diff --git a/src/libcamera/pipeline/ipu3/cio2.cpp b/src/libcamera/pipeline/ipu3/cio2.cpp
index aef88afd..4fd57ef7 100644
--- a/src/libcamera/pipeline/ipu3/cio2.cpp
+++ b/src/libcamera/pipeline/ipu3/cio2.cpp
@@ -245,20 +245,16 @@ StreamConfiguration CIO2Device::generateConfiguration(Size size) const
  *
  * - The desired \a size shall fit in the sensor output size to avoid the need
  *   to up-scale.
- * - The sensor output size shall match the desired aspect ratio to avoid the
- *   need to crop the field of view.
- * - The sensor output size shall be as small as possible to lower the required
- *   bandwidth.
+ * - The sensor output size will be set to maximum resolution only when there
+ *   are no other available lower sensor resolutions from any of \a mbusCodes.
+ * - The sensor output size shall have the closest FoV with respect
+ *   to the sensor's maximum resolution.
  * - The desired \a size shall be supported by one of the media bus code listed
  *   in \a mbusCodes.
  *
  * When multiple media bus codes can produce the same size, the code at the
  * lowest position in \a mbusCodes is selected.
  *
- * The use of this method is optional, as the above criteria may not match the
- * needs of all pipeline handlers. Pipeline handlers may implement custom
- * sensor format selection when needed.
- *
  * The returned sensor output format is guaranteed to be acceptable by the
  * setFormat() method without any modification.
  *
@@ -268,14 +264,15 @@ StreamConfiguration CIO2Device::generateConfiguration(Size size) const
 V4L2SubdeviceFormat CIO2Device::getSensorFormat(const std::vector<unsigned int> &mbusCodes,
 						const Size &size) const
 {
-	unsigned int desiredArea = size.width * size.height;
-	unsigned int bestArea = UINT_MAX;
-	float desiredRatio = static_cast<float>(size.width) / size.height;
-	float bestRatio = FLT_MAX;
-	const Size *bestSize = nullptr;
+	std::map<Size, float> selectedSizes;
+	Size bestSize;
+	float maxResRatio = FLT_MAX;
+	float bestRatioDiff = -1.0;
 	uint32_t bestCode = 0;
 
 	for (unsigned int code : mbusCodes) {
+		Size maxSensorResolution;
+
 		const auto formats = formats_.find(code);
 		if (formats == formats_.end())
 			continue;
@@ -286,33 +283,50 @@ V4L2SubdeviceFormat CIO2Device::getSensorFormat(const std::vector<unsigned int>
 			if (sz.width < size.width || sz.height < size.height)
 				continue;
 
+			if (sz > maxSensorResolution)
+				maxSensorResolution = sz;
+
 			float ratio = static_cast<float>(sz.width) / sz.height;
-			float ratioDiff = fabsf(ratio - desiredRatio);
-			unsigned int area = sz.width * sz.height;
-			unsigned int areaDiff = area - desiredArea;
+			selectedSizes.emplace(sz, ratio);
+		}
 
-			if (ratioDiff > bestRatio)
-				continue;
+		if (!selectedSizes.empty()) {
+			maxResRatio = selectedSizes[maxSensorResolution];
 
-			if (ratioDiff < bestRatio || areaDiff < bestArea) {
-				bestRatio = ratioDiff;
-				bestArea = areaDiff;
-				bestSize = &sz;
+			selectedSizes.erase(maxSensorResolution);
+			if (selectedSizes.empty()) {
 				bestCode = code;
+				bestSize = maxSensorResolution;
+			} else { /* Find the best FoV to sensor's max resolution */
+				for (auto iter : selectedSizes) {
+					float ratioDiff = fabsf(maxResRatio - iter.second);
+
+					if (bestRatioDiff < 0 || (ratioDiff < bestRatioDiff)) {
+						bestRatioDiff = ratioDiff;
+						bestCode = code;
+						bestSize = iter.first;
+					}
+				}
 			}
 		}
+		selectedSizes.clear();
 	}
 
-	if (!bestSize) {
+	if (bestSize.isNull()) {
 		LOG(IPU3, Debug) << "No supported format or size found";
 		return {};
 	}
 
 	V4L2SubdeviceFormat format{
 		.mbus_code = bestCode,
-		.size = *bestSize,
+		.size = bestSize,
 	};
 
+	LOG(IPU3, Info)
+		<< "Desired Size: " << size.toString()
+		<< ", Found  " << mbusCodesToPixelFormat.at(format.mbus_code).toString()
+		<< " with Size: " << format.size.toString();
+
 	return format;
 }