diff --git a/io/zenoh-transport/Cargo.toml b/io/zenoh-transport/Cargo.toml
index 0921f4e1ee..5e3393f8f0 100644
--- a/io/zenoh-transport/Cargo.toml
+++ b/io/zenoh-transport/Cargo.toml
@@ -74,6 +74,7 @@ zenoh-result = { workspace = true }
 zenoh-shm = { workspace = true, optional = true }
 zenoh-sync = { workspace = true }
 zenoh-util = { workspace = true }
+itertools = "0.12.0"
 
 [dev-dependencies]
 env_logger = { workspace = true }
diff --git a/io/zenoh-transport/src/common/pipeline.rs b/io/zenoh-transport/src/common/pipeline.rs
index 954c656280..f341220a77 100644
--- a/io/zenoh-transport/src/common/pipeline.rs
+++ b/io/zenoh-transport/src/common/pipeline.rs
@@ -19,11 +19,18 @@ use super::{
 };
 use async_std::prelude::FutureExt;
 use flume::{bounded, Receiver, Sender};
+use itertools::{chain, Itertools};
 use ringbuffer_spsc::{RingBuffer, RingBufferReader, RingBufferWriter};
-use std::sync::atomic::{AtomicBool, AtomicU16, Ordering};
-use std::sync::{Arc, Mutex, MutexGuard};
 use std::thread;
 use std::time::Duration;
+use std::{
+    iter,
+    sync::{Arc, Mutex, MutexGuard},
+};
+use std::{
+    iter::Peekable,
+    sync::atomic::{AtomicBool, AtomicU16, Ordering},
+};
 use zenoh_buffers::{
     reader::{HasReader, Reader},
     writer::HasWriter,
@@ -573,6 +580,11 @@ impl TransmissionPipeline {
         }
 
         let active = Arc::new(AtomicBool::new(true));
+        let prio_iter: Box<dyn Iterator<Item = Vec<usize>> + Send + Sync> = {
+            let weights = vec![1; stage_out.len()];
+            Box::new(iwrr_vec_iter(&weights))
+        };
+
         let producer = TransmissionPipelineProducer {
             stage_in: stage_in.into_boxed_slice().into(),
             active: active.clone(),
@@ -581,6 +593,7 @@ impl TransmissionPipeline {
             stage_out: stage_out.into_boxed_slice(),
             n_out_r,
             active,
+            prio_iter: prio_iter.peekable(),
         };
 
         (producer, consumer)
@@ -642,14 +655,19 @@ pub(crate) struct TransmissionPipelineConsumer {
     stage_out: Box<[StageOut]>,
     n_out_r: Receiver<()>,
     active: Arc<AtomicBool>,
+    prio_iter: Peekable<Box<dyn Iterator<Item = Vec<usize>> + Send + Sync>>,
 }
 
 impl TransmissionPipelineConsumer {
     pub(crate) async fn pull(&mut self) -> Option<(WBatch, usize)> {
         while self.active.load(Ordering::Relaxed) {
+            let prios = self.prio_iter.next().unwrap();
+
             // Calculate the backoff maximum
             let mut bo = NanoSeconds::MAX;
-            for (prio, queue) in self.stage_out.iter_mut().enumerate() {
+
+            for prio in prios {
+                let queue = &mut self.stage_out[prio];
                 match queue.try_pull() {
                     Pull::Some(batch) => {
                         return Some((batch, prio));
@@ -664,11 +682,13 @@ impl TransmissionPipelineConsumer {
             }
 
             // Wait for the backoff to expire or for a new message
-            let _ = self
-                .n_out_r
-                .recv_async()
-                .timeout(Duration::from_nanos(bo as u64))
-                .await;
+            if bo != NanoSeconds::MAX {
+                let _ = self
+                    .n_out_r
+                    .recv_async()
+                    .timeout(Duration::from_nanos(bo as u64))
+                    .await;
+            }
         }
         None
     }
@@ -702,6 +722,36 @@ impl TransmissionPipelineConsumer {
     }
 }
 
+fn iwrr_vec_iter(weights: &[usize]) -> impl Iterator<Item = Vec<usize>> + Send + Sync {
+    let w_min = weights
+        .iter()
+        .cloned()
+        .min()
+        .expect("weights must not be empty");
+    assert!(w_min > 0, "weights must be nonzero");
+
+    let mut indices: Vec<usize> = (0..weights.len()).collect();
+    indices.sort_unstable_by_key(|&idx| (weights[idx], idx));
+
+    let sorted_weights: Vec<_> = indices.iter().map(|&idx| weights[idx]).collect();
+    indices.reverse();
+
+    chain!([0], sorted_weights)
+        .tuple_windows()
+        .zip((1..=weights.len()).rev())
+        .map(|((prev, next), slots)| {
+            let rounds = next - prev;
+            (slots, rounds)
+        })
+        .filter(|&(_, rounds)| rounds > 0)
+        .flat_map(move |(slots, rounds)| {
+            let mut selected: Vec<_> = indices[0..slots].to_vec();
+            selected.sort_unstable();
+            iter::repeat(selected).take(rounds)
+        })
+        .cycle()
+}
+
 #[cfg(test)]
 mod tests {
     use super::*;