diff --git a/NEWS.md b/NEWS.md
index a22b830a150..67c68431046 100644
--- a/NEWS.md
+++ b/NEWS.md
@@ -70,6 +70,11 @@ milestone for 4.0.0
   * pgr_withpointsdd(text,text,anyarray,double precision,boolean,character,boolean,boolean)
   * pgr_withpointsdd(text,text,bigint,double precision,boolean,character,boolean)
 
+* [#2895](https://github.com/pgRouting/pgrouting/issues/2895):
+  pgr_withPointsKSP
+
+  * pgr_withpointsksp(text,text,bigint,bigint,integer,boolean,boolean,character,boolean)
+
 **Removal of SQL deprecated functions**
 
 * [#2681](https://github.com/pgRouting/pgrouting/issues/2681):
@@ -105,8 +110,11 @@ milestone for 4.0.0
 * _pgr_trsp(text,text,bigint,anyarray,boolean)
 * _pgr_trsp(text,text,bigint,bigint,boolean)
 * _pgr_trspviavertices(text,integer[],boolean,boolean,text)
-* _pgr_withpointsvia(text,bigint[],double precision[],boolean)
 * _pgr_withpointsdd(text,text,anyarray,double precision,boolean,character,boolean,boolean)
+* _pgr_withpointsksp(text,text,anyarray,anyarray,integer,character,boolean,boolean,boolean,boolean)
+* _pgr_withpointsksp(text,text,bigint,bigint,integer,boolean,boolean,character,boolean)
+* _pgr_withpointsksp(text,text,text,integer,character,boolean,boolean,boolean)
+* _pgr_withpointsvia(text,bigint[],double precision[],boolean)
 * _trsp(text,text,anyarray,anyarray,boolean)
 * _v4trsp(text,text,anyarray,anyarray,boolean)
 * _v4trsp(text,text,text,boolean)
diff --git a/doc/src/release_notes.rst b/doc/src/release_notes.rst
index 8547db746ff..cf31e6b5fbd 100644
--- a/doc/src/release_notes.rst
+++ b/doc/src/release_notes.rst
@@ -100,6 +100,11 @@ milestone for 4.0.0
   * pgr_withpointsdd(text,text,anyarray,double precision,boolean,character,boolean,boolean)
   * pgr_withpointsdd(text,text,bigint,double precision,boolean,character,boolean)
 
+* `#2895 <https://github.com/pgRouting/pgrouting/issues/2895>`__:
+  pgr_withPointsKSP
+
+  * pgr_withpointsksp(text,text,bigint,bigint,integer,boolean,boolean,character,boolean)
+
 .. rubric:: Removal of SQL deprecated functions
 
 * `#2681 <https://github.com/pgRouting/pgrouting/issues/2681>`__:
@@ -135,8 +140,11 @@ milestone for 4.0.0
 * _pgr_trsp(text,text,bigint,anyarray,boolean)
 * _pgr_trsp(text,text,bigint,bigint,boolean)
 * _pgr_trspviavertices(text,integer[],boolean,boolean,text)
-* _pgr_withpointsvia(text,bigint[],double precision[],boolean)
 * _pgr_withpointsdd(text,text,anyarray,double precision,boolean,character,boolean,boolean)
+* _pgr_withpointsksp(text,text,anyarray,anyarray,integer,character,boolean,boolean,boolean,boolean)
+* _pgr_withpointsksp(text,text,bigint,bigint,integer,boolean,boolean,character,boolean)
+* _pgr_withpointsksp(text,text,text,integer,character,boolean,boolean,boolean)
+* _pgr_withpointsvia(text,bigint[],double precision[],boolean)
 * _trsp(text,text,anyarray,anyarray,boolean)
 * _v4trsp(text,text,anyarray,anyarray,boolean)
 * _v4trsp(text,text,text,boolean)
diff --git a/locale/en/LC_MESSAGES/pgrouting_doc_strings.po b/locale/en/LC_MESSAGES/pgrouting_doc_strings.po
index 3c1807aa3f5..89d4b970e71 100644
--- a/locale/en/LC_MESSAGES/pgrouting_doc_strings.po
+++ b/locale/en/LC_MESSAGES/pgrouting_doc_strings.po
@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: pgRouting v3.8\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-05-21 22:35+0000\n"
+"POT-Creation-Date: 2025-05-22 03:51+0000\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
 "Language-Team: LANGUAGE <LL@li.org>\n"
@@ -4037,6 +4037,14 @@ msgid ""
 "precision,boolean,character,boolean)"
 msgstr ""
 
+msgid ""
+"`#2895 <https://github.com/pgRouting/pgrouting/issues/2895>`__: "
+"pgr_withPointsKSP"
+msgstr ""
+
+msgid "pgr_withpointsksp(text,text,bigint,bigint,integer,boolean,boolean,character,boolean)"
+msgstr ""
+
 msgid "Removal of SQL deprecated functions"
 msgstr ""
 
@@ -4127,14 +4135,23 @@ msgstr ""
 msgid "_pgr_trspviavertices(text,integer[],boolean,boolean,text)"
 msgstr ""
 
-msgid "_pgr_withpointsvia(text,bigint[],double precision[],boolean)"
-msgstr ""
-
 msgid ""
 "_pgr_withpointsdd(text,text,anyarray,double "
 "precision,boolean,character,boolean,boolean)"
 msgstr ""
 
+msgid "_pgr_withpointsksp(text,text,anyarray,anyarray,integer,character,boolean,boolean,boolean,boolean)"
+msgstr ""
+
+msgid "_pgr_withpointsksp(text,text,bigint,bigint,integer,boolean,boolean,character,boolean)"
+msgstr ""
+
+msgid "_pgr_withpointsksp(text,text,text,integer,character,boolean,boolean,boolean)"
+msgstr ""
+
+msgid "_pgr_withpointsvia(text,bigint[],double precision[],boolean)"
+msgstr ""
+
 msgid "_trsp(text,text,anyarray,anyarray,boolean)"
 msgstr ""
 
diff --git a/locale/pot/pgrouting_doc_strings.pot b/locale/pot/pgrouting_doc_strings.pot
index 98d145e7e01..917724f0e91 100644
--- a/locale/pot/pgrouting_doc_strings.pot
+++ b/locale/pot/pgrouting_doc_strings.pot
@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: pgRouting v4.0\n"
 "Report-Msgid-Bugs-To: \n"
-"POT-Creation-Date: 2025-05-21 22:35+0000\n"
+"POT-Creation-Date: 2025-05-22 03:51+0000\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
 "Language-Team: LANGUAGE <LL@li.org>\n"
@@ -3622,6 +3622,12 @@ msgstr ""
 msgid "pgr_withpointsdd(text,text,bigint,double precision,boolean,character,boolean)"
 msgstr ""
 
+msgid "`#2895 <https://github.com/pgRouting/pgrouting/issues/2895>`__: pgr_withPointsKSP"
+msgstr ""
+
+msgid "pgr_withpointsksp(text,text,bigint,bigint,integer,boolean,boolean,character,boolean)"
+msgstr ""
+
 msgid "Removal of SQL deprecated functions"
 msgstr ""
 
@@ -3694,10 +3700,19 @@ msgstr ""
 msgid "_pgr_trspviavertices(text,integer[],boolean,boolean,text)"
 msgstr ""
 
-msgid "_pgr_withpointsvia(text,bigint[],double precision[],boolean)"
+msgid "_pgr_withpointsdd(text,text,anyarray,double precision,boolean,character,boolean,boolean)"
 msgstr ""
 
-msgid "_pgr_withpointsdd(text,text,anyarray,double precision,boolean,character,boolean,boolean)"
+msgid "_pgr_withpointsksp(text,text,anyarray,anyarray,integer,character,boolean,boolean,boolean,boolean)"
+msgstr ""
+
+msgid "_pgr_withpointsksp(text,text,bigint,bigint,integer,boolean,boolean,character,boolean)"
+msgstr ""
+
+msgid "_pgr_withpointsksp(text,text,text,integer,character,boolean,boolean,boolean)"
+msgstr ""
+
+msgid "_pgr_withpointsvia(text,bigint[],double precision[],boolean)"
 msgstr ""
 
 msgid "_trsp(text,text,anyarray,anyarray,boolean)"
diff --git a/pgtap/ksp/withPointsKSP/edge_cases/point_in_vertex.pg b/pgtap/ksp/withPointsKSP/edge_cases/point_in_vertex.pg
index 9dcd0f7d6d2..83363691b2d 100644
--- a/pgtap/ksp/withPointsKSP/edge_cases/point_in_vertex.pg
+++ b/pgtap/ksp/withPointsKSP/edge_cases/point_in_vertex.pg
@@ -29,18 +29,17 @@ CREATE OR REPLACE FUNCTION test_vertex_points() RETURNS SETOF TEXT AS
 $BODY$
 BEGIN
 
-  IF NOT min_version('3.6.0') THEN
-    RETURN QUERY SELECT skip(1, 'Signature added on 3.6.0');
-    RETURN;
-  END IF;
-
+    IF NOT min_version('3.6.0') THEN
+      RETURN QUERY SELECT skip(1, 'pgr_withPointsKSP testing only valid signatures on 4.0.0');
+      RETURN;
+    END IF;
 
 PREPARE dijkstra1(BIGINT, BIGINT) AS
 SELECT agg_cost::TEXT FROM pgr_KSP(
   $$SELECT id, source, target, cost, reverse_cost FROM four_edges$$,
   $1, $2, 3, true) WHERE edge < 0;
 
--- its a straigh line and one extreme are reachable
+-- its a straight line and one extreme are reachable
 RETURN QUERY SELECT results_eq($$dijkstra1(5,9)$$, ARRAY[4]::TEXT[]);
 RETURN QUERY SELECT results_eq($$dijkstra1(9,5)$$, ARRAY[4]::TEXT[]);
 
diff --git a/pgtap/ksp/withPointsKSP/inner_query.pg b/pgtap/ksp/withPointsKSP/inner_query.pg
index 463f56749b6..ee44ff747c0 100644
--- a/pgtap/ksp/withPointsKSP/inner_query.pg
+++ b/pgtap/ksp/withPointsKSP/inner_query.pg
@@ -20,12 +20,17 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 BEGIN;
 
 UPDATE edges SET cost = sign(cost), reverse_cost = sign(reverse_cost);
-SELECT CASE WHEN min_version('3.6.0') THEN plan(684) ELSE plan(252) END;
+SELECT CASE WHEN min_version('3.6.0') THEN plan(432) ELSE plan(1) END;
 
 CREATE OR REPLACE FUNCTION withPointsKSP_inner_query() RETURNS SETOF TEXT AS
 $BODY$
 BEGIN
-  IF min_version('3.6.0') THEN
+
+    IF NOT min_version('3.6.0') THEN
+      RETURN QUERY SELECT skip(1, 'pgr_withPointsKSP testing only valid signatures on 4.0.0');
+      RETURN;
+    END IF;
+
     -- ONE TO ONE
     RETURN QUERY SELECT style_dijkstra('pgr_withPointsKSP(', ', $$SELECT * from pointsOfInterest$$, 6, 10, 1, $$r$$,true)');
     RETURN QUERY SELECT innerquery_points('pgr_withPointsKSP($$SELECT * FROM edges$$,', ', 6, 10, 1, $$l$$, true)');
@@ -42,17 +47,7 @@ BEGIN
     RETURN QUERY SELECT style_dijkstra('pgr_withPointsKSP(', ', $$SELECT * from pointsOfInterest$$, $$SELECT * FROM combinations$$, 2, $$r$$, true)');
     RETURN QUERY SELECT innerquery_points('pgr_withPointsKSP($$SELECT * FROM edges$$,', ', $$SELECT * FROM combinations$$, 2, $$r$$, true)');
     RETURN QUERY SELECT innerquery_combinations('pgr_withPointsKSP($$SELECT * FROM edges$$, $$SELECT * from pointsOfInterest$$,',', 2, $$r$$, true)');
-  END IF;
-  /* TODO Remove on v4*/
-  -- ONE TO ONE
-  SET client_min_messages TO ERROR;
-  RETURN QUERY SELECT style_dijkstra('pgr_withPointsKSP(', ', $$SELECT * from pointsOfInterest$$, 5, 10, 2, driving_side => $$r$$, directed => true)');
-  RETURN QUERY SELECT innerquery_points('pgr_withPointsKSP($$SELECT * FROM edges$$,', ', 6, 10, 2, driving_side => $$r$$, directed => true)');
-  RETURN QUERY SELECT style_dijkstra('pgr_withPointsKSP(', ', $$SELECT * from pointsOfInterest$$, 5, 10, 2, true, true, $$r$$)');
-  RETURN QUERY SELECT innerquery_points('pgr_withPointsKSP($$SELECT * FROM edges$$,', ', 6, 10, 2, true, true, $$r$$)');
-  RETURN QUERY SELECT style_dijkstra('pgr_withPointsKSP(', ', $$SELECT * from pointsOfInterest$$, 5, 10, 2, true)');
-  RETURN QUERY SELECT innerquery_points('pgr_withPointsKSP($$SELECT * FROM edges$$,', ', 6, 10, 2, true)');
-  SET client_min_messages TO NOTICE;
+
 END
 $BODY$
 LANGUAGE plpgsql VOLATILE;
diff --git a/pgtap/ksp/withPointsKSP/no_crash_test.pg b/pgtap/ksp/withPointsKSP/no_crash_test.pg
index 56a7629acfa..30ab7c9f934 100644
--- a/pgtap/ksp/withPointsKSP/no_crash_test.pg
+++ b/pgtap/ksp/withPointsKSP/no_crash_test.pg
@@ -19,7 +19,7 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 BEGIN;
 
 UPDATE edges SET cost = sign(cost), reverse_cost = sign(reverse_cost);
-SELECT CASE WHEN min_version('3.6.0') THEN plan(164) ELSE plan(26) END;
+SELECT CASE WHEN min_version('3.6.0') THEN plan(137) ELSE plan(1) END;
 
 PREPARE edges AS
 SELECT id, source, target, cost, reverse_cost FROM edges;
@@ -33,9 +33,6 @@ SELECT array_agg(id) FROM vertices WHERE id IN (-1);
 PREPARE null_ret_arr AS
 SELECT array_agg(id) FROM vertices WHERE id IN (-1);
 
-SELECT isnt_empty('edges', 'Should be not empty to tests be meaningful');
-SELECT set_eq('null_ret', 'SELECT NULL::BIGINT[]', 'Should be empty to tests be meaningful');
-
 CREATE OR REPLACE FUNCTION test_function()
 RETURNS SETOF TEXT AS
 $BODY$
@@ -43,7 +40,13 @@ DECLARE
 params TEXT[];
 subs TEXT[];
 BEGIN
-IF min_version('3.6.0') THEN
+
+    IF NOT min_version('3.6.0') THEN
+      RETURN QUERY SELECT skip(1, 'pgr_withPointsKSP testing only valid signatures on 4.0.0');
+      RETURN;
+    END IF;
+
+    RETURN QUERY SELECT has_function('pgr_withpointsksp',ARRAY['text','text','bigint','bigint','integer','character','boolean','boolean','boolean']);
     -- one to one
     params = ARRAY[
     '$$edges$$',
@@ -168,11 +171,6 @@ IF min_version('3.6.0') THEN
     PREPARE combinations AS
     SELECT source, target FROM combinations;
 
-    RETURN QUERY
-    SELECT isnt_empty('combinations', 'Should be not empty to tests be meaningful');
-    RETURN QUERY
-    SELECT is_empty('null_combinations', 'Should be empty to tests be meaningful');
-
     params = ARRAY['$$edges$$',
     '$$SELECT pid, edge_id, fraction from pointsOfInterest$$',
     '$$combinations$$',
@@ -197,35 +195,6 @@ IF min_version('3.6.0') THEN
     'NULL'
     ]::TEXT[];
     RETURN query SELECT * FROM no_crash_test('pgr_withPointsKSP', params, subs);
-END IF;
-
-/* TODO remove tests on v4*/
-    -- 1 to distance
-    params = ARRAY[
-    '$$SELECT id, source, target, cost, reverse_cost FROM edges$$',
-    '$$SELECT pid, edge_id, fraction from pointsOfInterest$$',
-    '5',
-    '6',
-    '2'
-    ]::TEXT[];
-    subs = ARRAY[
-    'NULL',
-    'NULL',
-    '(SELECT id FROM vertices WHERE id IN (-1))',
-    '(SELECT id FROM vertices WHERE id IN (-1))',
-    'NULL'
-    ]::TEXT[];
-
-    RETURN query SELECT * FROM no_crash_test('pgr_withPointsKSP', params, subs);
-
-    subs = ARRAY[
-    'NULL',
-    'NULL',
-    'NULL::BIGINT',
-    'NULL::BIGINT',
-    'NULL'
-    ]::TEXT[];
-    RETURN query SELECT * FROM no_crash_test('pgr_withPointsKSP', params, subs);
 
 END
 $BODY$
diff --git a/pgtap/ksp/withPointsKSP/types_check.pg b/pgtap/ksp/withPointsKSP/types_check.pg
index bb5ee0127d6..a3a29b84869 100644
--- a/pgtap/ksp/withPointsKSP/types_check.pg
+++ b/pgtap/ksp/withPointsKSP/types_check.pg
@@ -17,7 +17,7 @@ along with this program; if not, write to the Free Software
 Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
  ********************************************************************PGR-GNU*/
 BEGIN;
-SELECT CASE WHEN min_version('3.6.0') THEN plan(15) ELSE plan(5) END;
+SELECT CASE WHEN min_version('3.6.0') THEN plan(13) ELSE plan(2) END;
 
 SELECT has_function('pgr_withpointsksp');
 
@@ -25,7 +25,12 @@ CREATE FUNCTION withPointsKSP_types_check()
 RETURNS SETOF TEXT AS
 $BODY$
 BEGIN
-  IF min_version('3.6.0') THEN
+
+    IF NOT min_version('3.6.0') THEN
+      RETURN QUERY SELECT skip(1, 'pgr_withPointsKSP testing only valid signatures on 4.0.0');
+      RETURN;
+    END IF;
+
     RETURN QUERY SELECT has_function('pgr_withpointsksp',ARRAY['text','text','bigint','bigint','integer','character','boolean','boolean','boolean']);
     RETURN QUERY SELECT has_function('pgr_withpointsksp',ARRAY['text','text','bigint','anyarray','integer','character','boolean','boolean','boolean']);
     RETURN QUERY SELECT has_function('pgr_withpointsksp',ARRAY['text','text','anyarray','bigint','integer','character','boolean','boolean','boolean']);
@@ -37,42 +42,42 @@ BEGIN
     RETURN QUERY SELECT function_returns('pgr_withpointsksp',ARRAY['text','text','anyarray','bigint','integer','character','boolean','boolean','boolean'],'setof record');
     RETURN QUERY SELECT function_returns('pgr_withpointsksp',ARRAY['text','text','anyarray','anyarray','integer','character','boolean','boolean','boolean'],'setof record');
     RETURN QUERY SELECT function_returns('pgr_withpointsksp',ARRAY['text','text','text','integer','character','boolean','boolean','boolean'],'setof record');
-  END IF;
-  /*Remove last 1 row on v4*/
-  RETURN QUERY SELECT CASE WHEN min_version('3.6.0')
-    THEN collect_tap(
 
-      function_args_eq('pgr_withpointsksp',
-        $$VALUES
-        ('{"","","","","","","directed","heap_paths","details","seq","path_id","path_seq","start_vid","end_vid","node","edge","cost","agg_cost"}'::TEXT[]),
-        ('{"","","","","","directed","heap_paths","details","seq","path_id","path_seq","start_vid","end_vid","node","edge","cost","agg_cost"}'::TEXT[]),
-        ('{"","","","","","directed","heap_paths","driving_side","details","seq","path_id","path_seq","node","edge","cost","agg_cost"}'::TEXT[])
-        $$),
+    IF min_version('4.0.0') THEN
+
+      RETURN QUERY SELECT function_args_eq('pgr_withpointsksp',
+          $$VALUES
+          ('{"","","","","","",directed,heap_paths,details,seq,path_id,path_seq,start_vid,end_vid,node,edge,cost,agg_cost}'::TEXT[]),
+          ('{"","","","","",directed,heap_paths,details,seq,path_id,path_seq,start_vid,end_vid,node,edge,cost,agg_cost}'::TEXT[])
+          $$);
+
+      RETURN QUERY SELECT function_types_eq('pgr_withpointsksp',
+          $$VALUES
+          ('{text,text,int8,int8,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[]),
+          ('{text,text,int8,anyarray,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[]),
+          ('{text,text,anyarray,int8,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[]),
+          ('{text,text,anyarray,anyarray,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[]),
+          ('{text,text,text,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[])
+          $$);
 
-      function_types_eq('pgr_withpointsksp',
-        $$VALUES
-        ('{text,text,int8,int8,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[]),
-        ('{text,text,int8,anyarray,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[]),
-        ('{text,text,anyarray,int8,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[]),
-        ('{text,text,anyarray,anyarray,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[]),
-        ('{text,text,text,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[]),
-        ('{text,text,int8,int8,int4,bool,bool,bpchar,bool,int4,int4,int4,int8,int8,float8,float8}'::TEXT[])
-        $$)
-    )
-    ELSE collect_tap(
+    ELSE
 
-      function_args_eq('pgr_withpointsksp',
-        $$SELECT '{"","","","","","directed","heap_paths","driving_side","details","seq","path_id","path_seq","node","edge","cost","agg_cost"}'::TEXT[] $$
-      ),
+      RETURN QUERY SELECT function_args_has('pgr_withpointsksp',
+          $$VALUES
+          ('{"","","","","","",directed,heap_paths,details,seq,path_id,path_seq,start_vid,end_vid,node,edge,cost,agg_cost}'::TEXT[]),
+          ('{"","","","","",directed,heap_paths,details,seq,path_id,path_seq,start_vid,end_vid,node,edge,cost,agg_cost}'::TEXT[])
+          $$);
 
-      function_types_eq('pgr_withpointsksp',
-        $$VALUES ('{text,text,int8,int8,int4,bool,bool,bpchar,bool,int4,int4,int4,int8,int8,float8,float8}'::TEXT[])$$
-      )
-    )END;
+      RETURN QUERY SELECT function_types_has('pgr_withpointsksp',
+          $$VALUES
+          ('{text,text,int8,int8,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[]),
+          ('{text,text,int8,anyarray,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[]),
+          ('{text,text,anyarray,int8,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[]),
+          ('{text,text,anyarray,anyarray,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[]),
+          ('{text,text,text,int4,bpchar,bool,bool,bool,int4,int4,int4,int8,int8,int8,int8,float8,float8}'::TEXT[])
+          $$);
 
-  /* TODO remove on v4*/
-  RETURN QUERY SELECT has_function('pgr_withpointsksp',ARRAY['text','text','bigint','bigint','integer','boolean','boolean','character','boolean']);
-  RETURN QUERY SELECT function_returns('pgr_withpointsksp',ARRAY['text','text','bigint','bigint','integer','boolean','boolean','character','boolean'],'setof record');
+    END IF;
 END
 $BODY$
 LANGUAGE plpgsql VOLATILE;
diff --git a/sql/ksp/_withPointsKSP.sql b/sql/ksp/_withPointsKSP.sql
index 8c5e1c709ff..201f1b0a504 100644
--- a/sql/ksp/_withPointsKSP.sql
+++ b/sql/ksp/_withPointsKSP.sql
@@ -26,11 +26,11 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
  ********************************************************************PGR-GNU*/
 
 --------------------
--- pgr_withPointsKSP
+-- pgr_withPointsKSP:
 --------------------
 
---v3.6
-CREATE FUNCTION _pgr_withPointsKSP(
+--v4.0
+CREATE FUNCTION _pgr_withPointsKSP_v4(
   TEXT, -- edges
   TEXT, -- points
   ANYARRAY, -- departures
@@ -41,7 +41,6 @@ CREATE FUNCTION _pgr_withPointsKSP(
   BOOLEAN, -- directed
   BOOLEAN, -- heaps
   BOOLEAN, -- details
-  BOOLEAN, -- new ksp
 
   OUT seq INTEGER,
   OUT path_id INTEGER,
@@ -56,8 +55,8 @@ RETURNS SETOF RECORD AS
 'MODULE_PATHNAME'
 LANGUAGE c STABLE STRICT;
 
---v3.6
-CREATE FUNCTION _pgr_withPointsKSP(
+--v4.0
+CREATE FUNCTION _pgr_withPointsKSP_v4(
   TEXT, -- edges
   TEXT, -- points
   TEXT, -- combinations
@@ -81,34 +80,8 @@ RETURNS SETOF RECORD AS
 'MODULE_PATHNAME'
 LANGUAGE c STABLE STRICT;
 
-COMMENT ON FUNCTION _pgr_withPointsKSP(TEXT, TEXT, ANYARRAY, ANYARRAY, INTEGER, CHAR, BOOLEAN, BOOLEAN, BOOLEAN, BOOLEAN)
+COMMENT ON FUNCTION _pgr_withPointsKSP_v4(TEXT, TEXT, ANYARRAY, ANYARRAY, INTEGER, CHAR, BOOLEAN, BOOLEAN, BOOLEAN)
 IS 'pgRouting internal function';
 
-COMMENT ON FUNCTION _pgr_withPointsKSP(TEXT, TEXT, TEXT, INTEGER, CHAR, BOOLEAN, BOOLEAN, BOOLEAN)
+COMMENT ON FUNCTION _pgr_withPointsKSP_v4(TEXT, TEXT, TEXT, INTEGER, CHAR, BOOLEAN, BOOLEAN, BOOLEAN)
 IS 'pgRouting internal function';
-
-/*TODO remove on v4*/
---v3.0
-CREATE FUNCTION _pgr_withPointsKSP(
-    edges_sql TEXT,
-    points_sql TEXT,
-    start_pid BIGINT,
-    end_pid BIGINT,
-    k INTEGER,
-
-    directed BOOLEAN,
-    heap_paths BOOLEAN,
-    driving_side CHAR,
-    details BOOLEAN,
-
-    OUT seq INTEGER, OUT path_id INTEGER, OUT path_seq INTEGER,
-    OUT node BIGINT, OUT edge BIGINT,
-    OUT cost FLOAT, OUT agg_cost FLOAT)
-  RETURNS SETOF RECORD AS
-    'MODULE_PATHNAME'
-    LANGUAGE c STABLE STRICT;
-
--- COMMENTS
-
-COMMENT ON FUNCTION _pgr_withPointsKSP(TEXT, TEXT, BIGINT, BIGINT, INTEGER, BOOLEAN, BOOLEAN, CHAR, BOOLEAN)
-IS 'pgRouting internal function deprecated on v3.6.0';
diff --git a/sql/ksp/withPointsKSP.sql b/sql/ksp/withPointsKSP.sql
index 62148219cd2..035a20ff944 100644
--- a/sql/ksp/withPointsKSP.sql
+++ b/sql/ksp/withPointsKSP.sql
@@ -51,7 +51,7 @@ CREATE FUNCTION pgr_withPointsKSP(
 RETURNS SETOF RECORD AS
 $BODY$
     SELECT seq, path_id, path_seq, start_vid, end_vid, node, edge, cost, agg_cost
-    FROM _pgr_withPointsKSP(_pgr_get_statement($1), _pgr_get_statement($2), ARRAY[$3]::BIGINT[], ARRAY[$4]::BIGINT[], $5, $6, $7, $8, $9, true);
+    FROM _pgr_withPointsKSP_v4(_pgr_get_statement($1), _pgr_get_statement($2), ARRAY[$3]::BIGINT[], ARRAY[$4]::BIGINT[], $5, $6, $7, $8, $9);
 $BODY$
 LANGUAGE SQL VOLATILE STRICT
 COST 100
@@ -83,7 +83,7 @@ CREATE FUNCTION pgr_withPointsKSP(
 RETURNS SETOF RECORD AS
 $BODY$
     SELECT seq, path_id, path_seq, start_vid, end_vid, node, edge, cost, agg_cost
-    FROM _pgr_withPointsKSP(_pgr_get_statement($1), _pgr_get_statement($2), ARRAY[$3]::BIGINT[], $4::BIGINT[], $5, $6, $7, $8, $9, true);
+    FROM _pgr_withPointsKSP_v4(_pgr_get_statement($1), _pgr_get_statement($2), ARRAY[$3]::BIGINT[], $4::BIGINT[], $5, $6, $7, $8, $9);
 $BODY$
 LANGUAGE SQL VOLATILE STRICT
 COST 100
@@ -115,7 +115,7 @@ CREATE FUNCTION pgr_withPointsKSP(
 RETURNS SETOF RECORD AS
 $BODY$
     SELECT seq, path_id, path_seq, start_vid, end_vid, node, edge, cost, agg_cost
-    FROM _pgr_withPointsKSP(_pgr_get_statement($1), _pgr_get_statement($2), $3::BIGINT[], ARRAY[$4]::BIGINT[], $5, $6, $7, $8, $9, true);
+    FROM _pgr_withPointsKSP_v4(_pgr_get_statement($1), _pgr_get_statement($2), $3::BIGINT[], ARRAY[$4]::BIGINT[], $5, $6, $7, $8, $9);
 $BODY$
 LANGUAGE SQL VOLATILE STRICT
 COST 100
@@ -147,7 +147,7 @@ CREATE FUNCTION pgr_withPointsKSP(
 RETURNS SETOF RECORD AS
 $BODY$
     SELECT seq, path_id, path_seq, start_vid, end_vid, node, edge, cost, agg_cost
-    FROM _pgr_withPointsKSP(_pgr_get_statement($1), _pgr_get_statement($2), $3::BIGINT[], $4::BIGINT[], $5, $6, $7, $8, $9, true);
+    FROM _pgr_withPointsKSP_v4(_pgr_get_statement($1), _pgr_get_statement($2), $3::BIGINT[], $4::BIGINT[], $5, $6, $7, $8, $9);
 $BODY$
 LANGUAGE SQL VOLATILE STRICT
 COST 100
@@ -178,7 +178,7 @@ CREATE FUNCTION pgr_withPointsKSP(
 RETURNS SETOF RECORD AS
 $BODY$
     SELECT seq, path_id, path_seq, start_vid, end_vid, node, edge, cost, agg_cost
-    FROM _pgr_withPointsKSP(_pgr_get_statement($1), _pgr_get_statement($2), _pgr_get_statement($3), $4, $5, $6, $7, $8);
+    FROM _pgr_withPointsKSP_v4(_pgr_get_statement($1), _pgr_get_statement($2), _pgr_get_statement($3), $4, $5, $6, $7, $8);
 $BODY$
 LANGUAGE SQL VOLATILE STRICT
 COST 100
@@ -264,38 +264,3 @@ IS 'pgr_withPointsKSP
     - details := false
 - Documentation:
     - ${PROJECT_DOC_LINK}/pgr_withPointsKSP.html';
-
---v2.6
-CREATE FUNCTION pgr_withPointsKSP(
-    TEXT,    -- edges_sql (required)
-    TEXT,    -- points_sql (required)
-    BIGINT,  -- from_vid (required)
-    BIGINT,  -- to_vid (required)
-    INTEGER, -- K (required)
-
-    directed BOOLEAN DEFAULT true,
-    heap_paths BOOLEAN DEFAULT false,
-    driving_side CHAR DEFAULT 'b',
-    details BOOLEAN DEFAULT false,
-
-    OUT seq INTEGER, OUT path_id INTEGER, OUT path_seq INTEGER,
-    OUT node BIGINT, OUT edge BIGINT,
-    OUT cost FLOAT, OUT agg_cost FLOAT)
-RETURNS SETOF RECORD AS
-$BODY$
-BEGIN
-    RAISE WARNING 'pgr_withPointsKSP(text,text,bigint,bigint,integer,boolean,boolean,char,boolean) deprecated signature on v3.6.0';
-    RETURN QUERY
-    SELECT a.seq, a.path_id, a.path_seq, a.node, a.edge, a.cost, a.agg_cost
-    FROM _pgr_withPointsKSP(_pgr_get_statement($1), _pgr_get_statement($2), $3, $4, $5, $6, $7, $8, $9) AS a;
-END
-$BODY$
-LANGUAGE plpgsql VOLATILE STRICT
-COST 100
-ROWS 1000;
-
--- COMMENTS
-
-COMMENT ON FUNCTION pgr_withPointsKSP(TEXT, TEXT, BIGINT, BIGINT, INTEGER, BOOLEAN, BOOLEAN, CHAR, BOOLEAN)
-IS 'pgr_withPointsKSP deprecated signature on v3.6.0
-- Documentation: ${PROJECT_DOC_LINK}/pgr_withPointsKSP.html';
diff --git a/sql/scripts/build-extension-update-files.pl b/sql/scripts/build-extension-update-files.pl
index c30d98d5d99..89869e524a4 100755
--- a/sql/scripts/build-extension-update-files.pl
+++ b/sql/scripts/build-extension-update-files.pl
@@ -236,7 +236,6 @@ sub generate_upgrade_script {
 
         # updating to 3.6+
         if ($old_minor < 3.6) {
-            push @commands, drop_special_case_function("pgr_withpointsksp(text, text, bigint, bigint, integer, boolean, boolean, char, boolean)");
             push @commands, drop_special_case_function("pgr_astar(text,anyarray,bigint,boolean,integer,double precision,double precision)");
             push @commands, drop_special_case_function("pgr_astar(text,bigint,anyarray,boolean,integer,double precision,double precision)");
             push @commands, drop_special_case_function("pgr_astar(text,bigint,bigint,boolean,integer,double precision,double precision)");
diff --git a/sql/sigs/pgrouting--4.0.sig b/sql/sigs/pgrouting--4.0.sig
index a37a17c4055..e139466f418 100644
--- a/sql/sigs/pgrouting--4.0.sig
+++ b/sql/sigs/pgrouting--4.0.sig
@@ -282,14 +282,12 @@ pgr_withpointsdd(text,text,anyarray,double precision,character,boolean,boolean,b
 pgr_withpointsdd(text,text,bigint,double precision,character,boolean,boolean)
 _pgr_withpointsddv4(text,text,anyarray,double precision,character,boolean,boolean,boolean)
 pgr_withpointsksp(text,text,anyarray,anyarray,integer,character,boolean,boolean,boolean)
-_pgr_withpointsksp(text,text,anyarray,anyarray,integer,character,boolean,boolean,boolean,boolean)
 pgr_withpointsksp(text,text,anyarray,bigint,integer,character,boolean,boolean,boolean)
 pgr_withpointsksp(text,text,bigint,anyarray,integer,character,boolean,boolean,boolean)
-_pgr_withpointsksp(text,text,bigint,bigint,integer,boolean,boolean,character,boolean)
-pgr_withpointsksp(text,text,bigint,bigint,integer,boolean,boolean,character,boolean)
 pgr_withpointsksp(text,text,bigint,bigint,integer,character,boolean,boolean,boolean)
-_pgr_withpointsksp(text,text,text,integer,character,boolean,boolean,boolean)
 pgr_withpointsksp(text,text,text,integer,character,boolean,boolean,boolean)
+_pgr_withpointsksp_v4(text,text,anyarray,anyarray,integer,character,boolean,boolean,boolean)
+_pgr_withpointsksp_v4(text,text,text,integer,character,boolean,boolean,boolean)
 pgr_withpoints(text,text,anyarray,anyarray,boolean,character,boolean)
 _pgr_withpoints(text,text,anyarray,anyarray,boolean,character,boolean,boolean,boolean)
 pgr_withpoints(text,text,anyarray,bigint,boolean,character,boolean)
diff --git a/src/ksp/withPoints_ksp.c b/src/ksp/withPoints_ksp.c
index 316bf102b58..00ad59ba75d 100644
--- a/src/ksp/withPoints_ksp.c
+++ b/src/ksp/withPoints_ksp.c
@@ -39,8 +39,8 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 #include "drivers/withPoints/get_new_queries.h"
 #include "drivers/yen/withPoints_ksp_driver.h"
 
-PGDLLEXPORT Datum _pgr_withpointsksp(PG_FUNCTION_ARGS);
-PG_FUNCTION_INFO_V1(_pgr_withpointsksp);
+PGDLLEXPORT Datum _pgr_withpointsksp_v4(PG_FUNCTION_ARGS);
+PG_FUNCTION_INFO_V1(_pgr_withpointsksp_v4);
 
 static
 void
@@ -139,8 +139,119 @@ process(
     pgr_SPI_finish();
 }
 
+PGDLLEXPORT Datum _pgr_withpointsksp_v4(PG_FUNCTION_ARGS) {
+    FuncCallContext     *funcctx;
+    TupleDesc            tuple_desc;
+
+    Path_rt  *result_tuples = 0;
+    size_t result_count = 0;
+
+    if (SRF_IS_FIRSTCALL()) {
+        MemoryContext   oldcontext;
+        funcctx = SRF_FIRSTCALL_INIT();
+        oldcontext = MemoryContextSwitchTo(funcctx->multi_call_memory_ctx);
+
+        if (PG_NARGS() == 9) {
+            process(
+                text_to_cstring(PG_GETARG_TEXT_P(0)),
+                text_to_cstring(PG_GETARG_TEXT_P(1)),
+                NULL,
+                PG_GETARG_ARRAYTYPE_P(2),
+                PG_GETARG_ARRAYTYPE_P(3),
+                NULL, NULL,
+                PG_GETARG_INT32(4),
+                text_to_cstring(PG_GETARG_TEXT_P(5)),
+                PG_GETARG_BOOL(6),
+                PG_GETARG_BOOL(7),
+                PG_GETARG_BOOL(8),
+                &result_tuples,
+                &result_count);
+        } else if (PG_NARGS() == 8) {
+            process(
+                text_to_cstring(PG_GETARG_TEXT_P(0)),
+                text_to_cstring(PG_GETARG_TEXT_P(1)),
+                text_to_cstring(PG_GETARG_TEXT_P(2)),
+                NULL, NULL,
+                NULL, NULL,
+                PG_GETARG_INT32(3),
+                text_to_cstring(PG_GETARG_TEXT_P(4)),
+                PG_GETARG_BOOL(5),
+                PG_GETARG_BOOL(6),
+                PG_GETARG_BOOL(7),
+                &result_tuples,
+                &result_count);
+        }
 
 
+        funcctx->max_calls = result_count;
+        funcctx->user_fctx = result_tuples;
+        if (get_call_result_type(fcinfo, NULL, &tuple_desc) != TYPEFUNC_COMPOSITE) {
+            ereport(ERROR,
+                    (errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
+                     errmsg("function returning record called in context that cannot accept type record")));
+        }
+
+        funcctx->tuple_desc = tuple_desc;
+        MemoryContextSwitchTo(oldcontext);
+    }
+
+    funcctx = SRF_PERCALL_SETUP();
+    tuple_desc = funcctx->tuple_desc;
+    result_tuples = (Path_rt*) funcctx->user_fctx;
+
+    if (funcctx->call_cntr < funcctx->max_calls) {
+        HeapTuple    tuple;
+        Datum        result;
+        Datum        *values;
+        bool*        nulls;
+
+        size_t n = 9;
+
+        values = palloc(n * sizeof(Datum));
+        nulls = palloc(n * sizeof(bool));
+
+        size_t i;
+        for (i = 0; i < n; ++i) {
+            nulls[i] = false;
+        }
+
+        int64_t path_id = 1;
+        if (funcctx->call_cntr != 0) {
+            if (result_tuples[funcctx->call_cntr - 1].edge == -1) {
+                path_id = result_tuples[funcctx->call_cntr - 1].start_id + 1;
+            } else {
+                path_id = result_tuples[funcctx->call_cntr - 1].start_id;
+            }
+        }
+        int64_t seq = funcctx->call_cntr == 0?  1 : result_tuples[funcctx->call_cntr - 1].end_id;
+
+        values[0] = Int32GetDatum((int32_t)funcctx->call_cntr + 1);
+        values[1] = Int32GetDatum((int32_t)path_id);
+        values[2] = Int32GetDatum((int32_t)seq);
+        values[3] = Int64GetDatum(result_tuples[funcctx->call_cntr].start_id);
+        values[4] = Int64GetDatum(result_tuples[funcctx->call_cntr].end_id);
+        values[5] = Int64GetDatum(result_tuples[funcctx->call_cntr].node);
+        values[6] = Int64GetDatum(result_tuples[funcctx->call_cntr].edge);
+        values[7] = Float8GetDatum(result_tuples[funcctx->call_cntr].cost);
+        values[8] = Float8GetDatum(result_tuples[funcctx->call_cntr].agg_cost);
+
+        result_tuples[funcctx->call_cntr].start_id = path_id;
+        result_tuples[funcctx->call_cntr].end_id = result_tuples[funcctx->call_cntr].edge < 0? 1 : seq + 1;
+
+        tuple = heap_form_tuple(tuple_desc, values, nulls);
+        result = HeapTupleGetDatum(tuple);
+        SRF_RETURN_NEXT(funcctx, result);
+    } else {
+        SRF_RETURN_DONE(funcctx);
+    }
+}
+
+/*
+ * TODO (v5) v5 remove deprecated code
+ * TODO (v4 last micro) warn about deprecated code
+ */
+PGDLLEXPORT Datum _pgr_withpointsksp(PG_FUNCTION_ARGS);
+PG_FUNCTION_INFO_V1(_pgr_withpointsksp);
 
 PGDLLEXPORT Datum _pgr_withpointsksp(PG_FUNCTION_ARGS) {
     FuncCallContext     *funcctx;
@@ -208,12 +319,12 @@ PGDLLEXPORT Datum _pgr_withpointsksp(PG_FUNCTION_ARGS) {
         funcctx->max_calls = result_count;
 
         funcctx->user_fctx = result_tuples;
-        if (get_call_result_type(fcinfo, NULL, &tuple_desc)
-                != TYPEFUNC_COMPOSITE)
+        if (get_call_result_type(fcinfo, NULL, &tuple_desc) != TYPEFUNC_COMPOSITE) {
             ereport(ERROR,
                     (errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
                      errmsg("function returning record called in context "
                          "that cannot accept type record")));
+        }
 
         funcctx->tuple_desc = tuple_desc;
         MemoryContextSwitchTo(oldcontext);
diff --git a/tools/testers/general_pgtap_tests.sql b/tools/testers/general_pgtap_tests.sql
index 3c71b21a622..c329e76f1ce 100644
--- a/tools/testers/general_pgtap_tests.sql
+++ b/tools/testers/general_pgtap_tests.sql
@@ -113,7 +113,7 @@ RETURNS TEXT AS
 $BODY$
     SELECT set_has(format($$
       SELECT proargnames from pg_catalog.pg_proc where proname = '%1$s'
-      $$, $1), $2, $1 || ': Function args names');
+      $$, $1), $2, $1 || ': Function has args names');
 $BODY$ LANGUAGE SQL;
 
 CREATE OR REPLACE FUNCTION function_returns_geom(TEXT)