diff --git a/src/index.ts b/src/index.ts
index 6f8fa3d227f..f6370884670 100644
--- a/src/index.ts
+++ b/src/index.ts
@@ -321,7 +321,6 @@ export type {
   KeysOfOtherType,
   MatchKeysAndValues,
   NestedPaths,
-  NestedPathsOfType,
   NonObjectIdLikeDocument,
   NotAcceptedFields,
   NumericType,
diff --git a/src/mongo_types.ts b/src/mongo_types.ts
index 124e9ce9e35..10217082682 100644
--- a/src/mongo_types.ts
+++ b/src/mongo_types.ts
@@ -68,8 +68,8 @@ export type WithoutId<TSchema> = Omit<TSchema, '_id'>;
 export type Filter<TSchema> =
   | Partial<TSchema>
   | ({
-      [Property in Join<NestedPaths<WithId<TSchema>>, '.'>]?: Condition<
-        PropertyType<WithId<TSchema>, Property>
+      [Property in Join<NestedPaths<WithId<TSchema>, true>, '.'>]?: Condition<
+        PropertyType<WithId<TSchema>, Property, true>
       >;
     } & RootFilterOperators<WithId<TSchema>>);
 
@@ -261,19 +261,9 @@ export type OnlyFieldsOfType<TSchema, FieldType = any, AssignableType = FieldTyp
 >;
 
 /** @public */
-export type MatchKeysAndValues<TSchema> = Readonly<
-  {
-    [Property in Join<NestedPaths<TSchema>, '.'>]?: PropertyType<TSchema, Property>;
-  } & {
-    [Property in `${NestedPathsOfType<TSchema, any[]>}.$${`[${string}]` | ''}`]?: ArrayElement<
-      PropertyType<TSchema, Property extends `${infer Key}.$${string}` ? Key : never>
-    >;
-  } & {
-    [Property in `${NestedPathsOfType<TSchema, Record<string, any>[]>}.$${
-      | `[${string}]`
-      | ''}.${string}`]?: any; // Could be further narrowed
-  }
->;
+export type MatchKeysAndValues<TSchema> = Readonly<{
+  [Property in Join<NestedPaths<TSchema, false>, '.'>]?: PropertyType<TSchema, Property, false>;
+}>;
 
 /** @public */
 export type AddToSetOperators<Type> = {
@@ -474,75 +464,83 @@ export type Join<T extends unknown[], D extends string> = T extends []
   : string;
 
 /** @public */
-export type PropertyType<Type, Property extends string> = string extends Property
-  ? unknown
-  : Property extends keyof Type
-  ? Type[Property]
-  : Property extends `${number}`
-  ? Type extends ReadonlyArray<infer ArrayType>
-    ? ArrayType
-    : unknown
-  : Property extends `${infer Key}.${infer Rest}`
-  ? Key extends `${number}`
-    ? Type extends ReadonlyArray<infer ArrayType>
-      ? PropertyType<ArrayType, Rest>
-      : unknown
-    : Key extends keyof Type
-    ? Type[Key] extends Map<string, infer MapType>
+export type PropertyType<
+  Type,
+  Property extends string,
+  AllowToSkipArrayIndex extends boolean
+> = Type extends unknown
+  ? string extends Property
+    ? Type extends Map<string, infer MapType>
       ? MapType
-      : PropertyType<Type[Key], Rest>
-    : unknown
-  : unknown;
+      : never
+    :
+        | (AllowToSkipArrayIndex extends false
+            ? never
+            : Type extends ReadonlyArray<infer ArrayType>
+            ? PropertyType<ArrayType, Property, AllowToSkipArrayIndex>
+            : never)
+        | (Property extends keyof Type
+            ? Type[Property]
+            : Property extends `${number | `$${'' | `[${string}]`}`}`
+            ? Type extends ReadonlyArray<infer ArrayType>
+              ? ArrayType
+              : never
+            : Property extends `${infer Key}.${infer Rest}`
+            ? Key extends `${number | `$${'' | `[${string}]`}`}`
+              ? Type extends ReadonlyArray<infer ArrayType>
+                ? PropertyType<ArrayType, Rest, AllowToSkipArrayIndex>
+                : never
+              : Key extends keyof Type
+              ? PropertyType<Type[Key], Rest, AllowToSkipArrayIndex>
+              : never
+            : never)
+  : never;
 
 /**
  * @public
  * returns tuple of strings (keys to be joined on '.') that represent every path into a schema
  * https://docs.mongodb.com/manual/tutorial/query-embedded-documents/
  */
-export type NestedPaths<Type> = Type extends
-  | string
-  | number
-  | boolean
-  | Date
-  | RegExp
-  | Buffer
-  | Uint8Array
-  | ((...args: any[]) => any)
-  | { _bsontype: string }
-  ? []
-  : Type extends ReadonlyArray<infer ArrayType>
-  ? [] | [number, ...NestedPaths<ArrayType>]
-  : Type extends Map<string, any>
-  ? [string]
-  : Type extends object
-  ? {
-      [Key in Extract<keyof Type, string>]: Type[Key] extends Type // type of value extends the parent
-        ? [Key]
-        : // for a recursive union type, the child will never extend the parent type.
-        // but the parent will still extend the child
-        Type extends Type[Key]
-        ? [Key]
-        : Type[Key] extends ReadonlyArray<infer ArrayType> // handling recursive types with arrays
-        ? Type extends ArrayType // is the type of the parent the same as the type of the array?
-          ? [Key] // yes, it's a recursive array type
-          : // for unions, the child type extends the parent
-          ArrayType extends Type
-          ? [Key] // we have a recursive array union
-          : // child is an array, but it's not a recursive array
-            [Key, ...NestedPaths<Type[Key]>]
-        : // child is not structured the same as the parent
-          [Key, ...NestedPaths<Type[Key]>] | [Key];
-    }[Extract<keyof Type, string>]
-  : [];
-
-/**
- * @public
- * returns keys (strings) for every path into a schema with a value of type
- * https://docs.mongodb.com/manual/tutorial/query-embedded-documents/
- */
-export type NestedPathsOfType<TSchema, Type> = KeysOfAType<
-  {
-    [Property in Join<NestedPaths<TSchema>, '.'>]: PropertyType<TSchema, Property>;
-  },
-  Type
->;
+export type NestedPaths<Type, AllowToSkipArrayIndex extends boolean> = Type extends unknown
+  ? Type extends
+      | string
+      | number
+      | boolean
+      | Date
+      | RegExp
+      | Buffer
+      | Uint8Array
+      | ((...args: any[]) => any)
+      | { _bsontype: string }
+    ? never
+    : Type extends ReadonlyArray<infer ArrayType>
+    ? [
+        ...(
+          | (AllowToSkipArrayIndex extends true ? [] : never)
+          | [number | `$${'' | `[${string}]`}`]
+        ),
+        ...([] | NestedPaths<ArrayType, AllowToSkipArrayIndex>)
+      ]
+    : Type extends Map<string, any>
+    ? [string]
+    : Type extends object
+    ? {
+        [Key in Extract<keyof Type, string>]: Type[Key] extends Type // type of value extends the parent
+          ? [Key]
+          : // for a recursive union type, the child will never extend the parent type.
+          // but the parent will still extend the child
+          Type extends Type[Key]
+          ? [Key]
+          : Type[Key] extends ReadonlyArray<infer ArrayType> // handling recursive types with arrays
+          ? Type extends ArrayType // is the type of the parent the same as the type of the array?
+            ? [Key] // yes, it's a recursive array type
+            : // for unions, the child type extends the parent
+            ArrayType extends Type
+            ? [Key] // we have a recursive array union
+            : // child is an array, but it's not a recursive array
+              [Key, ...([] | NestedPaths<Type[Key], AllowToSkipArrayIndex>)]
+          : // child is not structured the same as the parent
+            [Key, ...([] | NestedPaths<Type[Key], AllowToSkipArrayIndex>)];
+      }[Extract<keyof Type, string>]
+    : never
+  : never;
diff --git a/test/types/community/collection/filterQuery.test-d.ts b/test/types/community/collection/filterQuery.test-d.ts
index dd178685141..8f5836712fc 100644
--- a/test/types/community/collection/filterQuery.test-d.ts
+++ b/test/types/community/collection/filterQuery.test-d.ts
@@ -12,7 +12,7 @@ import {
 } from 'bson';
 import { expectAssignable, expectError, expectNotType, expectType } from 'tsd';
 
-import { Collection, Filter, MongoClient, WithId } from '../../../../src';
+import { Collection, Filter, MongoClient, UpdateFilter, WithId } from '../../../../src';
 
 /**
  * test the Filter type using collection.find<T>() method
@@ -406,3 +406,36 @@ nonSpecifiedCollection.find({
     hello: 'world'
   }
 });
+
+// NODE-4513: improves support for union types and array operators
+type MyArraySchema = {
+  nested: { array: { a: number; b: boolean }[] };
+  something: { a: number } | { b: boolean };
+};
+
+// "element" now refers to the name used in arrayFilters, it can be any string
+expectAssignable<UpdateFilter<MyArraySchema>>({
+  $set: { 'nested.array.$[element]': { a: 2, b: false } }
+});
+expectAssignable<Filter<MyArraySchema>>({
+  $set: { 'nested.array.$[element]': { a: 2, b: false } }
+});
+
+// Specifying an identifier in the brackets is optional
+expectAssignable<UpdateFilter<MyArraySchema>>({
+  $set: { 'nested.array.$[].a': 2 }
+});
+expectAssignable<Filter<MyArraySchema>>({
+  $set: { 'nested.array.$[].a': 2 }
+});
+
+// Union usage examples
+expectAssignable<Filter<MyArraySchema>>({
+  'something.a': 2
+});
+expectError<Filter<MyArraySchema>>({
+  'something.a': false
+});
+expectAssignable<Filter<MyArraySchema>>({
+  'something.b': false
+});