diff --git a/validate_package_xml/action.yml b/validate_package_xml/action.yml
index 23da5f2..295adc4 100644
--- a/validate_package_xml/action.yml
+++ b/validate_package_xml/action.yml
@@ -6,18 +6,6 @@ runs:
     - name: Checkout
       uses: actions/checkout@v4
 
-    # TODO(azeey) Uncomment once https://github.com/ros-infrastructure/rep/pull/400
-    # is merged and the .xsd changes have propagated to ament_xmllint.
-    # - name: package.xml syntax validation
-    #   shell: bash
-    #   run: |
-    #     echo "Install ament-xmllint"
-    #     sudo apt-get install -y python3-venv libxml2-utils
-    #     python3 -m venv .venv
-    #     source .venv/bin/activate
-    #     pip install ament-xmllint
-    #     ament_xmllint package.xml 2>&1 | tee $GITHUB_STEP_SUMMARY
-
     - name: package.xml and CMake versions match
       shell: bash
       run: |
@@ -28,3 +16,18 @@ runs:
         cmake_version=$(sed -nE 's/^project.*VERSION\s*([0-9.]*).*/\1/p' CMakeLists.txt)
         echo "Version in CMake: ${cmake_version}" | tee -a $GITHUB_STEP_SUMMARY
         [ $package_xml_version = $cmake_version ]
+
+    - name: package.xml syntax validation
+      shell: bash
+      run: |
+        echo "Install xmllint"
+        sudo apt-get install -y libxml2-utils
+        xmllint --noout package.xml
+    # TODO(azeey) Uncomment once https://github.com/ros-infrastructure/rep/pull/400
+    # is merged and the .xsd changes have propagated to ament_xmllint.
+    #     echo "Install ament-xmllint"
+    #     sudo apt-get install -y python3-venv
+    #     python3 -m venv .venv
+    #     source .venv/bin/activate
+    #     pip install ament-xmllint
+    #     ament_xmllint package.xml 2>&1 | tee $GITHUB_STEP_SUMMARY