diff --git a/docs/conf.py b/docs/conf.py
index c4f2cac64..9de6baf31 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -326,10 +326,10 @@ def configure_doxyfile(
 
 # Resolve GitHub link branches: env var → current docs branch → default.
 # Computed here so they are available both in the ReadTheDocs clone block and in extlinks.
-fastdds_fallback_branch = resolve_fallback_branch("FASTDDS_BRANCH", docs_branch, "master")
-fastdds_docs_fallback_branch = resolve_fallback_branch("FASTDDS_DOCS_BRANCH", docs_branch, "master")
-fastdds_python_fallback_branch = resolve_fallback_branch("FASTDDS_PYTHON_BRANCH", docs_branch, "master")
-fastdds_gen_fallback_branch = resolve_fallback_branch("FASTDDS_GEN_BRANCH", docs_branch, "master")
+fastdds_fallback_branch = resolve_fallback_branch("FASTDDS_BRANCH", docs_branch, "3.2.x")
+fastdds_docs_fallback_branch = resolve_fallback_branch("FASTDDS_DOCS_BRANCH", docs_branch, "3.2.x")
+fastdds_python_fallback_branch = resolve_fallback_branch("FASTDDS_PYTHON_BRANCH", docs_branch, "2.2.x")
+fastdds_gen_fallback_branch = resolve_fallback_branch("FASTDDS_GEN_BRANCH", docs_branch, "4.0.x")
 
 print("Fallback branches for GitHub links:")
 print('  Fast-DDS:        "{}"'.format(fastdds_fallback_branch))
@@ -369,13 +369,16 @@ def configure_doxyfile(
         fastdds_repo_name,
     )
 
-    # Verify the desired branch actually exists in the cloned remote, falling back to master if not.
+    # Verify the desired branch/tag actually exists in the cloned remote, falling back to master if not.
     fastdds_branch = fastdds_fallback_branch
     if fastdds.refs.__contains__("origin/{}".format(fastdds_branch)):
         fastdds_branch = "origin/{}".format(fastdds_branch)
+    elif fastdds.tags.__contains__(fastdds_branch):
+        # GitPython exposes tags by bare name, e.g. "v3.6.2".
+        pass
     else:
         print(
-            'Fast DDS does not have branch "{}"; falling back to master'.format(
+            'Fast DDS does not have branch or tag "{}"; falling back to master'.format(
                 fastdds_branch
             )
         )
@@ -383,7 +386,7 @@ def configure_doxyfile(
 
     # Actual checkout
     print('Checking out Fast DDS branch "{}"'.format(fastdds_branch))
-    fastdds.refs[fastdds_branch].checkout()
+    fastdds.git.checkout(fastdds_branch)
 
     # - Fast DDS Python Bindings
     print("Cloning Fast DDS Python Bindings")
@@ -392,13 +395,16 @@ def configure_doxyfile(
         fastdds_python_repo_name,
     )
 
-    # Verify the desired branch actually exists in the cloned remote, falling back to master if not.
+    # Verify the desired branch/tag actually exists in the cloned remote, falling back to master if not.
     fastdds_python_branch = fastdds_python_fallback_branch
     if fastdds_python.refs.__contains__("origin/{}".format(fastdds_python_branch)):
         fastdds_python_branch = "origin/{}".format(fastdds_python_branch)
+    elif fastdds_python.tags.__contains__(fastdds_python_branch):
+        # GitPython exposes tags by bare name, e.g. "v3.6.1".
+        pass
     else:
         print(
-            'Fast DDS Python does not have branch "{}"; falling back to master'.format(
+            'Fast DDS Python does not have branch or tag "{}"; falling back to master'.format(
                 fastdds_python_branch
             )
         )
@@ -406,7 +412,7 @@ def configure_doxyfile(
 
     # Actual checkout
     print('Checking out Fast DDS Python branch "{}"'.format(fastdds_python_branch))
-    fastdds_python.refs[fastdds_python_branch].checkout()
+    fastdds_python.git.checkout(fastdds_python_branch)
 
     os.makedirs(os.path.dirname(output_dir), exist_ok=True)
     os.makedirs(os.path.dirname(doxygen_html), exist_ok=True)