diff --git a/modules/navigation/nav_map.cpp b/modules/navigation/nav_map.cpp
index dfbc92a9194..1779be2cc2e 100644
--- a/modules/navigation/nav_map.cpp
+++ b/modules/navigation/nav_map.cpp
@@ -617,7 +617,7 @@ Vector3 NavMap::get_closest_point_to_segment(const Vector3 &p_from, const Vector
 			const Face3 f(p.points[0].pos, p.points[point_id - 1].pos, p.points[point_id].pos);
 			Vector3 inters;
 			if (f.intersects_segment(p_from, p_to, &inters)) {
-				const real_t d = closest_point_d = p_from.distance_to(inters);
+				const real_t d = p_from.distance_to(inters);
 				if (use_collision == false) {
 					closest_point = inters;
 					use_collision = true;
diff --git a/tests/servers/test_navigation_server_3d.h b/tests/servers/test_navigation_server_3d.h
index 8778ea86a62..cf6b89c3301 100644
--- a/tests/servers/test_navigation_server_3d.h
+++ b/tests/servers/test_navigation_server_3d.h
@@ -697,12 +697,16 @@ TEST_SUITE("[Navigation]") {
 			CHECK_NE(navigation_server->map_get_closest_point(map, Vector3(0, 0, 0)), Vector3(0, 0, 0));
 			CHECK_NE(navigation_server->map_get_closest_point_normal(map, Vector3(0, 0, 0)), Vector3());
 			CHECK(navigation_server->map_get_closest_point_owner(map, Vector3(0, 0, 0)).is_valid());
-			// TODO: Test map_get_closest_point_to_segment() with p_use_collision=true as well.
 			CHECK_NE(navigation_server->map_get_closest_point_to_segment(map, Vector3(0, 0, 0), Vector3(1, 1, 1), false), Vector3());
+			CHECK_NE(navigation_server->map_get_closest_point_to_segment(map, Vector3(0, 0, 0), Vector3(1, 1, 1), true), Vector3());
 			CHECK_NE(navigation_server->map_get_path(map, Vector3(0, 0, 0), Vector3(10, 0, 10), true).size(), 0);
 			CHECK_NE(navigation_server->map_get_path(map, Vector3(0, 0, 0), Vector3(10, 0, 10), false).size(), 0);
 		}
 
+		SUBCASE("'map_get_closest_point_to_segment' with 'use_collision' should return default if segment doesn't intersect map") {
+			CHECK_EQ(navigation_server->map_get_closest_point_to_segment(map, Vector3(1, 2, 1), Vector3(1, 1, 1), true), Vector3());
+		}
+
 		SUBCASE("Elaborate query with 'CORRIDORFUNNEL' post-processing should yield non-empty result") {
 			Ref<NavigationPathQueryParameters3D> query_parameters = memnew(NavigationPathQueryParameters3D);
 			query_parameters->set_map(map);