diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7b2d3694..89155272 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,7 @@ Read `release_notes.md` for commit level details.
 ## [Unreleased]
 
 ### Enhancements
+- Allow to override an existing method by `Appium::Core::Base::Driver#add_command` since Appium drivers/plugins allow to override them
 
 ### Bug fixes
 
diff --git a/lib/appium_lib_core/common/base/bridge/mjsonwp.rb b/lib/appium_lib_core/common/base/bridge/mjsonwp.rb
index 0ddd0d66..a4ede9b4 100644
--- a/lib/appium_lib_core/common/base/bridge/mjsonwp.rb
+++ b/lib/appium_lib_core/common/base/bridge/mjsonwp.rb
@@ -46,7 +46,7 @@ def commands(command)
 
           # command for Appium 2.0.
           def add_command(method:, url:, name:, &block)
-            raise ::Appium::Core::Error::ArgumentError, "#{name} is already defined" if @available_commands.key? name
+            ::Appium::Logger.debug "Overriding the method '#{name}' for '#{url}'" if @available_commands.key? name
 
             @available_commands[name] = [method, url]
 
diff --git a/lib/appium_lib_core/common/base/bridge/w3c.rb b/lib/appium_lib_core/common/base/bridge/w3c.rb
index ab78cbd0..f5dd7f58 100644
--- a/lib/appium_lib_core/common/base/bridge/w3c.rb
+++ b/lib/appium_lib_core/common/base/bridge/w3c.rb
@@ -47,7 +47,7 @@ def commands(command)
 
           # command for Appium 2.0.
           def add_command(method:, url:, name:, &block)
-            raise ::Appium::Core::Error::ArgumentError, "#{name} is already defined" if @available_commands.key? name
+            ::Appium::Logger.info "Overriding the method '#{name}' for '#{url}'" if @available_commands.key? name
 
             @available_commands[name] = [method, url]
 
diff --git a/lib/appium_lib_core/common/base/driver.rb b/lib/appium_lib_core/common/base/driver.rb
index b412da9d..b0464d15 100644
--- a/lib/appium_lib_core/common/base/driver.rb
+++ b/lib/appium_lib_core/common/base/driver.rb
@@ -100,7 +100,7 @@ def update_sending_request_to(protocol:, host:, port:, path:)
         #                     values in the hash.
         #                     The third argument should be hash. The hash will be the request body.
         #                     Please read examples below for more details.
-        # @raise [ArgumentError] If the given +name+ is already defined or +method+ are invalid value.
+        # @raise [ArgumentError] If the given +method+ are invalid value.
         #
         # @example
         #
diff --git a/test/unit/android/webdriver/mjsonwp/commands_test.rb b/test/unit/android/webdriver/mjsonwp/commands_test.rb
index e9c1eb93..306548e2 100644
--- a/test/unit/android/webdriver/mjsonwp/commands_test.rb
+++ b/test/unit/android/webdriver/mjsonwp/commands_test.rb
@@ -99,24 +99,27 @@ def test_add_command_error
             end
           end
 
-          def test_add_command_already_defined
+          def test_add_command_already_defined_without_error
+            stub_request(:get, "#{SESSION}/path/to/custom/url")
+              .to_return(headers: HEADER, status: 200, body: { value: 'xxxx' }.to_json)
+
             @driver.add_command(
               method: :get,
               url: 'session/:session_id/path/to/custom/url',
               name: :test_command
             )
+            assert_equal @driver.respond_to?(:test_command), true
 
+            @driver.add_command(
+              method: :get,
+              url: 'session/:session_id/path/to/custom/url',
+              name: :test_command
+            )
             assert_equal @driver.respond_to?(:test_command), true
 
-            assert_raises ::Appium::Core::Error::ArgumentError do
-              @driver.add_command(
-                method: :get,
-                url: 'session/:session_id/path/to/custom/url',
-                name: :test_command
-              )
-            end
+            @driver.test_command
 
-            assert_equal @driver.respond_to?(:test_command), true
+            assert_requested(:get, "#{SESSION}/path/to/custom/url", times: 1)
           end
 
           def test_no_session_id
diff --git a/test/unit/android/webdriver/w3c/commands_test.rb b/test/unit/android/webdriver/w3c/commands_test.rb
index 96a4be8f..06532bd4 100644
--- a/test/unit/android/webdriver/w3c/commands_test.rb
+++ b/test/unit/android/webdriver/w3c/commands_test.rb
@@ -99,24 +99,27 @@ def test_add_command_error
             end
           end
 
-          def test_add_command_already_defined
+          def test_add_command_already_defined_without_error
+            stub_request(:get, "#{SESSION}/path/to/custom/url")
+              .to_return(headers: HEADER, status: 200, body: { value: 'xxxx' }.to_json)
+
             @driver.add_command(
               method: :get,
               url: 'session/:session_id/path/to/custom/url',
               name: :test_command
             )
+            assert_equal @driver.respond_to?(:test_command), true
 
+            @driver.add_command(
+              method: :get,
+              url: 'session/:session_id/path/to/custom/url',
+              name: :test_command
+            )
             assert_equal @driver.respond_to?(:test_command), true
 
-            assert_raises ::Appium::Core::Error::ArgumentError do
-              @driver.add_command(
-                method: :get,
-                url: 'session/:session_id/path/to/custom/url',
-                name: :test_command
-              )
-            end
+            @driver.test_command
 
-            assert_equal @driver.respond_to?(:test_command), true
+            assert_requested(:get, "#{SESSION}/path/to/custom/url", times: 1)
           end
 
           def test_no_session_id