diff --git a/CHANGELOG.md b/CHANGELOG.md
index f8b324baf..6881740e0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,8 @@
+# 5.4.3
+  - Changes from 5.4.1
+    - Bugfixes
+      - #3254 Fixed a bug that could end up hiding roundabout instructions
+
 # 5.4.2
   - Changes from 5.4.1
     - Bugfixes
diff --git a/features/guidance/roundabout.feature b/features/guidance/roundabout.feature
index a02c762be..efd285fec 100644
--- a/features/guidance/roundabout.feature
+++ b/features/guidance/roundabout.feature
@@ -403,3 +403,78 @@ Feature: Basic Roundabout
             #| w,x       | ll,egg,egg,tr,tr | depart,roundabout-exit-1,roundabout-exit-2,arrive       |
             | w,x       | ll,egg,egg,tr,tr | depart,turn right,continue left,turn slight left,arrive |
 
+<<<<<<< HEAD
+=======
+    Scenario: Use Lane in Roundabout
+        Given the node map
+            """
+                    . i  . . . .. .
+                  .'                '.
+            a - b.                    f - g
+                 .                    |
+                  '. 1               /
+                     '.             /
+                j - - - c .       . e
+                            ' d '
+                                 '  h
+            """
+
+        #using roundabout as name, we can ignore whether we see a roundabout or a rotary here. Cucumber output will be the same
+        And the ways
+            | nodes  | junction   | name          | oneway | turn:lanes:forward    |
+            | ba     |            | left-out      | yes    |                       |
+            | jc     |            | left-in       | yes    |                       |
+            | dh     |            | right-bot-out | yes    |                       |
+            | fg     |            | right-top-out | yes    |                       |
+            | bc     | roundabout | roundabout    | yes    | left;through\|through |
+            | cdefib | roundabout | roundabout    | yes    |                       |
+
+        When I route I should get
+            | waypoints | route                                  | turns                           |
+            | 1,h       | roundabout,right-bot-out,right-bot-out | depart,roundabout-exit-1,arrive |
+
+    @3254
+    Scenario: Driving up to and through a roundabout
+        Given the node map
+            |   | g |  |  |  |  |   |  | a |  |   |  |   |
+            |   |   |  |  |  |  |   |  |   |  |   |  |   |
+            | e | f |  |  |  |  | b |  |   |  | d |  | h |
+            |   |   |  |  |  |  |   |  |   |  |   |  |   |
+            |   | i |  |  |  |  |   |  | c |  |   |  |   |
+            |   |   |  |  |  |  |   |  |   |  |   |  |   |
+            |   |   |  |  |  |  |   |  | k |  |   |  |   |
+
+        And the ways
+            | nodes | junction   | name       | highway     |
+            | abcda | roundabout | roundabout | residential |
+            | gfi   |            | side       | residential |
+            | efb   |            | left       | residential |
+            | dh    |            | right      | residential |
+            | ck    |            | bottom     | residential |
+
+        When I route I should get
+            | waypoints | route            | turns                           |
+            | e,h       | left,right,right | depart,roundabout-exit-2,arrive |
+
+    @3254
+    Scenario: Driving up to and through a roundabout
+        Given the node map
+            |   | g |  |   |  | a |  |   |  |   |
+            |   |   |  |   |  |   |  |   |  |   |
+            | e | f |  | b |  |   |  | d |  | h |
+            |   |   |  |   |  |   |  |   |  |   |
+            |   | i |  |   |  | c |  |   |  |   |
+            |   |   |  |   |  |   |  |   |  |   |
+            |   |   |  |   |  | k |  |   |  |   |
+
+        And the ways
+            | nodes | junction   | name       | highway     |
+            | abcda | roundabout | roundabout | residential |
+            | gfi   |            | side       | residential |
+            | efb   |            | left       | residential |
+            | dh    |            | right      | residential |
+            | ck    |            | bottom     | residential |
+
+        When I route I should get
+            | waypoints | route            | turns                           |
+            | e,h       | left,right,right | depart,roundabout-exit-2,arrive |
diff --git a/src/engine/guidance/post_processing.cpp b/src/engine/guidance/post_processing.cpp
index 21f7a3d9b..a6bd1a12c 100644
--- a/src/engine/guidance/post_processing.cpp
+++ b/src/engine/guidance/post_processing.cpp
@@ -355,6 +355,10 @@ void collapseTurnAt(std::vector<RouteStep> &steps,
     BOOST_ASSERT(one_back_index < steps.size());
     const auto &current_step = steps[step_index];
     const auto &one_back_step = steps[one_back_index];
+    // Don't collapse roundabouts
+    if (entersRoundabout(current_step.maneuver.instruction) ||
+        entersRoundabout(one_back_step.maneuver.instruction))
+        return;
 
     // FIXME: this function assumes driving on the right hand side of the streat
     const auto bearingsAreReversed = [](const double bearing_in, const double bearing_out) {
@@ -521,6 +525,11 @@ void collapseTurnAt(std::vector<RouteStep> &steps,
 //
 bool isStaggeredIntersection(const RouteStep &previous, const RouteStep &current)
 {
+    //don't touch roundabouts
+    if (entersRoundabout(previous.maneuver.instruction) ||
+        entersRoundabout(current.maneuver.instruction))
+        return false;
+
     // Base decision on distance since the zig-zag is a visual clue.
     // If adjusted, make sure to check validity of the is_right/is_left classification below
     const constexpr auto MAX_STAGGERED_DISTANCE = 3; // debatable, but keep short to be on safe side