diff --git a/.github/workflows/generate-bindings.yml b/.github/workflows/generate-bindings.yml
index b3a712eb..6bf08b19 100644
--- a/.github/workflows/generate-bindings.yml
+++ b/.github/workflows/generate-bindings.yml
@@ -88,24 +88,40 @@ jobs:
         cd $GITHUB_WORKSPACE
         git config --global --add safe.directory $GITHUB_WORKSPACE
         if git diff --exit-code; then
+          echo "No changes detected, skipping PR creation"
           exit 0
         fi
+
         git config --global user.email "action@github.com"
         git config --global user.name "GitHub Action"
         git remote set-url origin https://x-access-token:${{ secrets.GITHUB_TOKEN }}@github.com/${{ github.repository }}
-        git remote update origin
-        CREATE_PR=0
-        if ! git checkout update-bindings-${{ matrix.ros_distribution }}; then
+        git fetch origin
+
+        echo "Github env set and origin is fetched! Now checking if PR exists.."
+
+        BRANCH_NAME="update-bindings-${{ matrix.ros_distribution }}"
+        if gh pr list --head "$BRANCH_NAME" --state open --json number --jq length | grep -q '^0$'; then
+          echo "No existing PR found, will create new one"
           CREATE_PR=1
-          git checkout -b update-bindings-${{ matrix.ros_distribution }}
+        else
+          echo "PR already exists, will update it"
+          CREATE_PR=0
         fi
+        
         git add rclrs/src/rcl_bindings_generated_${{ matrix.ros_distribution }}.rs
         git commit -m "Regenerate bindings for ${{ matrix.ros_distribution }}"
-        git fetch origin update-bindings-${{ matrix.ros_distribution }}
-        git rebase origin/update-bindings-${{ matrix.ros_distribution }}
-        git push -u origin update-bindings-${{ matrix.ros_distribution }}
+        
+        git push -f origin HEAD:refs/heads/$BRANCH_NAME
+        
         if [ $CREATE_PR -eq 1 ]; then
-          gh pr create --base main --head update-bindings-${{ matrix.ros_distribution }} --title "Regenerate bindings for ${{ matrix.ros_distribution }}" --body "This PR regenerates the bindings for ${{ matrix.ros_distribution }}."
+          gh pr create \
+            --base main \
+            --head "$BRANCH_NAME" \
+            --title "Regenerate bindings for ${{ matrix.ros_distribution }}" \
+            --body "This PR regenerates the bindings for ${{ matrix.ros_distribution }}."
+            echo "Created new PR!"
+        else
+          echo "PR already exists and has been updated with new commit"
         fi
       env:
           GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}