diff --git a/py/private/bidi_enhancements_manifest.py b/py/private/bidi_enhancements_manifest.py
index f8f033bcbc0fd..18db77aa67f10 100644
--- a/py/private/bidi_enhancements_manifest.py
+++ b/py/private/bidi_enhancements_manifest.py
@@ -1048,8 +1048,20 @@ def continue_request(self, **kwargs):
         params.update(kwargs)
         self._conn.execute(_cb("network.continueRequest", params))''',
         ],
+        # Override auth_required to use raw dict so _auth_callback receives all
+        # fields (including "request") from the BiDi event params.  The
+        # generated AuthRequiredParameters dataclass only contains "response",
+        # losing the "request" field that holds the request ID required to call
+        # network.continueWithAuth.  extra_events entries appear last in the
+        # EVENT_CONFIGS dict literal, so this duplicate key overrides the
+        # CDDL-generated entry.
         # Add before_request event (maps to network.beforeRequestSent)
         "extra_events": [
+            {
+                "event_key": "auth_required",
+                "bidi_event": "network.authRequired",
+                "event_class": "dict",
+            },
             {
                 "event_key": "before_request",
                 "bidi_event": "network.beforeRequestSent",
diff --git a/py/selenium/webdriver/remote/websocket_connection.py b/py/selenium/webdriver/remote/websocket_connection.py
index cd34c35db3696..4119776ce39aa 100644
--- a/py/selenium/webdriver/remote/websocket_connection.py
+++ b/py/selenium/webdriver/remote/websocket_connection.py
@@ -18,6 +18,7 @@
 import dataclasses
 import json
 import logging
+import threading
 from ssl import CERT_NONE
 from threading import Thread
 from time import sleep
@@ -93,6 +94,7 @@ def __init__(self, url, timeout, interval):
         self.callbacks = {}
         self.session_id = None
         self._id = 0
+        self._id_lock = threading.Lock()
         self._messages = {}
         self._started = False
 
@@ -106,9 +108,11 @@ def close(self):
         self._ws = None
 
     def execute(self, command):
-        self._id += 1
+        with self._id_lock:
+            self._id += 1
+            current_id = self._id
         payload = self._serialize_command(command)
-        payload["id"] = self._id
+        payload["id"] = current_id
         if self.session_id:
             payload["sessionId"] = self.session_id
 
@@ -116,8 +120,9 @@ def execute(self, command):
         logger.debug(f"-> {data}"[: self._max_log_message_size])
         self._ws.send(data)
 
-        current_id = self._id
         self._wait_until(lambda: current_id in self._messages)
+        if current_id not in self._messages:
+            raise WebDriverException(f"Timed out waiting for response to BiDi command {current_id}")
         response = self._messages.pop(current_id)
 
         if "error" in response: