diff --git a/drivers/gpu/drm/panthor/panthor_sched.c b/drivers/gpu/drm/panthor/panthor_sched.c
index 5d280d9c8225..531b52ee3a92 100644
--- a/drivers/gpu/drm/panthor/panthor_sched.c
+++ b/drivers/gpu/drm/panthor/panthor_sched.c
@@ -2050,31 +2050,22 @@ tick_ctx_pick_groups_from_list(const struct panthor_scheduler *sched,
 static void
 tick_ctx_insert_old_group(struct panthor_scheduler *sched,
 			  struct panthor_sched_tick_ctx *ctx,
-			  struct panthor_group *group,
-			  bool full_tick)
+			  struct panthor_group *group)
 {
 	struct panthor_csg_slot *csg_slot = &sched->csg_slots[group->csg_id];
 	struct panthor_group *other_group;
 
-	if (!full_tick) {
-		list_add_tail(&group->run_node, &ctx->old_groups[group->priority]);
-		return;
-	}
-
-	/* Rotate to make sure groups with lower CSG slot
-	 * priorities have a chance to get a higher CSG slot
-	 * priority next time they get picked. This priority
-	 * has an impact on resource request ordering, so it's
-	 * important to make sure we don't let one group starve
-	 * all other groups with the same group priority.
-	 */
+	/* Class groups in descending priority order so we can easily rotate. */
 	list_for_each_entry(other_group,
 			    &ctx->old_groups[csg_slot->group->priority],
 			    run_node) {
 		struct panthor_csg_slot *other_csg_slot = &sched->csg_slots[other_group->csg_id];
 
-		if (other_csg_slot->priority > csg_slot->priority) {
-			list_add_tail(&csg_slot->group->run_node, &other_group->run_node);
+		/* Our group has a higher prio than the one we're testing against,
+		 * place it just before.
+		 */
+		if (csg_slot->priority > other_csg_slot->priority) {
+			list_add_tail(&group->run_node, &other_group->run_node);
 			return;
 		}
 	}
@@ -2084,8 +2075,7 @@ tick_ctx_insert_old_group(struct panthor_scheduler *sched,
 
 static void
 tick_ctx_init(struct panthor_scheduler *sched,
-	      struct panthor_sched_tick_ctx *ctx,
-	      bool full_tick)
+	      struct panthor_sched_tick_ctx *ctx)
 {
 	struct panthor_device *ptdev = sched->ptdev;
 	struct panthor_csg_slots_upd_ctx upd_ctx;
@@ -2123,7 +2113,7 @@ tick_ctx_init(struct panthor_scheduler *sched,
 				group->fatal_queues |= GENMASK(group->queue_count - 1, 0);
 		}
 
-		tick_ctx_insert_old_group(sched, ctx, group, full_tick);
+		tick_ctx_insert_old_group(sched, ctx, group);
 		csgs_upd_ctx_queue_reqs(ptdev, &upd_ctx, i,
 					csg_iface->output->ack ^ CSG_STATUS_UPDATE,
 					CSG_STATUS_UPDATE);
@@ -2466,7 +2456,7 @@ static void tick_work(struct work_struct *work)
 	if (panthor_device_reset_is_pending(sched->ptdev))
 		goto out_unlock;
 
-	tick_ctx_init(sched, &ctx, full_tick);
+	tick_ctx_init(sched, &ctx);
 	if (ctx.csg_upd_failed_mask)
 		goto out_cleanup_ctx;
 
@@ -2492,9 +2482,29 @@ static void tick_work(struct work_struct *work)
 	for (prio = PANTHOR_CSG_PRIORITY_COUNT - 1;
 	     prio >= 0 && !tick_ctx_is_full(sched, &ctx);
 	     prio--) {
+		struct panthor_group *old_highest_prio_group =
+			list_first_entry_or_null(&ctx.old_groups[prio],
+						 struct panthor_group, run_node);
+
+		/* Pull out the group with the highest prio for rotation. */
+		if (old_highest_prio_group)
+			list_del(&old_highest_prio_group->run_node);
+
+		/* Re-insert old active groups so they get a chance to run with higher prio. */
+		tick_ctx_pick_groups_from_list(sched, &ctx, &ctx.old_groups[prio], true, true);
+
+		/* Fill the remaining slots with runnable groups. */
 		tick_ctx_pick_groups_from_list(sched, &ctx, &sched->groups.runnable[prio],
 					       true, false);
-		tick_ctx_pick_groups_from_list(sched, &ctx, &ctx.old_groups[prio], true, true);
+
+		/* Re-insert the old group with the highest prio, and give it a chance to be
+		 * scheduled again (but with a lower prio) if there's room left.
+		 */
+		if (old_highest_prio_group) {
+			list_add_tail(&old_highest_prio_group->run_node, &ctx.old_groups[prio]);
+			tick_ctx_pick_groups_from_list(sched, &ctx, &ctx.old_groups[prio],
+						       true, true);
+		}
 	}
 
 	/* If we have free CSG slots left, pick idle groups */