diff --git a/poetry.lock b/poetry.lock
index 54e12ab..aa6cba6 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -12,21 +12,6 @@ files = [
     {file = "alabaster-0.7.13.tar.gz", hash = "sha256:a27a4a084d5e690e16e01e03ad2b2e552c61a65469419b907243193de1a84ae2"},
 ]
 
-[[package]]
-name = "async-timeout"
-version = "4.0.2"
-description = "Timeout context manager for asyncio programs"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-files = [
-    {file = "async-timeout-4.0.2.tar.gz", hash = "sha256:2163e1640ddb52b7a8c80d0a67a08587e5d245cc9c553a74a847056bc2976b15"},
-    {file = "async_timeout-4.0.2-py3-none-any.whl", hash = "sha256:8ca1e4fcf50d07413d66d1a5e416e42cfdf5851c981d679a09851a6853383b3c"},
-]
-
-[package.dependencies]
-typing-extensions = {version = ">=3.6.5", markers = "python_version < \"3.8\""}
-
 [[package]]
 name = "babel"
 version = "2.12.1"
@@ -994,7 +979,7 @@ files = [
 name = "typing-extensions"
 version = "4.5.0"
 description = "Backported and Experimental Type Hints for Python 3.7+"
-category = "main"
+category = "dev"
 optional = false
 python-versions = ">=3.7"
 files = [
@@ -1038,4 +1023,4 @@ testing = ["big-O", "flake8 (<5)", "jaraco.functools", "jaraco.itertools", "more
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.7"
-content-hash = "efe6bba7d1d4270ef6646994cdb335ff93e9394bd8046121834b21e88302374b"
+content-hash = "b66b41484e96b04db380a0821db014a05ecf99c4be505734c5cbbd4f8955c688"
diff --git a/pyproject.toml b/pyproject.toml
index c1b727c..41ca987 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -28,7 +28,6 @@ script = "build_ext.py"
 
 [tool.poetry.dependencies]
 python = "^3.7"
-async-timeout = {version = ">=3.0.0", python = "<3.11"}
 
 # duplicated in docs/requirements.txt for readthedocs compatibility
 [tool.poetry.group.docs.dependencies]
diff --git a/src/dbus_fast/aio/message_bus.py b/src/dbus_fast/aio/message_bus.py
index 03634da..4d07ab7 100644
--- a/src/dbus_fast/aio/message_bus.py
+++ b/src/dbus_fast/aio/message_bus.py
@@ -2,16 +2,10 @@ import array
 import asyncio
 import logging
 import socket
-import sys
 from collections import deque
 from copy import copy
 from typing import Any, Optional
 
-if sys.version_info[:2] < (3, 11):
-    from async_timeout import timeout as asyncio_timeout
-else:
-    from asyncio import timeout as asyncio_timeout
-
 from .. import introspection as intr
 from ..auth import Authenticator, AuthExternal
 from ..constants import (
@@ -273,8 +267,13 @@ class MessageBus(BaseMessageBus):
 
         super().introspect(bus_name, path, reply_handler)
 
-        async with asyncio_timeout(timeout):
+        timer_handle = self._loop.call_later(
+            timeout, _future_set_exception, future, asyncio.TimeoutError
+        )
+        try:
             return await future
+        finally:
+            timer_handle.cancel()
 
     async def request_name(
         self, name: str, flags: NameFlag = NameFlag.NONE