diff --git a/examples/src/examples/graphics/ambient-occlusion.example.mjs b/examples/src/examples/graphics/ambient-occlusion.example.mjs
index dcca2ac0c16..99eca983c13 100644
--- a/examples/src/examples/graphics/ambient-occlusion.example.mjs
+++ b/examples/src/examples/graphics/ambient-occlusion.example.mjs
@@ -168,7 +168,7 @@ assetListLoader.load(() => {
     // ------ Custom render passes set up ------
 
     const currentOptions = new pc.CameraFrameOptions();
-    currentOptions.samples = 1;
+    currentOptions.samples = 4;
     currentOptions.sceneColorMap = false;
     currentOptions.ssaoType = pc.SSAOTYPE_LIGHTING;
     currentOptions.ssaoBlurEnabled = true;
diff --git a/src/extras/render-passes/render-pass-camera-frame.js b/src/extras/render-passes/render-pass-camera-frame.js
index 7743d96ba71..ab7d8201adf 100644
--- a/src/extras/render-passes/render-pass-camera-frame.js
+++ b/src/extras/render-passes/render-pass-camera-frame.js
@@ -1,10 +1,7 @@
 import { LAYERID_SKYBOX, LAYERID_IMMEDIATE, TONEMAP_NONE, GAMMA_NONE } from '../../scene/constants.js';
 import {
-    ADDRESS_CLAMP_TO_EDGE,
-    FILTER_LINEAR,
-    FILTER_NEAREST,
-    PIXELFORMAT_DEPTH,
-    PIXELFORMAT_RGBA8
+    ADDRESS_CLAMP_TO_EDGE, FILTER_LINEAR, FILTER_NEAREST,
+    PIXELFORMAT_DEPTH, PIXELFORMAT_R32F, PIXELFORMAT_RGBA8
 } from '../../platform/graphics/constants.js';
 import { Texture } from '../../platform/graphics/texture.js';
 import { RenderPass } from '../../platform/graphics/render-pass.js';
@@ -205,11 +202,19 @@ class RenderPassCameraFrame extends RenderPass {
             addressV: ADDRESS_CLAMP_TO_EDGE
         });
 
+        // TODO: handle stencil support
+        let depthFormat = PIXELFORMAT_DEPTH;
+        if (options.prepassEnabled && device.isWebGPU && options.samples > 1) {
+            // on WebGPU the depth format cannot be resolved, so we need to use a float format in that case
+            // TODO: ideally we expose this using some option or similar public API to hide this implementation detail
+            depthFormat = PIXELFORMAT_R32F;
+        }
+
         this.sceneDepth = new Texture(device, {
             name: 'SceneDepth',
             width: 4,
             height: 4,
-            format: PIXELFORMAT_DEPTH,  // TODO: handle stencil support
+            format: depthFormat,
             mipmaps: false,
             minFilter: FILTER_NEAREST,
             magFilter: FILTER_NEAREST,
@@ -271,8 +276,8 @@ class RenderPassCameraFrame extends RenderPass {
             const { app, device, cameraComponent } = this;
             const { scene, renderer } = app;
 
-            // ssao needs resolved depth
-            const resolveDepth = this.options.ssaoType !== SSAOTYPE_NONE;
+            // ssao & taa need resolved depth
+            const resolveDepth = this.options.ssaoType !== SSAOTYPE_NONE || this.options.taaEnabled;
 
             this.prePass = new RenderPassPrepass(device, scene, renderer, cameraComponent, this.sceneDepth, resolveDepth, this.sceneOptions, options.samples);
         }
diff --git a/src/platform/graphics/render-target.js b/src/platform/graphics/render-target.js
index 977e600c5f6..1feeb822105 100644
--- a/src/platform/graphics/render-target.js
+++ b/src/platform/graphics/render-target.js
@@ -1,6 +1,6 @@
 import { Debug } from '../../core/debug.js';
 import { TRACEID_RENDER_TARGET_ALLOC } from '../../core/constants.js';
-import { PIXELFORMAT_DEPTH, PIXELFORMAT_DEPTHSTENCIL, isSrgbPixelFormat } from './constants.js';
+import { PIXELFORMAT_DEPTH, PIXELFORMAT_DEPTHSTENCIL, PIXELFORMAT_R32F, isSrgbPixelFormat } from './constants.js';
 import { DebugGraphics } from './debug-graphics.js';
 import { GraphicsDevice } from './graphics-device.js';
 
@@ -135,6 +135,19 @@ class RenderTarget {
         Debug.assert(!(options instanceof GraphicsDevice), 'pc.RenderTarget constructor no longer accepts GraphicsDevice parameter.');
         this.id = id++;
 
+        // device, from one of the buffers
+        const device = options.colorBuffer?.device || options.depthBuffer?.device || options.graphicsDevice;
+        Debug.assert(device, 'Failed to obtain the device, colorBuffer nor depthBuffer store it.');
+        this._device = device;
+
+        // samples
+        const { maxSamples } = this._device;
+        this._samples = Math.min(options.samples ?? 1, maxSamples);
+        if (device.isWebGPU) {
+            // WebGPU only supports values of 1 or 4 for samples
+            this._samples = this._samples > 1 ? maxSamples : 1;
+        }
+
         // Use the single colorBuffer in the colorBuffers array. This allows us to always just use the array internally.
         this._colorBuffer = options.colorBuffer;
         if (options.colorBuffer) {
@@ -153,6 +166,11 @@ class RenderTarget {
             } else if (format === PIXELFORMAT_DEPTHSTENCIL) {
                 this._depth = true;
                 this._stencil = true;
+            } else if (format === PIXELFORMAT_R32F && this._depthBuffer.device.isWebGPU && this._samples > 1) {
+                // on WebGPU, when multisampling is enabled, we use R32F format for the specified buffer,
+                // which we can resolve depth to using a shader
+                this._depth = true;
+                this._stencil = false;
             } else {
                 Debug.warn('Incorrect depthBuffer format. Must be pc.PIXELFORMAT_DEPTH or pc.PIXELFORMAT_DEPTHSTENCIL');
                 this._depth = false;
@@ -175,19 +193,6 @@ class RenderTarget {
             }
         }
 
-        // device, from one of the buffers
-        const device = this._colorBuffer?.device || this._depthBuffer?.device || options.graphicsDevice;
-        Debug.assert(device, 'Failed to obtain the device, colorBuffer nor depthBuffer store it.');
-        this._device = device;
-
-        const { maxSamples } = this._device;
-        this._samples = Math.min(options.samples ?? 1, maxSamples);
-
-        // WebGPU only supports values of 1 or 4 for samples
-        if (device.isWebGPU) {
-            this._samples = this._samples > 1 ? maxSamples : 1;
-        }
-
         this.autoResolve = options.autoResolve ?? true;
 
         // use specified name, otherwise get one from color or depth buffer
diff --git a/src/platform/graphics/webgpu/webgpu-graphics-device.js b/src/platform/graphics/webgpu/webgpu-graphics-device.js
index 4d4ac9f6ef3..120a20a82f9 100644
--- a/src/platform/graphics/webgpu/webgpu-graphics-device.js
+++ b/src/platform/graphics/webgpu/webgpu-graphics-device.js
@@ -713,6 +713,22 @@ class WebgpuGraphicsDevice extends GraphicsDevice {
         // each render pass can use different number of bind groups
         this.bindGroupFormats.length = 0;
 
+        // resolve depth if needed after the pass has finished
+        const target = this.renderTarget;
+        if (target) {
+
+            // resolve depth buffer (stencil resolve is not yet implemented)
+            if (target.depthBuffer && renderPass.depthStencilOps.resolveDepth) {
+                if (renderPass.samples > 1 && target.autoResolve) {
+                    const depthAttachment = target.impl.depthAttachment;
+                    const destTexture = target.depthBuffer.impl.gpuTexture;
+                    if (depthAttachment && destTexture) {
+                        this.resolver.resolveDepth(this.commandEncoder, depthAttachment.multisampledDepthBuffer, destTexture);
+                    }
+                }
+            }
+        }
+
         // generate mipmaps using the same command buffer encoder
         for (let i = 0; i < renderPass.colorArrayOps.length; i++) {
             const colorOps = renderPass.colorArrayOps[i];
diff --git a/src/platform/graphics/webgpu/webgpu-render-target.js b/src/platform/graphics/webgpu/webgpu-render-target.js
index f1ecf71be71..dcaec6b76e2 100644
--- a/src/platform/graphics/webgpu/webgpu-render-target.js
+++ b/src/platform/graphics/webgpu/webgpu-render-target.js
@@ -330,8 +330,14 @@ class WebgpuRenderTarget {
 
                 if (samples > 1) {  // create a multi-sampled depth buffer for the provided depth buffer
 
+                    // single-sampled depthBuffer.impl.format can be R32F in some cases, but that cannot be used as a depth
+                    // buffer, only as a texture to resolve it to. We always use depth24plus-stencil8 for msaa depth buffers.
+                    const depthFormat = 'depth24plus-stencil8';
+                    this.depthAttachment.format = depthFormat;
+                    this.depthAttachment.hasStencil = depthFormat === 'depth24plus-stencil8';
+
                     // key for matching multi-sampled depth buffer
-                    const key = `${depthBuffer.id}:${width}:${height}:${samples}:${depthBuffer.impl.format}`;
+                    const key = `${depthBuffer.id}:${width}:${height}:${samples}:${depthFormat}`;
 
                     // check if we have already allocated a multi-sampled depth buffer for the depth buffer
                     const msTextures = getMultisampledTextureCache(device);
@@ -343,8 +349,10 @@ class WebgpuRenderTarget {
                             size: [width, height, 1],
                             dimension: '2d',
                             sampleCount: samples,
-                            format: depthBuffer.impl.format,
-                            usage: GPUTextureUsage.RENDER_ATTACHMENT
+                            format: depthFormat,
+                            usage: GPUTextureUsage.RENDER_ATTACHMENT |
+                                // if msaa and resolve targets are different formats, we need to be able to bind the msaa target as a texture for manual shader resolve
+                                (depthFormat !== depthBuffer.impl.format ? GPUTextureUsage.TEXTURE_BINDING : 0)
                         };
 
                         // allocate multi-sampled depth buffer