diff --git a/staticaddr/deposit/actions.go b/staticaddr/deposit/actions.go
index 362417e7..437c3ac2 100644
--- a/staticaddr/deposit/actions.go
+++ b/staticaddr/deposit/actions.go
@@ -161,14 +161,25 @@ func (f *FSM) WaitForExpirySweepAction(ctx context.Context,
 
 // FinalizeDepositAction is the final action after a withdrawal. It signals to
 // the manager that the deposit has been swept and the FSM can be removed.
-func (f *FSM) FinalizeDepositAction(ctx context.Context,
+func (f *FSM) FinalizeDepositAction(_ context.Context,
 	_ fsm.EventContext) fsm.EventType {
 
-	select {
-	case <-ctx.Done():
-		return fsm.OnError
+	outpoint := f.deposit.OutPoint
 
-	case f.finalizedDepositChan <- f.deposit.OutPoint:
-		return fsm.NoOp
-	}
+	// The finalization notification only tells the manager to remove the
+	// deposit from its active set. Send it asynchronously so a busy manager
+	// loop can't stall withdrawal confirmation while deposit locks are held.
+	go func() {
+		select {
+		case <-f.quitChan:
+			// The deposit is already in a final state. If shutdown wins
+			// this race, startup recovery will skip it instead of
+			// re-adding it to the active set.
+			return
+
+		case f.finalizedDepositChan <- outpoint:
+		}
+	}()
+
+	return fsm.NoOp
 }
diff --git a/staticaddr/deposit/actions_test.go b/staticaddr/deposit/actions_test.go
new file mode 100644
index 00000000..8c021121
--- /dev/null
+++ b/staticaddr/deposit/actions_test.go
@@ -0,0 +1,135 @@
+package deposit
+
+import (
+	"context"
+	"testing"
+	"time"
+
+	"github.com/btcsuite/btcd/chaincfg/chainhash"
+	"github.com/btcsuite/btcd/wire"
+	"github.com/lightninglabs/loop/fsm"
+	"github.com/stretchr/testify/require"
+)
+
+// TestFinalizeDepositActionDoesNotBlock ensures the final cleanup notification
+// does not block the withdrawal completion path while the manager loop is busy.
+func TestFinalizeDepositActionDoesNotBlock(t *testing.T) {
+	ctx, cancel := context.WithTimeout(context.Background(), time.Second)
+	defer cancel()
+
+	outpoint := wire.OutPoint{
+		Hash:  chainhash.Hash{1},
+		Index: 1,
+	}
+
+	depositFSM := &FSM{
+		deposit: &Deposit{
+			OutPoint: outpoint,
+		},
+		quitChan:             make(chan struct{}),
+		finalizedDepositChan: make(chan wire.OutPoint),
+	}
+
+	resultChan := make(chan fsm.EventType, 1)
+	go func() {
+		resultChan <- depositFSM.FinalizeDepositAction(ctx, nil)
+	}()
+
+	select {
+	case result := <-resultChan:
+		require.Equal(t, fsm.NoOp, result)
+
+	case <-time.After(100 * time.Millisecond):
+		t.Fatal("FinalizeDepositAction blocked on manager cleanup")
+	}
+
+	select {
+	case gotOutpoint := <-depositFSM.finalizedDepositChan:
+		require.Equal(t, outpoint, gotOutpoint)
+
+	case <-time.After(time.Second):
+		t.Fatal("finalization cleanup notification was not delivered")
+	}
+}
+
+// TestFinalizeDepositActionIgnoresRequestCancellation ensures the cleanup
+// notification is tied to the FSM lifetime, not the caller's request context.
+func TestFinalizeDepositActionIgnoresRequestCancellation(t *testing.T) {
+	ctx, cancel := context.WithCancel(context.Background())
+	defer cancel()
+
+	quitChan := make(chan struct{})
+	defer close(quitChan)
+
+	outpoint := wire.OutPoint{
+		Hash:  chainhash.Hash{2},
+		Index: 2,
+	}
+
+	depositFSM := &FSM{
+		deposit: &Deposit{
+			OutPoint: outpoint,
+		},
+		quitChan:             quitChan,
+		finalizedDepositChan: make(chan wire.OutPoint),
+	}
+
+	resultChan := make(chan fsm.EventType, 1)
+	go func() {
+		resultChan <- depositFSM.FinalizeDepositAction(ctx, nil)
+	}()
+
+	select {
+	case result := <-resultChan:
+		require.Equal(t, fsm.NoOp, result)
+
+	case <-time.After(100 * time.Millisecond):
+		t.Fatal("FinalizeDepositAction blocked on manager cleanup")
+	}
+
+	cancel()
+
+	select {
+	case gotOutpoint := <-depositFSM.finalizedDepositChan:
+		require.Equal(t, outpoint, gotOutpoint)
+
+	case <-time.After(time.Second):
+		t.Fatal("finalization cleanup notification was dropped after " +
+			"request cancellation")
+	}
+}
+
+// TestFinalizeDepositActionIgnoresCanceledContext ensures the final cleanup
+// notification is still queued even if the caller's context is already done.
+func TestFinalizeDepositActionIgnoresCanceledContext(t *testing.T) {
+	ctx, cancel := context.WithCancel(context.Background())
+	cancel()
+
+	quitChan := make(chan struct{})
+	defer close(quitChan)
+
+	outpoint := wire.OutPoint{
+		Hash:  chainhash.Hash{3},
+		Index: 3,
+	}
+
+	depositFSM := &FSM{
+		deposit: &Deposit{
+			OutPoint: outpoint,
+		},
+		quitChan:             quitChan,
+		finalizedDepositChan: make(chan wire.OutPoint),
+	}
+
+	result := depositFSM.FinalizeDepositAction(ctx, nil)
+	require.Equal(t, fsm.NoOp, result)
+
+	select {
+	case gotOutpoint := <-depositFSM.finalizedDepositChan:
+		require.Equal(t, outpoint, gotOutpoint)
+
+	case <-time.After(time.Second):
+		t.Fatal("finalization cleanup notification was dropped for " +
+			"an already-canceled request context")
+	}
+}