diff --git a/src/tyro/_parsers.py b/src/tyro/_parsers.py
index 3c8eb09d..736b13e9 100644
--- a/src/tyro/_parsers.py
+++ b/src/tyro/_parsers.py
@@ -95,7 +95,7 @@ def from_callable_or_type(
         # superclass.
         if f in parent_classes and f is not dict:
             raise _instantiators.UnsupportedTypeAnnotationError(
-                f"Found a cyclic dataclass dependency with type {f}."
+                f"Found a cyclic dependency with type {f}."
             )
 
         # TODO: we are abusing the (minor) distinctions between types, classes, and
diff --git a/src/tyro/_resolver.py b/src/tyro/_resolver.py
index b28a9454..5e5e5726 100644
--- a/src/tyro/_resolver.py
+++ b/src/tyro/_resolver.py
@@ -2,6 +2,7 @@
 import collections.abc
 import copy
 import dataclasses
+import inspect
 import sys
 import types
 import warnings
@@ -20,7 +21,7 @@
     cast,
 )
 
-from typing_extensions import Annotated, get_args, get_origin, get_type_hints
+from typing_extensions import Annotated, Self, get_args, get_origin, get_type_hints
 
 from . import _fields, _unsafe_cache
 from ._typing import TypeForm
@@ -61,8 +62,17 @@ def resolve_generic_types(
 
     # We'll ignore NewType when getting the origin + args for generics.
     origin_cls = get_origin(unwrap_newtype(cls)[0])
+    type_from_typevar: Dict[TypeVar, TypeForm[Any]] = {}
+
+    # Support typing.Self.
+    # We'll do this by pretending that `Self` is a TypeVar...
+    if hasattr(cls, "__self__"):
+        self_type = getattr(cls, "__self__")
+        if inspect.isclass(self_type):
+            type_from_typevar[cast(TypeVar, Self)] = self_type
+        else:
+            type_from_typevar[cast(TypeVar, Self)] = self_type.__class__
 
-    type_from_typevar = {}
     if (
         # Apply some heuristics for generic types. Should revisit this.
         origin_cls is not None
diff --git a/tests/test_py311_generated/test_base_configs_nested_generated.py b/tests/test_py311_generated/test_base_configs_nested_generated.py
index ba83318e..8134dbe0 100644
--- a/tests/test_py311_generated/test_base_configs_nested_generated.py
+++ b/tests/test_py311_generated/test_base_configs_nested_generated.py
@@ -177,3 +177,35 @@ def main(cfg: BaseConfig) -> BaseConfig:
         ),
         DataConfig(2),
     )
+
+
+def test_pernicious_override():
+    """From: https://github.com/nerfstudio-project/nerfstudio/issues/2789
+
+    Situation where we:
+        - have a default value in the config class
+        - override that default value with a subcommand annotation
+        - override it again with a default instance
+    """
+    assert (
+        tyro.cli(
+            BaseConfig,
+            default=BaseConfig(
+                "test",
+                "test",
+                ExperimentConfig(
+                    dataset="mnist",
+                    optimizer=AdamOptimizer(),
+                    batch_size=2048,
+                    num_layers=4,
+                    units=64,
+                    train_steps=30_000,
+                    seed=0,
+                    activation=nn.ReLU,
+                ),
+                DataConfig(0),
+            ),
+            args="small small-data".split(" "),
+        ).data_config.test
+        == 0
+    )
diff --git a/tests/test_py311_generated/test_conf_generated.py b/tests/test_py311_generated/test_conf_generated.py
index 75dcc1e0..5945752e 100644
--- a/tests/test_py311_generated/test_conf_generated.py
+++ b/tests/test_py311_generated/test_conf_generated.py
@@ -224,6 +224,57 @@ class Parent:
     ) == Parent(Nested1(Nested2(B(7))))
 
 
+def test_subparser_in_nested_with_metadata_suppressed() -> None:
+    @dataclasses.dataclass(frozen=True)
+    class A:
+        a: tyro.conf.Suppress[int]
+
+    @dataclasses.dataclass
+    class B:
+        b: int
+        a: A = A(5)
+
+    @dataclasses.dataclass
+    class Nested2:
+        subcommand: Annotated[
+            A, tyro.conf.subcommand("command-a", default=A(7))
+        ] | Annotated[B, tyro.conf.subcommand("command-b", default=B(9))]
+
+    @dataclasses.dataclass
+    class Nested1:
+        nested2: Nested2
+
+    @dataclasses.dataclass
+    class Parent:
+        nested1: Nested1
+
+    assert tyro.cli(
+        Parent,
+        args="nested1.nested2.subcommand:command-a".split(" "),
+    ) == Parent(Nested1(Nested2(A(7))))
+    assert tyro.cli(
+        Parent,
+        args=(
+            "nested1.nested2.subcommand:command-a --nested1.nested2.subcommand.a 3".split(
+                " "
+            )
+        ),
+    ) == Parent(Nested1(Nested2(A(3))))
+
+    assert tyro.cli(
+        Parent,
+        args="nested1.nested2.subcommand:command-b".split(" "),
+    ) == Parent(Nested1(Nested2(B(9))))
+    assert tyro.cli(
+        Parent,
+        args=(
+            "nested1.nested2.subcommand:command-b --nested1.nested2.subcommand.b 7".split(
+                " "
+            )
+        ),
+    ) == Parent(Nested1(Nested2(B(7))))
+
+
 def test_subparser_in_nested_with_metadata_generic() -> None:
     @dataclasses.dataclass(frozen=True)
     class A:
@@ -1264,7 +1315,7 @@ def instantiate_dataclasses(
         classes: Tuple[Type[T], ...], args: List[str]
     ) -> Tuple[T, ...]:
         return tyro.cli(
-            tyro.conf.OmitArgPrefixes[
+            tyro.conf.OmitArgPrefixes[  # type: ignore
                 # Convert (type1, type2) into Tuple[type1, type2]
                 Tuple.__getitem__(  # type: ignore
                     tuple(Annotated[c, tyro.conf.arg(name=c.__name__)] for c in classes)
diff --git a/tests/test_py311_generated/test_helptext_generated.py b/tests/test_py311_generated/test_helptext_generated.py
index ef47b280..48952a95 100644
--- a/tests/test_py311_generated/test_helptext_generated.py
+++ b/tests/test_py311_generated/test_helptext_generated.py
@@ -48,6 +48,31 @@ class Helptext:
     assert "Documentation 3 (default: 3)" in helptext
 
 
+def test_helptext_sphinx_autodoc_style() -> None:
+    @dataclasses.dataclass
+    class Helptext:
+        """This docstring should be printed as a description."""
+
+        x: int  #: Documentation 1
+
+        #:Documentation 2
+        y: Annotated[int, "ignored"]
+        z: int = 3
+
+    helptext = get_helptext(Helptext)
+    assert cast(str, helptext) in helptext
+    assert "x INT" in helptext
+    assert "y INT" in helptext
+    assert "z INT" in helptext
+    assert "Documentation 1 (required)" in helptext
+    assert ": Documentation 1" not in helptext
+    assert "Documentation 2 (required)" in helptext
+    assert ":Documentation 2" not in helptext
+
+    # :Documentation 2 should not be applied to `z`.
+    assert helptext.count("Documentation 2") == 1
+
+
 def test_helptext_from_class_docstring() -> None:
     @dataclasses.dataclass
     class Helptext2:
diff --git a/tests/test_py311_generated/test_self_type_generated.py b/tests/test_py311_generated/test_self_type_generated.py
new file mode 100644
index 00000000..45058b30
--- /dev/null
+++ b/tests/test_py311_generated/test_self_type_generated.py
@@ -0,0 +1,92 @@
+from __future__ import annotations
+
+from typing import Self
+
+import pytest
+
+import tyro
+
+
+class TestClass:
+    def __init__(self, a: int, b: int) -> None:
+        self.a = a
+        self.b = b
+
+    def method1(self, x: Self) -> None:
+        self.effect = x
+
+    @classmethod
+    def method2(cls, x: Self) -> TestClass:
+        return x
+
+    # Self is not valid in static methods.
+    # https://peps.python.org/pep-0673/#valid-locations-for-self
+    #
+    # @staticmethod
+    # def method3(x: Self) -> TestClass:
+    #     return x
+
+
+class TestSubclass(TestClass):
+    ...
+
+
+def test_method() -> None:
+    x = TestClass(0, 0)
+    with pytest.raises(SystemExit):
+        tyro.cli(x.method1, args=[])
+
+    assert tyro.cli(x.method1, args="--x.a 3 --x.b 3".split(" ")) is None
+    assert x.effect.a == 3 and x.effect.b == 3
+    assert isinstance(x, TestClass)
+
+
+def test_classmethod() -> None:
+    x = TestClass(0, 0)
+    with pytest.raises(SystemExit):
+        tyro.cli(x.method2, args=[])
+    with pytest.raises(SystemExit):
+        tyro.cli(TestClass.method2, args=[])
+
+    y = tyro.cli(x.method2, args="--x.a 3 --x.b 3".split(" "))
+    assert y.a == 3
+    assert y.b == 3
+    assert isinstance(y, TestClass)
+
+    y = tyro.cli(TestClass.method2, args="--x.a 3 --x.b 3".split(" "))
+    assert y.a == 3
+    assert y.b == 3
+    assert isinstance(y, TestClass)
+
+
+def test_subclass_method() -> None:
+    x = TestSubclass(0, 0)
+    with pytest.raises(SystemExit):
+        tyro.cli(x.method1, args=[])
+
+    assert tyro.cli(x.method1, args="--x.a 3 --x.b 3".split(" ")) is None
+    assert x.effect.a == 3 and x.effect.b == 3
+    assert isinstance(x, TestSubclass)
+
+    y = tyro.cli(x.method2, args="--x.a 3 --x.b 3".split(" "))
+    assert y.a == 3
+    assert y.b == 3
+    assert isinstance(y, TestClass)
+
+
+def test_subclass_classmethod() -> None:
+    x = TestSubclass(0, 0)
+    with pytest.raises(SystemExit):
+        tyro.cli(x.method2, args=[])
+    with pytest.raises(SystemExit):
+        tyro.cli(TestSubclass.method2, args=[])
+
+    y = tyro.cli(x.method2, args="--x.a 3 --x.b 3".split(" "))
+    assert y.a == 3
+    assert y.b == 3
+    assert isinstance(y, TestClass)
+
+    y = tyro.cli(TestSubclass.method2, args="--x.a 3 --x.b 3".split(" "))
+    assert y.a == 3
+    assert y.b == 3
+    assert isinstance(y, TestClass)
diff --git a/tests/test_self_type.py b/tests/test_self_type.py
new file mode 100644
index 00000000..0b9ffbfc
--- /dev/null
+++ b/tests/test_self_type.py
@@ -0,0 +1,91 @@
+from __future__ import annotations
+
+import pytest
+from typing_extensions import Self
+
+import tyro
+
+
+class TestClass:
+    def __init__(self, a: int, b: int) -> None:
+        self.a = a
+        self.b = b
+
+    def method1(self, x: Self) -> None:
+        self.effect = x
+
+    @classmethod
+    def method2(cls, x: Self) -> TestClass:
+        return x
+
+    # Self is not valid in static methods.
+    # https://peps.python.org/pep-0673/#valid-locations-for-self
+    #
+    # @staticmethod
+    # def method3(x: Self) -> TestClass:
+    #     return x
+
+
+class TestSubclass(TestClass):
+    ...
+
+
+def test_method() -> None:
+    x = TestClass(0, 0)
+    with pytest.raises(SystemExit):
+        tyro.cli(x.method1, args=[])
+
+    assert tyro.cli(x.method1, args="--x.a 3 --x.b 3".split(" ")) is None
+    assert x.effect.a == 3 and x.effect.b == 3
+    assert isinstance(x, TestClass)
+
+
+def test_classmethod() -> None:
+    x = TestClass(0, 0)
+    with pytest.raises(SystemExit):
+        tyro.cli(x.method2, args=[])
+    with pytest.raises(SystemExit):
+        tyro.cli(TestClass.method2, args=[])
+
+    y = tyro.cli(x.method2, args="--x.a 3 --x.b 3".split(" "))
+    assert y.a == 3
+    assert y.b == 3
+    assert isinstance(y, TestClass)
+
+    y = tyro.cli(TestClass.method2, args="--x.a 3 --x.b 3".split(" "))
+    assert y.a == 3
+    assert y.b == 3
+    assert isinstance(y, TestClass)
+
+
+def test_subclass_method() -> None:
+    x = TestSubclass(0, 0)
+    with pytest.raises(SystemExit):
+        tyro.cli(x.method1, args=[])
+
+    assert tyro.cli(x.method1, args="--x.a 3 --x.b 3".split(" ")) is None
+    assert x.effect.a == 3 and x.effect.b == 3
+    assert isinstance(x, TestSubclass)
+
+    y = tyro.cli(x.method2, args="--x.a 3 --x.b 3".split(" "))
+    assert y.a == 3
+    assert y.b == 3
+    assert isinstance(y, TestClass)
+
+
+def test_subclass_classmethod() -> None:
+    x = TestSubclass(0, 0)
+    with pytest.raises(SystemExit):
+        tyro.cli(x.method2, args=[])
+    with pytest.raises(SystemExit):
+        tyro.cli(TestSubclass.method2, args=[])
+
+    y = tyro.cli(x.method2, args="--x.a 3 --x.b 3".split(" "))
+    assert y.a == 3
+    assert y.b == 3
+    assert isinstance(y, TestClass)
+
+    y = tyro.cli(TestSubclass.method2, args="--x.a 3 --x.b 3".split(" "))
+    assert y.a == 3
+    assert y.b == 3
+    assert isinstance(y, TestClass)