I have currently created a workaround but to be honest I'm not sure if this will break other aspects of the grab system. I got this working by disabling the reparenting of the object (with a bool) in the Grab() and Drop() methods in the XR Grab Interactable script.

I copied the file XRGrabInteractable.cs from the XR Interaction Toolkit and added a new boolean called changeTransformParent

[SerializeField] bool m_ChangeTransformParent = true; /// <summary> /// Whether to set the parent of this object when this object is grabbed /// </summary> public bool changeTransformParent { get => m_ChangeTransformParent; set => m_ChangeTransformParent = value; } 

And here are the Grab() and Drop() methods after adding the bool

/// <summary> /// Updates the state of the object due to being grabbed. /// Automatically called when entering the Select state. /// </summary> /// <seealso cref="Drop"/> protected void Grab() { m_OriginalSceneParent = transform.parent; if (m_ChangeTransformParent) transform.SetParent(null); // Special case where the interactor will override this objects movement type (used for Sockets and other absolute interactors) m_CurrentMovementType = selectingInteractor.selectedInteractableMovementTypeOverride ?? m_MovementType; SetupRigidbodyGrab(m_Rigidbody); // Reset detach velocities m_DetachVelocity = Vector3.zero; m_DetachAngularVelocity = Vector3.zero; // Initialize target pose for easing and smoothing m_TargetWorldPosition = m_AttachPointCompatibilityMode == AttachPointCompatibilityMode.Default ? transform.position : m_Rigidbody.worldCenterOfMass; m_TargetWorldRotation = transform.rotation; m_CurrentAttachEaseTime = 0f; UpdateInteractorLocalPose(selectingInteractor); SmoothVelocityStart(); } /// <summary> /// Updates the state of the object due to being dropped and schedule to finish the detach during the end of the frame. /// Automatically called when exiting the Select state. /// </summary> /// <seealso cref="Detach"/> /// <seealso cref="Grab"/> protected void Drop() { if (m_RetainTransformParent && m_OriginalSceneParent != null && !m_OriginalSceneParent.gameObject.activeInHierarchy && m_ChangeTransformParent) { bool exitingPlayMode; #if UNITY_EDITOR // Suppress the warning when exiting Play mode to avoid confusing the user exitingPlayMode = UnityEditor.EditorApplication.isPlaying && !UnityEditor.EditorApplication.isPlayingOrWillChangePlaymode; #else exitingPlayMode = false; #endif if (!exitingPlayMode) Debug.LogWarning("Retain Transform Parent is set to true, and has a non-null Original Scene Parent. " + "However, the old parent is deactivated so we are choosing not to re-parent upon dropping.", this); } else if (m_RetainTransformParent && gameObject.activeInHierarchy && m_ChangeTransformParent) transform.SetParent(m_OriginalSceneParent); SetupRigidbodyDrop(m_Rigidbody); m_CurrentMovementType = m_MovementType; m_DetachInLateUpdate = true; SmoothVelocityEnd(); } 

Here is the full script - please note this for the specific version: 1.0.0-pre.5

https://pastie.io/rlsfnj.cs

TLDR; This is a hack of the original file XRGrabInteractable.cs and might break other things