/com/google/android/exoplayer2/ExoPlayerImplInternal.java b/library/core/src/main/java/com/google/android/exoplayer2/ExoPlayerImplInternal.java
index 7fbde3c7b20..a6d43528803 100644
--- a/library/core/src/main/java/com/google/android/exoplayer2/ExoPlayerImplInternal.java
+++ b/library/core/src/main/java/com/google/android/exoplayer2/ExoPlayerImplInternal.java
@@ -728,13 +728,20 @@ private long seekToPeriodPosition(
       newPlayingPeriodHolder = queue.advancePlayingPeriod();
     }
 
-    // Disable all the renderers if the period being played is changing, or if forced.
-    if (oldPlayingPeriodHolder != newPlayingPeriodHolder || forceDisableRenderers) {
+    // Disable all renderers if the period being played is changing, if the seek results in negative
+    // renderer timestamps, or if forced.
+    if (forceDisableRenderers
+        || oldPlayingPeriodHolder != newPlayingPeriodHolder
+        || (newPlayingPeriodHolder != null
+            && newPlayingPeriodHolder.toRendererTime(periodPositionUs) < 0)) {
       for (Renderer renderer : enabledRenderers) {
         disableRenderer(renderer);
       }
       enabledRenderers = new Renderer[0];
       oldPlayingPeriodHolder = null;
+      if (newPlayingPeriodHolder != null) {
+        newPlayingPeriodHolder.setRendererOffset(/* rendererPositionOffsetUs= */ 0);
+      }
     }
 
     // Update the holders.
diff --git a/library/core/src/main/java/com/google/android/exoplayer2/MediaPeriodHolder.java b/library/core/src/main/java/com/google/android/exoplayer2/MediaPeriodHolder.java
index 5950bc627fd..a21afc4b51e 100644
--- a/library/core/src/main/java/com/google/android/exoplayer2/MediaPeriodHolder.java
+++ b/library/core/src/main/java/com/google/android/exoplayer2/MediaPeriodHolder.java
@@ -67,8 +67,7 @@
    * Creates a new holder with information required to play it as part of a timeline.
    *
    * @param rendererCapabilities The renderer capabilities.
-   * @param rendererPositionOffsetUs The time offset of the start of the media period to provide to
-   *     renderers.
+   * @param rendererPositionOffsetUs The renderer time of the start of the period, in microseconds.
    * @param trackSelector The track selector.
    * @param allocator The allocator.
    * @param mediaSource The media source that produced the media period.
@@ -82,7 +81,7 @@ public MediaPeriodHolder(
       MediaSource mediaSource,
       MediaPeriodInfo info) {
     this.rendererCapabilities = rendererCapabilities;
-    this.rendererPositionOffsetUs = rendererPositionOffsetUs - info.startPositionUs;
+    this.rendererPositionOffsetUs = rendererPositionOffsetUs;
     this.trackSelector = trackSelector;
     this.mediaSource = mediaSource;
     this.uid = info.id.periodUid;
@@ -115,6 +114,15 @@ public long getRendererOffset() {
     return rendererPositionOffsetUs;
   }
 
+  /**
+   * Sets the renderer time of the start of the period, in microseconds.
+   *
+   * @param rendererPositionOffsetUs The new renderer position offset, in microseconds.
+   */
+  public void setRendererOffset(long rendererPositionOffsetUs) {
+    this.rendererPositionOffsetUs = rendererPositionOffsetUs;
+  }
+
   /** Returns start position of period in renderer time. */
   public long getStartPositionRendererTime() {
     return info.startPositionUs + rendererPositionOffsetUs;
diff --git a/library/core/src/main/java/com/google/android/exoplayer2/MediaPeriodQueue.java b/library/core/src/main/java/com/google/android/exoplayer2/MediaPeriodQueue.java
index 58000d6f580..e47d8af3812 100644
--- a/library/core/src/main/java/com/google/android/exoplayer2/MediaPeriodQueue.java
+++ b/library/core/src/main/java/com/google/android/exoplayer2/MediaPeriodQueue.java
@@ -144,8 +144,8 @@ public MediaPeriod enqueueNextMediaPeriod(
       MediaPeriodInfo info) {
     long rendererPositionOffsetUs =
         loading == null
-            ? info.startPositionUs
-            : (loading.getRendererOffset() + loading.info.durationUs);
+            ? (info.id.isAd() ? info.contentPositionUs : 0)
+            : (loading.getRendererOffset() + loading.info.durationUs - info.startPositionUs);
     MediaPeriodHolder newPeriodHolder =
         new MediaPeriodHolder(
             rendererCapabilities,