diff --git a/Lib/argparse.py b/Lib/argparse.py
index 9e2e076936c..6ed7386d0dd 100644
--- a/Lib/argparse.py
+++ b/Lib/argparse.py
@@ -334,31 +334,15 @@ def _format_usage(self, usage, actions, groups, prefix):
         elif usage is None:
             prog = '%(prog)s' % dict(prog=self._prog)
 
-            # split optionals from positionals
-            optionals = []
-            positionals = []
-            for action in actions:
-                if action.option_strings:
-                    optionals.append(action)
-                else:
-                    positionals.append(action)
-
+            parts, pos_start = self._get_actions_usage_parts(actions, groups)
             # build full usage string
-            format = self._format_actions_usage
-            action_usage = format(optionals + positionals, groups)
-            usage = ' '.join([s for s in [prog, action_usage] if s])
+            usage = ' '.join(filter(None, [prog, *parts]))
 
             # wrap the usage parts if it's too long
             text_width = self._width - self._current_indent
             if len(prefix) + len(self._decolor(usage)) > text_width:
 
                 # break usage into wrappable parts
-                # keep optionals and positionals together to preserve
-                # mutually exclusive group formatting (gh-75949)
-                all_actions = optionals + positionals
-                parts, pos_start = self._get_actions_usage_parts_with_split(
-                    all_actions, groups, len(optionals)
-                )
                 opt_parts = parts[:pos_start]
                 pos_parts = parts[pos_start:]
 
@@ -417,125 +401,114 @@ def get_lines(parts, indent, prefix=None):
         # prefix with 'usage:'
         return f'{t.usage}{prefix}{t.reset}{usage}\n\n'
 
-    def _format_actions_usage(self, actions, groups):
-        return ' '.join(self._get_actions_usage_parts(actions, groups))
-
     def _is_long_option(self, string):
         return len(string) > 2
 
     def _get_actions_usage_parts(self, actions, groups):
-        parts, _ = self._get_actions_usage_parts_with_split(actions, groups)
-        return parts
-
-    def _get_actions_usage_parts_with_split(self, actions, groups, opt_count=None):
         """Get usage parts with split index for optionals/positionals.
 
         Returns (parts, pos_start) where pos_start is the index in parts
-        where positionals begin. When opt_count is None, pos_start is None.
+        where positionals begin.
         This preserves mutually exclusive group formatting across the
         optionals/positionals boundary (gh-75949).
         """
-        # find group indices and identify actions in groups
-        group_actions = set()
-        inserts = {}
+        actions = [action for action in actions if action.help is not SUPPRESS]
+        # group actions by mutually exclusive groups
+        action_groups = dict.fromkeys(actions)
         for group in groups:
-            if not group._group_actions:
-                raise ValueError(f'empty group {group}')
-
-            if all(action.help is SUPPRESS for action in group._group_actions):
-                continue
-
-            try:
-                start = min(actions.index(item) for item in group._group_actions)
-            except ValueError:
-                continue
-            else:
-                end = start + len(group._group_actions)
-                if set(actions[start:end]) == set(group._group_actions):
-                    group_actions.update(group._group_actions)
-                    inserts[start, end] = group
+            for action in group._group_actions:
+                if action in action_groups:
+                    action_groups[action] = group
+        # positional arguments keep their position
+        positionals = []
+        for action in actions:
+            if not action.option_strings:
+                group = action_groups.pop(action)
+                if group:
+                    group_actions = [
+                        action2 for action2 in group._group_actions
+                        if action2.option_strings and
+                           action_groups.pop(action2, None)
+                    ] + [action]
+                    positionals.append((group.required, group_actions))
+                else:
+                    positionals.append((None, [action]))
+        # the remaining optional arguments are sorted by the position of
+        # the first option in the group
+        optionals = []
+        for action in actions:
+            if action.option_strings and action in action_groups:
+                group = action_groups.pop(action)
+                if group:
+                    group_actions = [action] + [
+                        action2 for action2 in group._group_actions
+                        if action2.option_strings and
+                           action_groups.pop(action2, None)
+                    ]
+                    optionals.append((group.required, group_actions))
+                else:
+                    optionals.append((None, [action]))
 
         # collect all actions format strings
         parts = []
         t = self._theme
-        for action in actions:
+        pos_start = None
+        for i, (required, group) in enumerate(optionals + positionals):
+            start = len(parts)
+            if i == len(optionals):
+                pos_start = start
+            in_group = len(group) > 1
+            for action in group:
+                # produce all arg strings
+                if not action.option_strings:
+                    default = self._get_default_metavar_for_positional(action)
+                    part = self._format_args(action, default)
+                    # if it's in a group, strip the outer []
+                    if in_group:
+                        if part[0] == '[' and part[-1] == ']':
+                            part = part[1:-1]
+                    part = t.summary_action + part + t.reset
 
-            # suppressed arguments are marked with None
-            if action.help is SUPPRESS:
-                part = None
-
-            # produce all arg strings
-            elif not action.option_strings:
-                default = self._get_default_metavar_for_positional(action)
-                part = self._format_args(action, default)
-                # if it's in a group, strip the outer []
-                if action in group_actions:
-                    if part[0] == '[' and part[-1] == ']':
-                        part = part[1:-1]
-                part = t.summary_action + part + t.reset
-
-            # produce the first way to invoke the option in brackets
-            else:
-                option_string = action.option_strings[0]
-                if self._is_long_option(option_string):
-                    option_color = t.summary_long_option
+                # produce the first way to invoke the option in brackets
                 else:
-                    option_color = t.summary_short_option
+                    option_string = action.option_strings[0]
+                    if self._is_long_option(option_string):
+                        option_color = t.summary_long_option
+                    else:
+                        option_color = t.summary_short_option
 
-                # if the Optional doesn't take a value, format is:
-                #    -s or --long
-                if action.nargs == 0:
-                    part = action.format_usage()
-                    part = f"{option_color}{part}{t.reset}"
+                    # if the Optional doesn't take a value, format is:
+                    #    -s or --long
+                    if action.nargs == 0:
+                        part = action.format_usage()
+                        part = f"{option_color}{part}{t.reset}"
 
-                # if the Optional takes a value, format is:
-                #    -s ARGS or --long ARGS
-                else:
-                    default = self._get_default_metavar_for_optional(action)
-                    args_string = self._format_args(action, default)
-                    part = (
-                        f"{option_color}{option_string} "
-                        f"{t.summary_label}{args_string}{t.reset}"
-                    )
+                    # if the Optional takes a value, format is:
+                    #    -s ARGS or --long ARGS
+                    else:
+                        default = self._get_default_metavar_for_optional(action)
+                        args_string = self._format_args(action, default)
+                        part = (
+                            f"{option_color}{option_string} "
+                            f"{t.summary_label}{args_string}{t.reset}"
+                        )
 
-                # make it look optional if it's not required or in a group
-                if not action.required and action not in group_actions:
-                    part = '[%s]' % part
+                    # make it look optional if it's not required or in a group
+                    if not (action.required or required or in_group):
+                        part = '[%s]' % part
 
-            # add the action string to the list
-            parts.append(part)
+                # add the action string to the list
+                parts.append(part)
 
-        # group mutually exclusive actions
-        inserted_separators_indices = set()
-        for start, end in sorted(inserts, reverse=True):
-            group = inserts[start, end]
-            group_parts = [item for item in parts[start:end] if item is not None]
-            group_size = len(group_parts)
-            if group.required:
-                open, close = "()" if group_size > 1 else ("", "")
-            else:
-                open, close = "[]"
-            group_parts[0] = open + group_parts[0]
-            group_parts[-1] = group_parts[-1] + close
-            for i, part in enumerate(group_parts[:-1], start=start):
-                # insert a separator if not already done in a nested group
-                if i not in inserted_separators_indices:
-                    parts[i] = part + ' |'
-                    inserted_separators_indices.add(i)
-            parts[start + group_size - 1] = group_parts[-1]
-            for i in range(start + group_size, end):
-                parts[i] = None
+            if in_group:
+                parts[start] = ('(' if required else '[') + parts[start]
+                for i in range(start, len(parts) - 1):
+                    parts[i] += ' |'
+                parts[-1] += ')' if required else ']'
 
-        # if opt_count is provided, calculate where positionals start in
-        # the final parts list (for wrapping onto separate lines).
-        # Count before filtering None entries since indices shift after.
-        if opt_count is not None:
-            pos_start = sum(1 for p in parts[:opt_count] if p is not None)
-        else:
-            pos_start = None
-
-        # return the usage parts and split point (gh-75949)
-        return [item for item in parts if item is not None], pos_start
+        if pos_start is None:
+            pos_start = len(parts)
+        return parts, pos_start
 
     def _format_text(self, text):
         if '%(prog)' in text:
diff --git a/Lib/test/test_argparse.py b/Lib/test/test_argparse.py
index 248a92db74e..fe5232e9f3b 100644
--- a/Lib/test/test_argparse.py
+++ b/Lib/test/test_argparse.py
@@ -3398,12 +3398,11 @@ def test_help_subparser_all_mutually_exclusive_group_members_suppressed(self):
               '''
         self.assertEqual(cmd_foo.format_help(), textwrap.dedent(expected))
 
-    def test_empty_group(self):
+    def test_usage_empty_group(self):
         # See issue 26952
-        parser = argparse.ArgumentParser()
+        parser = ErrorRaisingArgumentParser(prog='PROG')
         group = parser.add_mutually_exclusive_group()
-        with self.assertRaises(ValueError):
-            parser.parse_args(['-h'])
+        self.assertEqual(parser.format_usage(), 'usage: PROG [-h]\n')
 
     def test_nested_mutex_groups(self):
         parser = argparse.ArgumentParser(prog='PROG')
@@ -3671,25 +3670,29 @@ def get_parser(self, required):
         group.add_argument('-b', action='store_true', help='b help')
         parser.add_argument('-y', action='store_true', help='y help')
         group.add_argument('-c', action='store_true', help='c help')
+        parser.add_argument('-z', action='store_true', help='z help')
         return parser
 
     failures = ['-a -b', '-b -c', '-a -c', '-a -b -c']
     successes = [
-        ('-a', NS(a=True, b=False, c=False, x=False, y=False)),
-        ('-b', NS(a=False, b=True, c=False, x=False, y=False)),
-        ('-c', NS(a=False, b=False, c=True, x=False, y=False)),
-        ('-a -x', NS(a=True, b=False, c=False, x=True, y=False)),
-        ('-y -b', NS(a=False, b=True, c=False, x=False, y=True)),
-        ('-x -y -c', NS(a=False, b=False, c=True, x=True, y=True)),
+        ('-a', NS(a=True, b=False, c=False, x=False, y=False, z=False)),
+        ('-b', NS(a=False, b=True, c=False, x=False, y=False, z=False)),
+        ('-c', NS(a=False, b=False, c=True, x=False, y=False, z=False)),
+        ('-a -x', NS(a=True, b=False, c=False, x=True, y=False, z=False)),
+        ('-y -b', NS(a=False, b=True, c=False, x=False, y=True, z=False)),
+        ('-x -y -c', NS(a=False, b=False, c=True, x=True, y=True, z=False)),
     ]
     successes_when_not_required = [
-        ('', NS(a=False, b=False, c=False, x=False, y=False)),
-        ('-x', NS(a=False, b=False, c=False, x=True, y=False)),
-        ('-y', NS(a=False, b=False, c=False, x=False, y=True)),
+        ('', NS(a=False, b=False, c=False, x=False, y=False, z=False)),
+        ('-x', NS(a=False, b=False, c=False, x=True, y=False, z=False)),
+        ('-y', NS(a=False, b=False, c=False, x=False, y=True, z=False)),
     ]
 
-    usage_when_required = usage_when_not_required = '''\
-        usage: PROG [-h] [-x] [-a] [-b] [-y] [-c]
+    usage_when_not_required = '''\
+        usage: PROG [-h] [-x] [-a | -b | -c] [-y] [-z]
+        '''
+    usage_when_required = '''\
+        usage: PROG [-h] [-x] (-a | -b | -c) [-y] [-z]
         '''
     help = '''\
 
@@ -3700,6 +3703,7 @@ def get_parser(self, required):
           -b          b help
           -y          y help
           -c          c help
+          -z          z help
         '''
 
 
@@ -3753,23 +3757,27 @@ def get_parser(self, required):
         group.add_argument('a', nargs='?', help='a help')
         group.add_argument('-b', action='store_true', help='b help')
         group.add_argument('-c', action='store_true', help='c help')
+        parser.add_argument('-z', action='store_true', help='z help')
         return parser
 
     failures = ['X A -b', '-b -c', '-c X A']
     successes = [
-        ('X A', NS(a='A', b=False, c=False, x='X', y=False)),
-        ('X -b', NS(a=None, b=True, c=False, x='X', y=False)),
-        ('X -c', NS(a=None, b=False, c=True, x='X', y=False)),
-        ('X A -y', NS(a='A', b=False, c=False, x='X', y=True)),
-        ('X -y -b', NS(a=None, b=True, c=False, x='X', y=True)),
+        ('X A', NS(a='A', b=False, c=False, x='X', y=False, z=False)),
+        ('X -b', NS(a=None, b=True, c=False, x='X', y=False, z=False)),
+        ('X -c', NS(a=None, b=False, c=True, x='X', y=False, z=False)),
+        ('X A -y', NS(a='A', b=False, c=False, x='X', y=True, z=False)),
+        ('X -y -b', NS(a=None, b=True, c=False, x='X', y=True, z=False)),
     ]
     successes_when_not_required = [
-        ('X', NS(a=None, b=False, c=False, x='X', y=False)),
-        ('X -y', NS(a=None, b=False, c=False, x='X', y=True)),
+        ('X', NS(a=None, b=False, c=False, x='X', y=False, z=False)),
+        ('X -y', NS(a=None, b=False, c=False, x='X', y=True, z=False)),
     ]
 
-    usage_when_required = usage_when_not_required = '''\
-        usage: PROG [-h] [-y] [-b] [-c] x [a]
+    usage_when_not_required = '''\
+        usage: PROG [-h] [-y] [-z] x [-b | -c | a]
+        '''
+    usage_when_required = '''\
+        usage: PROG [-h] [-y] [-z] x (-b | -c | a)
         '''
     help = '''\
 
@@ -3782,6 +3790,7 @@ def get_parser(self, required):
           -y          y help
           -b          b help
           -c          c help
+          -z          z help
         '''
 
 
@@ -4989,9 +4998,9 @@ def test_mutex_groups_with_mixed_optionals_positionals_wrap(self):
         g.add_argument('positional', nargs='?')
 
         usage = textwrap.dedent('''\
-        usage: PROG [-h] [-v | -q | -x [EXTRA_LONG_OPTION_NAME] |
-                    -y [YET_ANOTHER_LONG_OPTION] |
-                    positional]
+        usage: PROG [-h]
+                    [-v | -q | -x [EXTRA_LONG_OPTION_NAME] |
+                    -y [YET_ANOTHER_LONG_OPTION] | positional]
         ''')
         self.assertEqual(parser.format_usage(), usage)
 
diff --git a/Misc/NEWS.d/next/Library/2025-12-07-17-30-05.gh-issue-142346.okcAAp.rst b/Misc/NEWS.d/next/Library/2025-12-07-17-30-05.gh-issue-142346.okcAAp.rst
new file mode 100644
index 00000000000..cf570f314c0
--- /dev/null
+++ b/Misc/NEWS.d/next/Library/2025-12-07-17-30-05.gh-issue-142346.okcAAp.rst
@@ -0,0 +1,3 @@
+Fix usage formatting for mutually exclusive groups in :mod:`argparse`
+when they are preceded by positional arguments or followed or intermixed
+with other optional arguments.