diff --git a/quickstep/src/com/android/launcher3/popup/QuickstepSystemShortcut.java b/quickstep/src/com/android/launcher3/popup/QuickstepSystemShortcut.java
index 9554bd3d9c..45d1b11c56 100644
--- a/quickstep/src/com/android/launcher3/popup/QuickstepSystemShortcut.java
+++ b/quickstep/src/com/android/launcher3/popup/QuickstepSystemShortcut.java
@@ -101,7 +101,7 @@ public interface QuickstepSystemShortcut {
             RecentsView recentsView = mTarget.getOverviewPanel();
             // Check if there is already an instance of this app running, if so, initiate the split
             // using that.
-            recentsView.findLastActiveTaskAndDoSplitOperation(
+            recentsView.findLastActiveTaskAndRunCallback(
                     intent.getComponent(),
                     (Consumer<Task>) foundTask -> {
                         SplitSelectSource source = new SplitSelectSource(mOriginalView,
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarActivityContext.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarActivityContext.java
index 731eea78e9..ba1cf9e1d1 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarActivityContext.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarActivityContext.java
@@ -94,6 +94,7 @@ import com.android.launcher3.util.TraceHelper;
 import com.android.launcher3.util.ViewCache;
 import com.android.launcher3.views.ActivityContext;
 import com.android.quickstep.views.RecentsView;
+import com.android.quickstep.views.TaskView;
 import com.android.systemui.shared.recents.model.Task;
 import com.android.systemui.shared.rotation.RotationButtonController;
 import com.android.systemui.shared.system.ActivityManagerWrapper;
@@ -101,6 +102,7 @@ import com.android.systemui.unfold.updates.RotationChangeProvider;
 import com.android.systemui.unfold.util.ScopedUnfoldTransitionProgressProvider;
 
 import java.io.PrintWriter;
+import java.util.function.Consumer;
 
 /**
  * The {@link ActivityContext} with which we inflate Taskbar-related Views. This allows UI elements
@@ -781,12 +783,12 @@ public class TaskbarActivityContext extends BaseTaskbarContext {
                 });
             });
         } else if (tag instanceof WorkspaceItemInfo) {
+            // Tapping a launchable icon on Taskbar
             WorkspaceItemInfo info = (WorkspaceItemInfo) tag;
             if (!info.isDisabled() || !ItemClickHandler.handleDisabledItemClicked(info, this)) {
                 TaskbarUIController taskbarUIController = mControllers.uiController;
                 RecentsView recents = taskbarUIController.getRecentsView();
-                if (recents != null
-                        && taskbarUIController.getRecentsView().isSplitSelectionActive()) {
+                if (recents != null && recents.isSplitSelectionActive()) {
                     // If we are selecting a second app for split, launch the split tasks
                     taskbarUIController.triggerSecondAppForSplit(info, info.intent, view);
                 } else {
@@ -813,7 +815,7 @@ public class TaskbarActivityContext extends BaseTaskbarContext {
                             getSystemService(LauncherApps.class)
                                     .startShortcut(packageName, id, null, null, info.user);
                         } else {
-                            startItemInfoActivity(info);
+                            launchFromTaskbarPreservingSplitIfVisible(recents, info);
                         }
 
                         mControllers.uiController.onTaskbarIconLaunched(info);
@@ -828,6 +830,7 @@ public class TaskbarActivityContext extends BaseTaskbarContext {
                 mControllers.taskbarStashController.updateAndAnimateTransientTaskbar(true);
             }
         } else if (tag instanceof AppInfo) {
+            // Tapping an item in AllApps
             AppInfo info = (AppInfo) tag;
             TaskbarUIController taskbarUIController = mControllers.uiController;
             RecentsView recents = taskbarUIController.getRecentsView();
@@ -836,9 +839,8 @@ public class TaskbarActivityContext extends BaseTaskbarContext {
                 // If we are selecting a second app for split, launch the split tasks
                 taskbarUIController.triggerSecondAppForSplit(info, info.intent, view);
             } else {
-                // Else launch the selected task
-                startItemInfoActivity((AppInfo) tag);
-                mControllers.uiController.onTaskbarIconLaunched((AppInfo) tag);
+                launchFromTaskbarPreservingSplitIfVisible(recents, info);
+                mControllers.uiController.onTaskbarIconLaunched(info);
             }
             mControllers.taskbarStashController.updateAndAnimateTransientTaskbar(true);
         } else if (tag instanceof ItemClickProxy) {
@@ -850,6 +852,31 @@ public class TaskbarActivityContext extends BaseTaskbarContext {
         AbstractFloatingView.closeAllOpenViews(this);
     }
 
+    /**
+     * Run when the user taps a Taskbar icon while in Overview. If the tapped app is currently
+     * visible to the user in Overview, or is part of a visible split pair, we expand the TaskView
+     * as if the user tapped on it (preserving the split pair). Otherwise, launch it normally
+     * (potentially breaking a split pair).
+     */
+    private void launchFromTaskbarPreservingSplitIfVisible(RecentsView recents, ItemInfo info) {
+        recents.findLastActiveTaskAndRunCallback(
+                info.getTargetComponent(),
+                (Consumer<Task>) foundTask -> {
+                    if (foundTask != null) {
+                        TaskView foundTaskView =
+                                recents.getTaskViewByTaskId(foundTask.key.id);
+                        if (foundTaskView != null
+                                && foundTaskView.isVisibleToUser()) {
+                            TestLogging.recordEvent(
+                                    TestProtocol.SEQUENCE_MAIN, "start: taskbarAppIcon");
+                            foundTaskView.launchTasks();
+                            return;
+                        }
+                    }
+                    startItemInfoActivity(info);
+                });
+    }
+
     private void startItemInfoActivity(ItemInfo info) {
         Intent intent = new Intent(info.getIntent())
                 .addFlags(Intent.FLAG_ACTIVITY_NEW_TASK);
diff --git a/quickstep/src/com/android/launcher3/taskbar/TaskbarUIController.java b/quickstep/src/com/android/launcher3/taskbar/TaskbarUIController.java
index 7b0374614c..ebb37a88fc 100644
--- a/quickstep/src/com/android/launcher3/taskbar/TaskbarUIController.java
+++ b/quickstep/src/com/android/launcher3/taskbar/TaskbarUIController.java
@@ -170,7 +170,7 @@ public class TaskbarUIController {
      */
     public void triggerSecondAppForSplit(ItemInfoWithIcon info, Intent intent, View startingView) {
         RecentsView recents = getRecentsView();
-        recents.findLastActiveTaskAndDoSplitOperation(
+        recents.findLastActiveTaskAndRunCallback(
                 info.getTargetComponent(),
                 (Consumer<Task>) foundTask -> {
                     if (foundTask != null) {
diff --git a/quickstep/src/com/android/quickstep/views/RecentsView.java b/quickstep/src/com/android/quickstep/views/RecentsView.java
index 5e645ea917..8ac4251951 100644
--- a/quickstep/src/com/android/quickstep/views/RecentsView.java
+++ b/quickstep/src/com/android/quickstep/views/RecentsView.java
@@ -1275,14 +1275,14 @@ public abstract class RecentsView<ACTIVITY_TYPE extends StatefulActivity<STATE_T
     }
 
     /**
-     * Pulls the list of active Tasks from RecentModel, and finds the most recently active Task
+     * Pulls the list of active Tasks from RecentsModel, and finds the most recently active Task
      * matching a given ComponentName. Then uses that Task (which could be null) with the given
      * callback.
      *
-     * Used in various splitscreen operations when we need to check if there is a currently running
-     * Task of a certain type and use the most recent one.
+     * Used in various task-switching or splitscreen operations when we need to check if there is a
+     * currently running Task of a certain type and use the most recent one.
      */
-    public void findLastActiveTaskAndDoSplitOperation(ComponentName componentName,
+    public void findLastActiveTaskAndRunCallback(ComponentName componentName,
             Consumer<Task> callback) {
         mModel.getTasks(taskGroups -> {
             Task lastActiveTask = null;