diff --git a/externs/shaka/codecs.js b/externs/shaka/codecs.js
index 71bf6d964a..4ead28d7f2 100644
--- a/externs/shaka/codecs.js
+++ b/externs/shaka/codecs.js
@@ -1,16 +1,18 @@
 /**
  * @typedef {{
- *   data: Uint8Array,
+ *   data: !Uint8Array,
  *   packetLength: number,
  *   pts: ?number,
- *   dts: ?number
+ *   dts: ?number,
+ *   nalus: !Array.<!shaka.extern.VideoNalu>
  * }}
  *
  * @summary MPEG_PES.
- * @property {Uint8Array} data
+ * @property {!Uint8Array} data
  * @property {number} packetLength
  * @property {?number} pts
  * @property {?number} dts
+ * @property {!Array.<!shaka.extern.VideoNalu>} nalus
  */
 shaka.extern.MPEG_PES;
 
diff --git a/lib/media/media_source_engine.js b/lib/media/media_source_engine.js
index 505e14519a..0ec46a1711 100644
--- a/lib/media/media_source_engine.js
+++ b/lib/media/media_source_engine.js
@@ -783,7 +783,7 @@ shaka.media.MediaSourceEngine = class {
     } else if (!mimeType.includes('/mp4') && !mimeType.includes('/webm') &&
         shaka.util.TsParser.probe(uint8ArrayData)) {
       const tsParser = new shaka.util.TsParser().parse(uint8ArrayData);
-      const startTime = tsParser.getStartTime()[contentType];
+      const startTime = tsParser.getStartTime(contentType);
       if (startTime != null) {
         timestamp = startTime;
       }
diff --git a/lib/transmuxer/ts_transmuxer.js b/lib/transmuxer/ts_transmuxer.js
index 8f0c8ac9ff..4f6b1dab97 100644
--- a/lib/transmuxer/ts_transmuxer.js
+++ b/lib/transmuxer/ts_transmuxer.js
@@ -706,11 +706,7 @@ shaka.transmuxer.TsTransmuxer = class {
     const videoData = tsParser.getVideoData();
     for (let i = 0; i < videoData.length; i++) {
       const pes = videoData[i];
-      let nextPes;
-      if (i + 1 < videoData.length) {
-        nextPes = videoData[i + 1];
-      }
-      const dataNalus = tsParser.parseNalus(pes, nextPes);
+      const dataNalus = pes.nalus;
       nalus = nalus.concat(dataNalus);
       const frame = H264.parseFrame(dataNalus);
       if (!frame) {
@@ -796,11 +792,7 @@ shaka.transmuxer.TsTransmuxer = class {
     const videoData = tsParser.getVideoData();
     for (let i = 0; i < videoData.length; i++) {
       const pes = videoData[i];
-      let nextPes;
-      if (i + 1 < videoData.length) {
-        nextPes = videoData[i + 1];
-      }
-      const dataNalus = tsParser.parseNalus(pes, nextPes);
+      const dataNalus = pes.nalus;
       nalus = nalus.concat(dataNalus);
       const frame = H265.parseFrame(dataNalus);
       if (!frame) {
diff --git a/lib/util/ts_parser.js b/lib/util/ts_parser.js
index 50c9fc2856..608f9173bb 100644
--- a/lib/util/ts_parser.js
+++ b/lib/util/ts_parser.js
@@ -35,6 +35,9 @@ shaka.util.TsParser = class {
     /** @private {!Array.<Uint8Array>} */
     this.videoData_ = [];
 
+    /** @private {!Array.<shaka.extern.MPEG_PES>} */
+    this.videoPes_ = [];
+
     /** @private {?number} */
     this.audioPid_ = null;
 
@@ -44,6 +47,9 @@ shaka.util.TsParser = class {
     /** @private {!Array.<Uint8Array>} */
     this.audioData_ = [];
 
+    /** @private {!Array.<shaka.extern.MPEG_PES>} */
+    this.audioPes_ = [];
+
     /** @private {?number} */
     this.id3Pid_ = null;
 
@@ -58,7 +64,9 @@ shaka.util.TsParser = class {
    */
   clearData() {
     this.videoData_ = [];
+    this.videoPes_ = [];
     this.audioData_ = [];
+    this.audioPes_ = [];
     this.id3Data_ = [];
   }
 
@@ -360,6 +368,7 @@ shaka.util.TsParser = class {
       packetLength: ((data[4] << 8) | data[5]),
       pts: null,
       dts: null,
+      nalus: [],
     };
 
     // if PES parsed length is not zero and greater than total received length,
@@ -430,7 +439,7 @@ shaka.util.TsParser = class {
     shaka.Deprecate.deprecateFeature(5,
         'TsParser',
         'Please use parseNalus function instead.');
-    return this.parseNalus(pes, nextPes);
+    return this.parseNalus(pes);
   }
 
   /**
@@ -440,12 +449,11 @@ shaka.util.TsParser = class {
    * Credit to https://github.com/video-dev/hls.js/blob/master/src/demux/tsdemuxer.ts
    *
    * @param {shaka.extern.MPEG_PES} pes
-   * @param {?shaka.extern.MPEG_PES=} nextPes
    * @param {?shaka.extern.VideoNalu=} lastNalu
    * @return {!Array.<shaka.extern.VideoNalu>}
    * @export
    */
-  parseNalus(pes, nextPes, lastNalu) {
+  parseNalus(pes, lastNalu) {
     const timescale = shaka.util.TsParser.Timescale;
     const time = pes.pts ? pes.pts / timescale : null;
     const data = pes.data;
@@ -479,21 +487,21 @@ shaka.util.TsParser = class {
       const value = data[i];
       if (!value) {
         numZeros++;
-      } else if (numZeros >= 2 && value == 1 && lastNalu) {
-        // If we are scanning the next PES, we need append the data to the
-        // previous Nalu and don't scan for more nalus.
-        const startCodeSize = numZeros > 3 ? 3 : numZeros;
-        const lastByteToKeep = i - startCodeSize;
-        // Optimization
-        if (lastByteToKeep == 0) {
-          return [];
-        }
-        lastNalu.data = shaka.util.Uint8ArrayUtils.concat(
-            lastNalu.data, data.subarray(0, lastByteToKeep));
-        lastNalu.fullData = shaka.util.Uint8ArrayUtils.concat(
-            lastNalu.fullData, data.subarray(0, lastByteToKeep));
-        return [];
       } else if (numZeros >= 2 && value == 1) {
+        if (lastNalu && !nalus.length && lastNaluStart == -1) {
+          // If we are scanning the next PES, we need append the data to the
+          // previous Nalu and don't scan for more nalus.
+          const startCodeSize = numZeros > 3 ? 3 : numZeros;
+          const lastByteToKeep = i - startCodeSize;
+          // Optimization
+          if (lastByteToKeep != 0) {
+            const prevData = data.subarray(0, lastByteToKeep);
+            lastNalu.data = shaka.util.Uint8ArrayUtils.concat(
+                lastNalu.data, prevData);
+            lastNalu.fullData = shaka.util.Uint8ArrayUtils.concat(
+                lastNalu.fullData, prevData);
+          }
+        }
         // We just read a start code.  Consume the NALU we passed, if any.
         if (lastNaluStart >= 0) {
           // Because the start position includes the header size.
@@ -513,11 +521,14 @@ shaka.util.TsParser = class {
             time: time,
           };
           nalus.push(nalu);
-        } else if (lastNalu) {
+        } else if (lastNalu && !nalus.length) {
           const overflow = i - numZeros;
           if (overflow > 0) {
+            const prevData = data.subarray(0, overflow);
             lastNalu.data = shaka.util.Uint8ArrayUtils.concat(
-                lastNalu.data, data.subarray(0, overflow));
+                lastNalu.data, prevData);
+            lastNalu.fullData = shaka.util.Uint8ArrayUtils.concat(
+                lastNalu.fullData, prevData);
           }
         }
 
@@ -553,9 +564,6 @@ shaka.util.TsParser = class {
           type: lastNaluType,
           time: time,
         };
-        if (nextPes) {
-          this.parseNalus(nextPes, /* nextPes= */ null, infoOfLastNalu);
-        }
       }
     }
 
@@ -602,73 +610,122 @@ shaka.util.TsParser = class {
    * @export
    */
   getAudioData() {
-    const audio = [];
-    for (const audioData of this.audioData_) {
-      const pes = this.parsePES_(audioData);
-      if (pes) {
-        audio.push(pes);
+    if (this.audioData_.length && !this.audioPes_.length) {
+      let sort = false;
+      for (const audioData of this.audioData_) {
+        const pes = this.parsePES_(audioData);
+        if (pes && pes.pts != null && pes.dts != null) {
+          if (this.audioPes_.length &&
+              pes.dts < (this.audioPes_[this.audioPes_.length - 1].dts || 0)) {
+            sort = true;
+          }
+          this.audioPes_.push(pes);
+        } else if (this.audioPes_.length) {
+          const data = pes ? pes.data : audioData;
+          if (!data) {
+            continue;
+          }
+          const previousPes = this.audioPes_.pop();
+          previousPes.data =
+              shaka.util.Uint8ArrayUtils.concat(previousPes.data, data);
+          this.audioPes_.push(previousPes);
+        }
+      }
+      if (sort) {
+        this.audioPes_ = this.audioPes_.sort((a, b) => {
+          const deltadts = (a.dts || 0) - (b.dts || 0);
+          const deltapts = (a.pts || 0) - (b.pts || 0);
+          return deltadts || deltapts;
+        });
       }
     }
-    return audio;
+    return this.audioPes_;
   }
 
   /**
    * Return the audio data
    *
+   * @param {boolean=} naluProcessing
    * @return {!Array.<shaka.extern.MPEG_PES>}
    * @export
    */
-  getVideoData() {
-    const Uint8ArrayUtils = shaka.util.Uint8ArrayUtils;
-    const video = [];
-    for (const videoData of this.videoData_) {
-      const pes = this.parsePES_(videoData);
-      if (pes && pes.pts != null && pes.dts != null) {
-        video.push(pes);
-      } else if (video.length) {
-        const data = pes ? pes.data : videoData;
-        if (!data) {
-          continue;
+  getVideoData(naluProcessing = true) {
+    if (this.videoData_.length && !this.videoPes_.length) {
+      let sort = false;
+      for (const videoData of this.videoData_) {
+        const pes = this.parsePES_(videoData);
+        if (pes && pes.pts != null && pes.dts != null) {
+          if (this.videoPes_.length &&
+              pes.dts < (this.videoPes_[this.videoPes_.length - 1].dts || 0)) {
+            sort = true;
+          }
+          this.videoPes_.push(pes);
+        } else if (this.videoPes_.length) {
+          const data = pes ? pes.data : videoData;
+          if (!data) {
+            continue;
+          }
+          const previousPes = this.videoPes_.pop();
+          previousPes.data =
+              shaka.util.Uint8ArrayUtils.concat(previousPes.data, data);
+          this.videoPes_.push(previousPes);
         }
-        const previousPes = video.pop();
-        previousPes.data =
-            Uint8ArrayUtils.concat(previousPes.data, data);
-        video.push(previousPes);
       }
+      if (naluProcessing) {
+        let lastNalu;
+        for (const pes of this.videoPes_) {
+          pes.nalus = this.parseNalus(pes, lastNalu);
+          if (pes.nalus.length) {
+            lastNalu = pes.nalus[pes.nalus.length - 1];
+          }
+        }
+        this.videoPes_ = this.videoPes_.filter((pes) => {
+          return pes.nalus.length;
+        });
+      }
+      if (sort) {
+        this.videoPes_ = this.videoPes_.sort((a, b) => {
+          const deltadts = (a.dts || 0) - (b.dts || 0);
+          const deltapts = (a.pts || 0) - (b.pts || 0);
+          return deltadts || deltapts;
+        });
+      }
+    }
+    if (!naluProcessing) {
+      const prevVideoPes = this.videoPes_;
+      this.videoPes_ = [];
+      return prevVideoPes;
     }
-    return video;
+    return this.videoPes_;
   }
 
   /**
    * Return the start time for the audio and video
    *
-   * @return {{audio: ?number, video: ?number}}
+   * @param {string} contentType
+   * @return {?number}
    * @export
    */
-  getStartTime() {
+  getStartTime(contentType) {
     const timescale = shaka.util.TsParser.Timescale;
-    let audioStartTime = null;
-    for (const pes of this.getAudioData()) {
-      if (pes && pes.pts != null) {
-        const startTime = Math.min(pes.dts, pes.pts) / timescale;
-        if (audioStartTime == null || audioStartTime > startTime) {
-          audioStartTime = startTime;
-        }
+    if (contentType == 'audio') {
+      let audioStartTime = null;
+      const audioData = this.getAudioData();
+      if (audioData.length) {
+        const pes = audioData[0];
+        audioStartTime = Math.min(pes.dts, pes.pts) / timescale;
       }
-    }
-    let videoStartTime = null;
-    for (const pes of this.getVideoData()) {
-      if (pes && pes.pts != null) {
-        const startTime = Math.min(pes.dts, pes.pts) / timescale;
-        if (videoStartTime == null || videoStartTime > startTime) {
-          videoStartTime = startTime;
-        }
+      return audioStartTime;
+    } else if (contentType == 'video') {
+      let videoStartTime = null;
+      const videoData = this.getVideoData(/* naluProcessing= */ false);
+      if (videoData.length) {
+        const pes = videoData[0];
+        videoStartTime = Math.min(pes.dts, pes.pts) / timescale;
       }
+      return videoStartTime;
     }
-    return {
-      audio: audioStartTime,
-      video: videoStartTime,
-    };
+    return null;
   }
 
   /**
@@ -692,14 +749,8 @@ shaka.util.TsParser = class {
    */
   getVideoNalus() {
     const nalus = [];
-    const videoData = this.getVideoData();
-    for (let i = 0; i < videoData.length; i++) {
-      const pes = videoData[i];
-      let nextPes;
-      if (i + 1 < videoData.length) {
-        nextPes = videoData[i + 1];
-      }
-      nalus.push(...this.parseNalus(pes, nextPes));
+    for (const pes of this.getVideoData()) {
+      nalus.push(...pes.nalus);
     }
     return nalus;
   }
diff --git a/lib/util/uint8array_utils.js b/lib/util/uint8array_utils.js
index 87c3761022..acf44b4cd5 100644
--- a/lib/util/uint8array_utils.js
+++ b/lib/util/uint8array_utils.js
@@ -115,7 +115,11 @@ shaka.util.Uint8ArrayUtils = class {
     const result = new Uint8Array(totalLength);
     let offset = 0;
     for (const arr of varArgs) {
-      result.set(shaka.util.BufferUtils.toUint8(arr), offset);
+      if (arr instanceof Uint8Array) {
+        result.set(arr, offset);
+      } else {
+        result.set(shaka.util.BufferUtils.toUint8(arr), offset);
+      }
       offset += arr.byteLength;
     }
     return result;
diff --git a/test/util/ts_parser_unit.js b/test/util/ts_parser_unit.js
index cffa9e26af..3190e094ec 100644
--- a/test/util/ts_parser_unit.js
+++ b/test/util/ts_parser_unit.js
@@ -7,6 +7,7 @@
 describe('TsParser', () => {
   const Util = shaka.test.Util;
   const BufferUtils = shaka.util.BufferUtils;
+  const ContentType = shaka.util.ManifestParserUtils.ContentType;
 
   it('probes a TS segment', async () => {
     const responses = await Promise.all([
@@ -59,9 +60,8 @@ describe('TsParser', () => {
     ]);
     const tsSegment = BufferUtils.toUint8(responses[0]);
     const starttime = new shaka.util.TsParser().parse(tsSegment)
-        .getStartTime();
-    expect(starttime.audio).toBeCloseTo(90019.586, 3);
-    expect(starttime.video).toBe(null);
+        .getStartTime(ContentType.AUDIO);
+    expect(starttime).toBeCloseTo(90019.586, 3);
   });
 
   it('get the codecs from a TS segment', async () => {