diff --git a/packages/core/src/types.ts b/packages/core/src/types.ts
index 733f92574e..007770e329 100644
--- a/packages/core/src/types.ts
+++ b/packages/core/src/types.ts
@@ -765,17 +765,82 @@ export type InvokeConfig<
   TMeta extends MetaObject
 > =
   IsLiteralString<TActor['src']> extends true
-    ? DistributeActors<
-        TContext,
-        TEvent,
-        TActor,
-        TAction,
-        TGuard,
-        TDelay,
-        TEmitted,
-        TMeta,
-        TActor
-      >
+    ?
+        | DistributeActors<
+            TContext,
+            TEvent,
+            TActor,
+            TAction,
+            TGuard,
+            TDelay,
+            TEmitted,
+            TMeta,
+            TActor
+          >
+        | {
+            id?: never;
+
+            systemId?: string;
+            src: AnyActorLogic;
+
+            input?:
+              | Mapper<TContext, TEvent, NonReducibleUnknown, TEvent>
+              | NonReducibleUnknown;
+            /**
+             * The transition to take upon the invoked child machine reaching
+             * its final top-level state.
+             */
+            onDone?:
+              | string
+              | SingleOrArray<
+                  TransitionConfigOrTarget<
+                    TContext,
+                    DoneActorEvent<any>, // TODO: consider replacing with `unknown`
+                    TEvent,
+                    TActor,
+                    TAction,
+                    TGuard,
+                    TDelay,
+                    TEmitted,
+                    TMeta
+                  >
+                >;
+            /**
+             * The transition to take upon the invoked child machine sending an
+             * error event.
+             */
+            onError?:
+              | string
+              | SingleOrArray<
+                  TransitionConfigOrTarget<
+                    TContext,
+                    ErrorActorEvent,
+                    TEvent,
+                    TActor,
+                    TAction,
+                    TGuard,
+                    TDelay,
+                    TEmitted,
+                    TMeta
+                  >
+                >;
+
+            onSnapshot?:
+              | string
+              | SingleOrArray<
+                  TransitionConfigOrTarget<
+                    TContext,
+                    SnapshotEvent,
+                    TEvent,
+                    TActor,
+                    TAction,
+                    TGuard,
+                    TDelay,
+                    TEmitted,
+                    TMeta
+                  >
+                >;
+          }
     : {
         /**
          * The unique identifier for the invoked machine. If not specified, this
diff --git a/packages/core/test/setup.types.test.ts b/packages/core/test/setup.types.test.ts
index 6f769c6a11..990a73af8e 100644
--- a/packages/core/test/setup.types.test.ts
+++ b/packages/core/test/setup.types.test.ts
@@ -9,6 +9,7 @@ import {
   emit,
   enqueueActions,
   EventFrom,
+  fromCallback,
   fromPromise,
   fromTransition,
   log,
@@ -492,8 +493,11 @@ describe('setup()', () => {
     });
   });
 
-  it('should not accept an `assign` with a spawner that tries to spawn an unknown actor when actors are not configured', () => {
+  it('should not accept an `assign` with a spawner that tries to spawn an unknown actor when actors are configured', () => {
     setup({
+      actors: {
+        foo: fromPromise(async () => {})
+      },
       actions: {
         spawnFetcher: assign(({ spawn }) => {
           return {
@@ -506,10 +510,10 @@ describe('setup()', () => {
     });
   });
 
-  it('should not accept an invoke that tries to invoke an unknown actor when actors are not configured', () => {
+  it('should accept an invoke that tries to invoke an unknown actor when actors are not configured', () => {
     setup({}).createMachine({
+      // @ts-expect-error
       invoke: {
-        // @ts-expect-error
         src: 'unknown'
       }
     });
@@ -2397,4 +2401,17 @@ describe('setup()', () => {
 
     ((_accept: ContextFrom<typeof machine>) => {})({ myVar: 'whatever' });
   });
+
+  it('should accept an invoke that tries to invoke an inline actor when actors are not configured', () => {
+    setup({}).createMachine({
+      states: {
+        //...
+        exampleState: {
+          invoke: {
+            src: fromCallback(() => {})
+          }
+        }
+      }
+    });
+  });
 });