diff --git a/README.md b/README.md
index f9d883b1..fa6cdc3e 100644
--- a/README.md
+++ b/README.md
@@ -83,11 +83,15 @@ The `ZENOH_ROUTER_CHECK_ATTEMPTS` environment variable can be used to configure
 The behavior is explained in the table below.
 
 
-| ZENOH_ROUTER_CHECK_ATTEMPTS |                                                 Session behavior                                                 |
-|:---------------------------:|:----------------------------------------------------------------------------------------------------------------:|
-|            unset or 0           |                                                             Indefinitely waits for connection to a Zenoh router. |
-|             < 0            |                                                                                        Skips Zenoh router check. |
+| ZENOH_ROUTER_CHECK_ATTEMPTS |                                                 Session behavior                                                   |
+|:---------------------------:|:------------------------------------------------------------------------------------------------------------------:|
+|               0             |                                                             Indefinitely waits for connection to a Zenoh router.   |
+|             < 0             |                                                                                        Skips Zenoh router check.   |
 |             > 0             | Attempts to connect to a Zenoh router in `ZENOH_ROUTER_CHECK_ATTEMPTS` attempts with 1 second wait between checks. |
+|            unset            |                                                                    Equivalent to `1`: the check is made only once. |
+
+If after the configured number of attempts the Node is still not connected to a `Zenoh router`, the initialisation goes on anyway.  
+If a `Zenoh router` is started after initialization phase, the Node will automatically connect to it, and autoconnect to other Nodes if gossip scouting is enabled (true with default configuratiuon).
 
 ### Session and Router configs
 `rmw_zenoh` relies on separate configurations files to configure the `Zenoh router` and `Zenoh session` respectively.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
index 2f5c9fbc..797ed049 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
@@ -100,8 +100,8 @@ class rmw_context_impl_s::Data final : public std::enable_shared_from_this<Data>
       constexpr int64_t ticks_between_print(std::chrono::milliseconds(1000) / sleep_time);
       do {
         zenoh::ZResult result;
-        this->session_->get_routers_z_id(&result);
-        if (result == Z_OK) {
+        const auto zids = this->session_->get_routers_z_id(&result);
+        if (result == Z_OK && !zids.empty()) {
           break;
         }
         if ((connection_attempts % ticks_between_print) == 0) {
diff --git a/zenoh_cpp_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt
index d67bb901..88804db0 100644
--- a/zenoh_cpp_vendor/CMakeLists.txt
+++ b/zenoh_cpp_vendor/CMakeLists.txt
@@ -22,9 +22,11 @@ set(RMW_ZENOH_BUILD_WITH_SHARED_MEMORY TRUE CACHE BOOL "Compile Zenoh RMW with S
 # Set VCS_VERSION to include latest changes from zenoh/zenoh-c to benefit from :
 # - https://github.com/eclipse-zenoh/zenoh/pull/1685 (Fix deadlock in advanced subscription undeclaration)
 # - https://github.com/eclipse-zenoh/zenoh/pull/1696 (Fix SHM Garbage Collection (GC) policy)
+# - https://github.com/eclipse-zenoh/zenoh/pull/1708 (Fix gossip with TLS endpoints)
+# - https://github.com/eclipse-zenoh/zenoh/pull/1717 (Improve performance of a large number of peers)
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION 61d8fcc136ce4ed36d921a32244da4f3d81a6097
+  VCS_VERSION 328736fe9bb9b654b1d9f47eecfc6d52f0d7d587
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
     "-DZENOHC_BUILD_WITH_SHARED_MEMORY:BOOL=${RMW_ZENOH_BUILD_WITH_SHARED_MEMORY}"
@@ -39,7 +41,7 @@ ament_export_dependencies(zenohc)
 # - https://github.com/eclipse-zenoh/zenoh-cpp/pull/363 (Fix memory leak in string deserialization)
 ament_vendor(zenoh_cpp_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
-  VCS_VERSION 05942637c29d3346ad18bab5a178aeebf4be5d62
+  VCS_VERSION bbfef04e843289aae70b5aa060a925e8ee5b1b6f
   CMAKE_ARGS
       -DZENOHCXX_ZENOHC=ON
       -DZENOHCXX_ZENOHPICO=OFF