diff --git a/subsys/bluetooth/audio/audio_iso.c b/subsys/bluetooth/audio/audio_iso.c
index ee38f6f0770..56403cf0202 100644
--- a/subsys/bluetooth/audio/audio_iso.c
+++ b/subsys/bluetooth/audio/audio_iso.c
@@ -184,7 +184,8 @@ void bt_audio_iso_unbind_ep(struct bt_audio_iso *iso, struct bt_audio_ep *ep)
 
 	__ASSERT_NO_MSG(ep != NULL);
 	__ASSERT_NO_MSG(iso != NULL);
-	__ASSERT(ep->iso == iso, "ep %p not bound with iso", iso, ep);
+	__ASSERT(ep->iso == iso, "ep %p not bound with iso %p, was bound to %p",
+		 ep, iso, ep->iso);
 	__ASSERT(ep->dir == BT_AUDIO_DIR_SINK || ep->dir == BT_AUDIO_DIR_SOURCE,
 		 "Invalid dir: %u", ep->dir);
 
@@ -194,12 +195,12 @@ void bt_audio_iso_unbind_ep(struct bt_audio_iso *iso, struct bt_audio_ep *ep)
 	    bt_audio_ep_is_unicast_client(ep)) {
 		/* For the unicast client, the direction and tx/rx is reversed */
 		if (ep->dir == BT_AUDIO_DIR_SOURCE) {
-			__ASSERT(iso->rx.ep == NULL,
-				 "iso %p not bound with ep %p", iso, iso->rx.ep);
+			__ASSERT(iso->rx.ep == ep,
+				 "iso %p not bound with ep %p", iso, ep);
 			iso->rx.ep = NULL;
 		} else {
-			__ASSERT(iso->tx.ep == NULL,
-				 "iso %p not bound with ep %p", iso, iso->tx.ep);
+			__ASSERT(iso->tx.ep == ep,
+				 "iso %p not bound with ep %p", iso, ep);
 			iso->tx.ep = NULL;
 		}
 	} else {
diff --git a/subsys/bluetooth/audio/stream.c b/subsys/bluetooth/audio/stream.c
index 79f8001e4a2..eddc7298503 100644
--- a/subsys/bluetooth/audio/stream.c
+++ b/subsys/bluetooth/audio/stream.c
@@ -324,6 +324,10 @@ void bt_audio_stream_reset(struct bt_audio_stream *stream)
 		return;
 	}
 
+	if (stream->ep != NULL && stream->ep->iso != NULL) {
+		bt_audio_iso_unbind_ep(stream->ep->iso, stream->ep);
+	}
+
 	bt_audio_stream_detach(stream);
 }
 
@@ -1139,11 +1143,23 @@ fail:
 
 int bt_audio_unicast_group_delete(struct bt_audio_unicast_group *unicast_group)
 {
+	struct bt_audio_stream *stream;
+
 	CHECKIF(unicast_group == NULL) {
 		LOG_DBG("unicast_group is NULL");
 		return -EINVAL;
 	}
 
+	SYS_SLIST_FOR_EACH_CONTAINER(&unicast_group->streams, stream, _node) {
+		/* If a stream has an endpoint, it is not ready to be removed
+		 * from a group, as it is not in an idle state
+		 */
+		if (stream->ep != NULL) {
+			LOG_DBG("stream %p is not released", stream);
+			return -EINVAL;
+		}
+	}
+
 	if (unicast_group->cig != NULL) {
 		const int err = bt_audio_cig_terminate(unicast_group);