diff --git a/src/hotspot/share/gc/g1/g1FullCollector.cpp b/src/hotspot/share/gc/g1/g1FullCollector.cpp
index cae06c67d6c..2a2d1da1cc5 100644
--- a/src/hotspot/share/gc/g1/g1FullCollector.cpp
+++ b/src/hotspot/share/gc/g1/g1FullCollector.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017, 2022, Oracle and/or its affiliates. All rights reserved.
+ * Copyright (c) 2017, 2023, Oracle and/or its affiliates. All rights reserved.
  * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
  *
  * This code is free software; you can redistribute it and/or modify it
@@ -327,7 +327,7 @@ void G1FullCollector::phase2_prepare_compaction() {
   // Try to avoid OOM immediately after Full GC in case there are no free regions
   // left after determining the result locations (i.e. this phase). Prepare to
   // maximally compact the tail regions of the compaction queues serially.
-  if (!has_free_compaction_targets) {
+  if (scope()->do_maximal_compaction() || !has_free_compaction_targets) {
     phase2c_prepare_serial_compaction();
   }
 }
@@ -348,37 +348,67 @@ bool G1FullCollector::phase2b_forward_oops() {
   return task.has_free_compaction_targets();
 }
 
-void G1FullCollector::phase2c_prepare_serial_compaction() {
-  GCTraceTime(Debug, gc, phases) debug("Phase 2: Prepare serial compaction", scope()->timer());
-  // At this point we know that after parallel compaction there will be no
-  // completely free regions. That means that the last region of
-  // all compaction queues still have data in them. We try to compact
-  // these regions in serial to avoid a premature OOM when the mutator wants
-  // to allocate the first eden region after gc.
+uint G1FullCollector::truncate_parallel_cps() {
+  uint lowest_current = (uint)-1;
   for (uint i = 0; i < workers(); i++) {
     G1FullGCCompactionPoint* cp = compaction_point(i);
     if (cp->has_regions()) {
-      serial_compaction_point()->add(cp->remove_last());
+      lowest_current = MIN2(lowest_current, cp->current_region()->hrm_index());
     }
   }
 
-  // Update the forwarding information for the regions in the serial
-  // compaction point.
-  G1FullGCCompactionPoint* cp = serial_compaction_point();
-  for (GrowableArrayIterator<HeapRegion*> it = cp->regions()->begin(); it != cp->regions()->end(); ++it) {
-    HeapRegion* current = *it;
-    if (!cp->is_initialized()) {
-      // Initialize the compaction point. Nothing more is needed for the first heap region
-      // since it is already prepared for compaction.
-      cp->initialize(current);
-    } else {
-      assert(!current->is_humongous(), "Should be no humongous regions in compaction queue");
-      G1SerialRePrepareClosure re_prepare(cp, current);
+  if (lowest_current == (uint)-1) {
+    // worker compaction points are empty
+    return lowest_current;
+  }
+
+  for (uint i = 0; i < workers(); i++) {
+    G1FullGCCompactionPoint* cp = compaction_point(i);
+    if (cp->has_regions()) {
+      cp->remove_at_or_above(lowest_current);
+    }
+  }
+  return lowest_current;
+}
+
+void G1FullCollector::phase2c_prepare_serial_compaction() {
+  GCTraceTime(Debug, gc, phases) debug("Phase 2: Prepare serial compaction", scope()->timer());
+  // At this point, we know that after parallel compaction there will be regions that
+  // are partially compacted into. Thus, the last compaction region of all
+  // compaction queues still have space in them. We try to re-compact these regions
+  // in serial to avoid a premature OOM when the mutator wants to allocate the first
+  // eden region after gc.
+
+  // For maximum compaction, we need to re-prepare all objects above the lowest
+  // region among the current regions for all thread compaction points. It may
+  // happen that due to the uneven distribution of objects to parallel threads, holes
+  // have been created as threads compact to different target regions between the
+  // lowest and the highest region in the tails of the compaction points.
+
+  uint start_serial = truncate_parallel_cps();
+  if (start_serial >= _heap->max_reserved_regions()) {
+    return;
+  }
+
+  G1FullGCCompactionPoint* serial_cp = serial_compaction_point();
+  assert(!serial_cp->is_initialized(), "sanity!");
+
+  HeapRegion* start_hr = _heap->region_at(start_serial);
+  serial_cp->add(start_hr);
+  serial_cp->initialize(start_hr);
+
+  HeapWord* dense_prefix_top = compaction_top(start_hr);
+  G1SerialRePrepareClosure re_prepare(serial_cp, dense_prefix_top);
+
+  for (uint i = start_serial + 1; i < _heap->max_reserved_regions(); i++) {
+    if (is_compaction_target(i)) {
+      HeapRegion* current = _heap->region_at(i);
       set_compaction_top(current, current->bottom());
+      serial_cp->add(current);
       current->apply_to_marked_objects(mark_bitmap(), &re_prepare);
     }
   }
-  cp->update();
+  serial_cp->update();
 }
 
 void G1FullCollector::phase3_adjust_pointers() {
diff --git a/src/hotspot/share/gc/g1/g1FullCollector.hpp b/src/hotspot/share/gc/g1/g1FullCollector.hpp
index b163a8eca8d..2fe4451f69c 100644
--- a/src/hotspot/share/gc/g1/g1FullCollector.hpp
+++ b/src/hotspot/share/gc/g1/g1FullCollector.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017, 2022, Oracle and/or its affiliates. All rights reserved.
+ * Copyright (c) 2017, 2023, Oracle and/or its affiliates. All rights reserved.
  * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
  *
  * This code is free software; you can redistribute it and/or modify it
@@ -137,6 +137,8 @@ public:
   inline void set_compaction_top(HeapRegion* r, HeapWord* value);
   inline HeapWord* compaction_top(HeapRegion* r) const;
 
+  uint truncate_parallel_cps();
+
 private:
   void phase1_mark_live_objects();
   void phase2_prepare_compaction();
diff --git a/src/hotspot/share/gc/g1/g1FullGCCompactionPoint.cpp b/src/hotspot/share/gc/g1/g1FullGCCompactionPoint.cpp
index e919cbfd49a..3142fd1da59 100644
--- a/src/hotspot/share/gc/g1/g1FullGCCompactionPoint.cpp
+++ b/src/hotspot/share/gc/g1/g1FullGCCompactionPoint.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017, 2022, Oracle and/or its affiliates. All rights reserved.
+ * Copyright (c) 2017, 2023, Oracle and/or its affiliates. All rights reserved.
  * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
  *
  * This code is free software; you can redistribute it and/or modify it
@@ -116,6 +116,17 @@ void G1FullGCCompactionPoint::add(HeapRegion* hr) {
   _compaction_regions->append(hr);
 }
 
-HeapRegion* G1FullGCCompactionPoint::remove_last() {
-  return _compaction_regions->pop();
+void G1FullGCCompactionPoint::remove_at_or_above(uint bottom) {
+  HeapRegion* cur = current_region();
+  assert(cur->hrm_index() >= bottom, "Sanity!");
+
+  int start_index = 0;
+  for (HeapRegion* r : *_compaction_regions) {
+    if (r->hrm_index() < bottom) {
+      start_index++;
+    }
+  }
+
+  assert(start_index >= 0, "Should have at least one region");
+  _compaction_regions->trunc_to(start_index);
 }
diff --git a/src/hotspot/share/gc/g1/g1FullGCCompactionPoint.hpp b/src/hotspot/share/gc/g1/g1FullGCCompactionPoint.hpp
index 8cdb4a8dbf3..4b9be9a12f2 100644
--- a/src/hotspot/share/gc/g1/g1FullGCCompactionPoint.hpp
+++ b/src/hotspot/share/gc/g1/g1FullGCCompactionPoint.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017, 2022, Oracle and/or its affiliates. All rights reserved.
+ * Copyright (c) 2017, 2023, Oracle and/or its affiliates. All rights reserved.
  * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
  *
  * This code is free software; you can redistribute it and/or modify it
@@ -55,7 +55,7 @@ public:
   void forward(oop object, size_t size);
   void add(HeapRegion* hr);
 
-  HeapRegion* remove_last();
+  void remove_at_or_above(uint bottom);
   HeapRegion* current_region();
 
   GrowableArray<HeapRegion*>* regions();
diff --git a/src/hotspot/share/gc/g1/g1FullGCPrepareTask.hpp b/src/hotspot/share/gc/g1/g1FullGCPrepareTask.hpp
index a7b9b2c4630..5a54331f4eb 100644
--- a/src/hotspot/share/gc/g1/g1FullGCPrepareTask.hpp
+++ b/src/hotspot/share/gc/g1/g1FullGCPrepareTask.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017, 2022, Oracle and/or its affiliates. All rights reserved.
+ * Copyright (c) 2017, 2023, Oracle and/or its affiliates. All rights reserved.
  * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
  *
  * This code is free software; you can redistribute it and/or modify it
@@ -119,12 +119,12 @@ private:
 // serial compaction.
 class G1SerialRePrepareClosure : public StackObj {
   G1FullGCCompactionPoint* _cp;
-  HeapRegion* _current;
+  HeapWord* _dense_prefix_top;
 
 public:
-  G1SerialRePrepareClosure(G1FullGCCompactionPoint* hrcp, HeapRegion* hr) :
+  G1SerialRePrepareClosure(G1FullGCCompactionPoint* hrcp, HeapWord* dense_prefix_top) :
     _cp(hrcp),
-    _current(hr) { }
+    _dense_prefix_top(dense_prefix_top) { }
 
   inline size_t apply(oop obj);
 };
diff --git a/src/hotspot/share/gc/g1/g1FullGCPrepareTask.inline.hpp b/src/hotspot/share/gc/g1/g1FullGCPrepareTask.inline.hpp
index ab8ad98b05b..f48842e0127 100644
--- a/src/hotspot/share/gc/g1/g1FullGCPrepareTask.inline.hpp
+++ b/src/hotspot/share/gc/g1/g1FullGCPrepareTask.inline.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Oracle and/or its affiliates. All rights reserved.
+ * Copyright (c) 2022, 2023, Oracle and/or its affiliates. All rights reserved.
  * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
  *
  * This code is free software; you can redistribute it and/or modify it
@@ -110,10 +110,12 @@ inline bool G1DetermineCompactionQueueClosure::do_heap_region(HeapRegion* hr) {
 }
 
 inline size_t G1SerialRePrepareClosure::apply(oop obj) {
-  // We only re-prepare objects forwarded within the current region, so
-  // skip objects that are already forwarded to another region.
-  if (obj->is_forwarded() && !_current->is_in(obj->forwardee())) {
-    return obj->size();
+  if (obj->is_forwarded()) {
+    // We skip objects compiled into the first region or
+    // into regions not part of the serial compaction point.
+    if (cast_from_oop<HeapWord*>(obj->forwardee()) < _dense_prefix_top) {
+      return obj->size();
+    }
   }
 
   // Get size and forward.
diff --git a/src/hotspot/share/gc/g1/g1FullGCScope.cpp b/src/hotspot/share/gc/g1/g1FullGCScope.cpp
index a453aebc2fa..25abb4b05ea 100644
--- a/src/hotspot/share/gc/g1/g1FullGCScope.cpp
+++ b/src/hotspot/share/gc/g1/g1FullGCScope.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017, 2022, Oracle and/or its affiliates. All rights reserved.
+ * Copyright (c) 2017, 2023, Oracle and/or its affiliates. All rights reserved.
  * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
  *
  * This code is free software; you can redistribute it and/or modify it
@@ -43,6 +43,7 @@ G1FullGCScope::G1FullGCScope(G1MonitoringSupport* monitoring_support,
                              G1FullGCTracer* tracer) :
     _rm(),
     _explicit_gc(explicit_gc),
+    _do_maximal_compaction(do_maximal_compaction),
     _g1h(G1CollectedHeap::heap()),
     _svc_marker(SvcGCMarker::FULL),
     _timer(),
diff --git a/src/hotspot/share/gc/g1/g1FullGCScope.hpp b/src/hotspot/share/gc/g1/g1FullGCScope.hpp
index 3863be8358b..5579fdf1b54 100644
--- a/src/hotspot/share/gc/g1/g1FullGCScope.hpp
+++ b/src/hotspot/share/gc/g1/g1FullGCScope.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017, 2022, Oracle and/or its affiliates. All rights reserved.
+ * Copyright (c) 2017, 2023, Oracle and/or its affiliates. All rights reserved.
  * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
  *
  * This code is free software; you can redistribute it and/or modify it
@@ -48,6 +48,7 @@ public:
 class G1FullGCScope : public StackObj {
   ResourceMark            _rm;
   bool                    _explicit_gc;
+  bool                    _do_maximal_compaction;
   G1CollectedHeap*        _g1h;
   SvcGCMarker             _svc_marker;
   STWGCTimer              _timer;
@@ -68,6 +69,7 @@ public:
 
   bool is_explicit_gc();
   bool should_clear_soft_refs();
+  bool do_maximal_compaction() { return _do_maximal_compaction; }
 
   STWGCTimer* timer();
   G1FullGCTracer* tracer();