diff --git a/src/viam/sdk/module/service.cpp b/src/viam/sdk/module/service.cpp
index a815a07bd..658630484 100644
--- a/src/viam/sdk/module/service.cpp
+++ b/src/viam/sdk/module/service.cpp
@@ -116,23 +116,22 @@ struct ModuleService::ServiceImpl : viam::module::v1::ModuleService::Service {
                                 "unable to reconfigure resource " + cfg.resource_name().name() +
                                     " as it doesn't exist.");
         }
-        try {
-            Reconfigurable::reconfigure_if_reconfigurable(res, deps, cfg);
+
+        if (auto reconfigurable = std::dynamic_pointer_cast<Reconfigurable>(res)) {
+            reconfigurable->reconfigure(deps, cfg);
             res->set_log_level(cfg.get_log_level());
             return grpc::Status();
-        } catch (const std::exception& exc) {
-            return grpc::Status(::grpc::INTERNAL, exc.what());
         }
 
         // if the type isn't reconfigurable by default, replace it
-        try {
-            Stoppable::stop_if_stoppable(res);
-        } catch (const std::exception& err) {
-            VIAM_SDK_LOG(error) << "unable to stop resource: " << err.what();
+        if (auto stoppable = std::dynamic_pointer_cast<Stoppable>(res)) {
+            stoppable->stop();
         }
 
         const std::shared_ptr<const ModelRegistration> reg =
             Registry::get().lookup_model(cfg.name());
+
+        // TODO RSDK-11067 new resource gets constructed while old one is still alive.
         if (reg) {
             try {
                 const std::shared_ptr<Resource> resource = reg->construct_resource(deps, cfg);
@@ -186,10 +185,8 @@ struct ModuleService::ServiceImpl : viam::module::v1::ModuleService::Service {
                 "unable to remove resource " + name.to_string() + " as it doesn't exist.");
         }
 
-        try {
-            Stoppable::stop_if_stoppable(res);
-        } catch (const std::exception& err) {
-            VIAM_SDK_LOG(error) << "unable to stop resource: " << err.what();
+        if (auto stoppable = std::dynamic_pointer_cast<Stoppable>(res)) {
+            stoppable->stop();
         }
 
         manager->remove(name);
diff --git a/src/viam/sdk/resource/reconfigurable.cpp b/src/viam/sdk/resource/reconfigurable.cpp
index 3f65ba516..f55be7b32 100644
--- a/src/viam/sdk/resource/reconfigurable.cpp
+++ b/src/viam/sdk/resource/reconfigurable.cpp
@@ -8,14 +8,5 @@ namespace sdk {
 Reconfigurable::~Reconfigurable() = default;
 Reconfigurable::Reconfigurable() = default;
 
-void Reconfigurable::reconfigure_if_reconfigurable(const std::shared_ptr<Resource>& resource,
-                                                   const Dependencies& deps,
-                                                   const ResourceConfig& cfg) {
-    auto reconfigurable_res = std::dynamic_pointer_cast<Reconfigurable>(resource);
-    if (reconfigurable_res) {
-        reconfigurable_res->reconfigure(deps, cfg);
-    }
-}
-
 }  // namespace sdk
 }  // namespace viam
diff --git a/src/viam/sdk/resource/reconfigurable.hpp b/src/viam/sdk/resource/reconfigurable.hpp
index 013bf10e1..1c85b62dd 100644
--- a/src/viam/sdk/resource/reconfigurable.hpp
+++ b/src/viam/sdk/resource/reconfigurable.hpp
@@ -15,14 +15,6 @@ class Reconfigurable {
     /// @param cfg The resource's config.
     virtual void reconfigure(const Dependencies& deps, const ResourceConfig& cfg) = 0;
 
-    /// @brief Reconfigures a resource if it is Reconfigurable.
-    /// @param resource the Resource to reconfigure.
-    /// @param deps Dependencies of the resource.
-    /// @param cfg The resource's config.
-    static void reconfigure_if_reconfigurable(const std::shared_ptr<Resource>& resource,
-                                              const Dependencies& deps,
-                                              const ResourceConfig& cfg);
-
    protected:
     explicit Reconfigurable();
 };
diff --git a/src/viam/sdk/resource/resource_manager.cpp b/src/viam/sdk/resource/resource_manager.cpp
index 40dc64ece..b11d9b61a 100644
--- a/src/viam/sdk/resource/resource_manager.cpp
+++ b/src/viam/sdk/resource/resource_manager.cpp
@@ -24,14 +24,16 @@ namespace sdk {
 std::shared_ptr<Resource> ResourceManager::resource(const std::string& name) {
     const std::lock_guard<std::mutex> lock(lock_);
 
-    if (resources_.find(name) != resources_.end()) {
-        return resources_.at(name);
+    auto res_it = resources_.find(name);
+    if (res_it != resources_.end()) {
+        return res_it->second;
     }
 
-    if (short_names_.find(name) != short_names_.end()) {
-        const std::string short_name = short_names_.at(name);
-        if (resources_.find(short_name) != resources_.end()) {
-            return resources_.at(short_name);
+    auto name_it = short_names_.find(name);
+    if (name_it != short_names_.end()) {
+        res_it = resources_.find(name_it->second);
+        if (res_it != resources_.end()) {
+            return res_it->second;
         }
     }
 
diff --git a/src/viam/sdk/resource/stoppable.cpp b/src/viam/sdk/resource/stoppable.cpp
index 4e4c7165e..b34fda57f 100644
--- a/src/viam/sdk/resource/stoppable.cpp
+++ b/src/viam/sdk/resource/stoppable.cpp
@@ -6,13 +6,5 @@ namespace sdk {
 Stoppable::~Stoppable() = default;
 Stoppable::Stoppable() = default;
 
-void Stoppable::stop_if_stoppable(const std::shared_ptr<Resource>& resource,
-                                  const ProtoStruct& extra) {
-    auto stoppable_res = std::dynamic_pointer_cast<Stoppable>(resource);
-    if (stoppable_res) {
-        stoppable_res->stop(extra);
-    }
-}
-
 }  // namespace sdk
 }  // namespace viam
diff --git a/src/viam/sdk/resource/stoppable.hpp b/src/viam/sdk/resource/stoppable.hpp
index 58d29f70a..d1b9c4165 100644
--- a/src/viam/sdk/resource/stoppable.hpp
+++ b/src/viam/sdk/resource/stoppable.hpp
@@ -17,18 +17,6 @@ class Stoppable {
         return stop({});
     }
 
-    /// @brief Stops a Resource if it is Stoppable.
-    /// @param resource The Resource to stop.
-    /// @param extra Extra arguments to pass to the resource's `stop` method.
-    static void stop_if_stoppable(const std::shared_ptr<Resource>& resource,
-                                  const ProtoStruct& extra);
-
-    /// @brief Stops a Resource if it is Stoppable.
-    /// @param resource The Resource to stop.
-    inline static void stop_if_stoppable(const std::shared_ptr<Resource>& resource) {
-        return stop_if_stoppable(resource, {});
-    }
-
    protected:
     explicit Stoppable();
 };
diff --git a/src/viam/sdk/tests/mocks/mock_robot.cpp b/src/viam/sdk/tests/mocks/mock_robot.cpp
index 5522c91cf..0b9e0b592 100644
--- a/src/viam/sdk/tests/mocks/mock_robot.cpp
+++ b/src/viam/sdk/tests/mocks/mock_robot.cpp
@@ -252,31 +252,33 @@ ::grpc::Status MockRobotService::StopAll(::grpc::ServerContext*,
         const std::shared_ptr<Resource> resource = r.second;
         const ResourceName rn = to_proto(resource->get_resource_name());
         const std::string rn_ = rn.SerializeAsString();
-        if (extra.find(rn_) != extra.end()) {
-            try {
-                Stoppable::stop_if_stoppable(resource, extra.at(rn_));
-            } catch (const std::runtime_error& err) {
+
+        auto stop_without_extra = [&status_message,
+                                   &status](const std::shared_ptr<Resource>& resource) {
+            if (auto stoppable = std::dynamic_pointer_cast<Stoppable>(resource)) {
                 try {
+                    stoppable->stop();
+                    return;
+                } catch (const std::runtime_error& err) {
                     status_message = err.what();
-                    Stoppable::stop_if_stoppable(resource);
-                } catch (std::runtime_error& err) {
-                    status_message = err.what();
-                    status = grpc::UNKNOWN;
                 } catch (...) {
                     status_message = "unknown error";
-                    status = grpc::UNKNOWN;
                 }
+                status = grpc::UNKNOWN;
             }
-        } else {
+        };
+
+        if (extra.find(rn_) != extra.end()) {
             try {
-                Stoppable::stop_if_stoppable(resource);
-            } catch (std::runtime_error& err) {
+                if (auto stoppable = std::dynamic_pointer_cast<Stoppable>(resource)) {
+                    stoppable->stop(extra.at(rn_));
+                }
+            } catch (const std::runtime_error& err) {
                 status_message = err.what();
-                status = grpc::UNKNOWN;
-            } catch (...) {
-                status_message = "unknown error";
-                status = grpc::UNKNOWN;
+                stop_without_extra(resource);
             }
+        } else {
+            stop_without_extra(resource);
         }
     }