diff --git a/pddl/_validation.py b/pddl/_validation.py
index d5f76fd..22e42f6 100644
--- a/pddl/_validation.py
+++ b/pddl/_validation.py
@@ -27,7 +27,7 @@
 from pddl.logic.predicates import DerivedPredicate, EqualTo
 from pddl.logic.terms import Term
 from pddl.parser.symbols import Symbols
-from pddl.requirements import Requirements
+from pddl.requirements import Requirements, _extend_domain_requirements
 
 
 def validate(condition: bool, message: str = "") -> None:
@@ -193,7 +193,8 @@ def __init__(
     @property
     def has_typing(self) -> bool:
         """Check if the typing requirement is specified."""
-        return Requirements.TYPING in self._requirements
+        self._extended_requirements = _extend_domain_requirements(self._requirements)
+        return Requirements.TYPING in self._extended_requirements
 
     def _check_typing_requirement(self, type_tags: Collection[name_type]) -> None:
         """Check that the typing requirement is specified."""
diff --git a/pddl/parser/domain.py b/pddl/parser/domain.py
index f0cf83b..d9999bc 100644
--- a/pddl/parser/domain.py
+++ b/pddl/parser/domain.py
@@ -28,7 +28,7 @@
 from pddl.parser import DOMAIN_GRAMMAR_FILE, PARSERS_DIRECTORY
 from pddl.parser.symbols import Symbols
 from pddl.parser.typed_list_parser import TypedListParser
-from pddl.requirements import Requirements
+from pddl.requirements import Requirements, _extend_domain_requirements
 
 
 class DomainTransformer(Transformer):
@@ -72,10 +72,7 @@ def domain_def(self, args):
     def requirements(self, args):
         """Process the 'requirements' rule."""
         self._requirements = {Requirements(r[1:]) for r in args[2:-1]}
-
-        self._extended_requirements = set(self._requirements)
-        if Requirements.STRIPS in self._requirements:
-            self._extended_requirements.update(Requirements.strips_requirements())
+        self._extended_requirements = _extend_domain_requirements(self._requirements)
 
         return dict(requirements=self._requirements)
 
diff --git a/pddl/requirements.py b/pddl/requirements.py
index 22622d0..91a5ebc 100644
--- a/pddl/requirements.py
+++ b/pddl/requirements.py
@@ -13,7 +13,7 @@
 """This module contains the definition of the PDDL requirements."""
 import functools
 from enum import Enum
-from typing import Set
+from typing import AbstractSet, Set
 
 from pddl.parser.symbols import RequirementSymbols as RS
 
@@ -36,15 +36,24 @@ class Requirements(Enum):
     NON_DETERMINISTIC = RS.NON_DETERMINISTIC.strip()
 
     @classmethod
-    def strips_requirements(cls) -> Set["Requirements"]:
-        """Get the STRIPS requirements."""
+    def quantified_precondition_requirements(cls) -> Set["Requirements"]:
+        """Get the quantified precondition requirements."""
         return {
+            Requirements.UNIVERSAL_PRECONDITION,
+            Requirements.EXISTENTIAL_PRECONDITION,
+        }
+
+    @classmethod
+    def adl_requirements(cls) -> Set["Requirements"]:
+        """Get the ADL requirements."""
+        return {
+            Requirements.STRIPS,
             Requirements.TYPING,
             Requirements.NEG_PRECONDITION,
             Requirements.DIS_PRECONDITION,
             Requirements.EQUALITY,
             Requirements.CONDITIONAL_EFFECTS,
-        }
+        }.union(cls.quantified_precondition_requirements())
 
     def __str__(self) -> str:
         """Get the string representation."""
@@ -60,3 +69,17 @@ def __lt__(self, other):
             return self.value <= other.value
         else:
             return super().__lt__(other)
+
+
+def _extend_domain_requirements(
+    requirements: AbstractSet[Requirements],
+) -> Set[Requirements]:
+    """Extend the requirements with the domain requirements."""
+    extended_requirements = set(requirements)
+    if Requirements.QUANTIFIED_PRECONDITION in requirements:
+        extended_requirements.update(
+            Requirements.quantified_precondition_requirements()
+        )
+    if Requirements.ADL in requirements:
+        extended_requirements.update(Requirements.adl_requirements())
+    return extended_requirements
diff --git a/tests/test_parser/test_domain.py b/tests/test_parser/test_domain.py
index 5019456..c193b65 100644
--- a/tests/test_parser/test_domain.py
+++ b/tests/test_parser/test_domain.py
@@ -121,6 +121,30 @@ def test_types_repetition_in_typed_lists_not_allowed() -> None:
         DomainParser()(domain_str)
 
 
+def test_typing_requirement_under_other_domain_requirements() -> None:
+    """Check :typing requirement does not throw error if other domain requirements that includes it are detected."""
+    domain_str = dedent(
+        """
+(define (domain test)
+  (:requirements :adl)
+  (:types a b c)
+  (:predicates
+    (predicate1 ?x - a)
+    (predicate2 ?x - b)
+    (predicate3 ?x - c)
+    )
+  )
+    """
+    )
+
+    domain = DomainParser()(domain_str)
+    assert domain.types == {
+        "a": None,
+        "b": None,
+        "c": None,
+    }
+
+
 @pytest.mark.parametrize("keyword", TEXT_SYMBOLS - {Symbols.OBJECT.value})
 def test_keyword_usage_not_allowed_as_name(keyword) -> None:
     """Check keywords usage as names is detected and a parsing error is raised."""