diff --git a/src/plugin/plugin.rs b/src/plugin/plugin.rs
index 94a89643c..8933a7c83 100644
--- a/src/plugin/plugin.rs
+++ b/src/plugin/plugin.rs
@@ -99,7 +99,7 @@ where
         match set {
             PhysicsSet::SyncBackend => (
                 // Run the character controller before the manual transform propagation.
-                systems::update_character_controls,
+                systems::update_character_controls.in_set(PhysicsSet::SyncBackend),
                 // Run Bevy transform propagation additionally to sync [`GlobalTransform`]
                 (
                     bevy::transform::systems::sync_simple_transforms,
@@ -107,30 +107,38 @@ where
                 )
                     .chain()
                     .in_set(RapierTransformPropagateSet),
-                systems::on_add_entity_with_parent,
-                systems::on_change_world,
-                systems::sync_removals,
-                #[cfg(all(feature = "dim3", feature = "async-collider"))]
-                systems::init_async_scene_colliders,
-                #[cfg(all(feature = "dim3", feature = "async-collider"))]
-                systems::init_async_colliders,
-                systems::init_rigid_bodies,
-                systems::init_colliders,
-                systems::init_joints,
-                systems::apply_scale,
-                systems::apply_collider_user_changes,
-                systems::apply_rigid_body_user_changes,
-                systems::apply_joint_user_changes,
-                systems::apply_initial_rigid_body_impulses,
+                (
+                    systems::on_add_entity_with_parent,
+                    systems::on_change_world,
+                    systems::sync_removals,
+                    #[cfg(all(feature = "dim3", feature = "async-collider"))]
+                    systems::init_async_scene_colliders,
+                    #[cfg(all(feature = "dim3", feature = "async-collider"))]
+                    systems::init_async_colliders,
+                    systems::init_rigid_bodies,
+                    systems::init_colliders,
+                    systems::init_joints,
+                    systems::apply_scale,
+                    systems::apply_collider_user_changes,
+                    systems::apply_rigid_body_user_changes,
+                    systems::apply_joint_user_changes,
+                    systems::apply_initial_rigid_body_impulses,
+                )
+                    .chain()
+                    .in_set(PhysicsSet::SyncBackend),
             )
                 .chain()
                 .into_configs(),
-            PhysicsSet::StepSimulation => (systems::step_simulation::<PhysicsHooks>).into_configs(),
+            PhysicsSet::StepSimulation => (systems::step_simulation::<PhysicsHooks>)
+                .in_set(PhysicsSet::StepSimulation)
+                .into_configs(),
             PhysicsSet::Writeback => (
                 systems::update_colliding_entities,
                 systems::writeback_rigid_bodies,
-                systems::writeback_mass_properties,
+                // Each writeback write to different properties.
+                systems::writeback_mass_properties.ambiguous_with(systems::writeback_rigid_bodies),
             )
+                .in_set(PhysicsSet::Writeback)
                 .into_configs(),
         }
     }
@@ -244,14 +252,17 @@ where
                     .chain()
                     .before(TransformSystem::TransformPropagate),
             );
+            app.configure_sets(
+                self.schedule,
+                RapierTransformPropagateSet.in_set(PhysicsSet::SyncBackend),
+            );
 
             app.add_systems(
                 self.schedule,
                 (
-                    Self::get_systems(PhysicsSet::SyncBackend).in_set(PhysicsSet::SyncBackend),
-                    Self::get_systems(PhysicsSet::StepSimulation)
-                        .in_set(PhysicsSet::StepSimulation),
-                    Self::get_systems(PhysicsSet::Writeback).in_set(PhysicsSet::Writeback),
+                    Self::get_systems(PhysicsSet::SyncBackend),
+                    Self::get_systems(PhysicsSet::StepSimulation),
+                    Self::get_systems(PhysicsSet::Writeback),
                 ),
             );
             app.init_resource::<TimestepMode>();