diff --git a/sdks/python/apache_beam/ml/transforms/base_test.py b/sdks/python/apache_beam/ml/transforms/base_test.py
index 1a21f6caf7e1..3db5a63b9542 100644
--- a/sdks/python/apache_beam/ml/transforms/base_test.py
+++ b/sdks/python/apache_beam/ml/transforms/base_test.py
@@ -21,7 +21,6 @@
 import shutil
 import tempfile
 import time
-import typing
 import unittest
 from collections.abc import Sequence
 from typing import Any
@@ -140,8 +139,8 @@ def test_ml_transform_on_list_dict(self):
               'x': int, 'y': float
           },
           expected_dtype={
-              'x': typing.Sequence[np.float32],
-              'y': typing.Sequence[np.float32],
+              'x': Sequence[np.float32],
+              'y': Sequence[np.float32],
           },
       ),
       param(
@@ -153,8 +152,8 @@ def test_ml_transform_on_list_dict(self):
               'x': np.int32, 'y': np.float32
           },
           expected_dtype={
-              'x': typing.Sequence[np.float32],
-              'y': typing.Sequence[np.float32],
+              'x': Sequence[np.float32],
+              'y': Sequence[np.float32],
           },
       ),
       param(
@@ -165,8 +164,8 @@ def test_ml_transform_on_list_dict(self):
               'x': list[int], 'y': list[float]
           },
           expected_dtype={
-              'x': typing.Sequence[np.float32],
-              'y': typing.Sequence[np.float32],
+              'x': Sequence[np.float32],
+              'y': Sequence[np.float32],
           },
       ),
       param(
@@ -174,12 +173,12 @@ def test_ml_transform_on_list_dict(self):
               'x': [1, 2, 3], 'y': [2.0, 3.0, 4.0]
           }],
           input_types={
-              'x': typing.Sequence[int],
-              'y': typing.Sequence[float],
+              'x': Sequence[int],
+              'y': Sequence[float],
           },
           expected_dtype={
-              'x': typing.Sequence[np.float32],
-              'y': typing.Sequence[np.float32],
+              'x': Sequence[np.float32],
+              'y': Sequence[np.float32],
           },
       ),
   ])
diff --git a/sdks/python/apache_beam/ml/transforms/handlers_test.py b/sdks/python/apache_beam/ml/transforms/handlers_test.py
index 4b53026c36a4..bb5f9b5f0f70 100644
--- a/sdks/python/apache_beam/ml/transforms/handlers_test.py
+++ b/sdks/python/apache_beam/ml/transforms/handlers_test.py
@@ -20,9 +20,9 @@
 import shutil
 import sys
 import tempfile
-import typing
 import unittest
 import uuid
+from collections.abc import Sequence
 from typing import NamedTuple
 from typing import Union
 
@@ -276,9 +276,9 @@ def test_tft_process_handler_transformed_data_schema(self):
         schema_utils.schema_from_feature_spec(raw_data_feature_spec))
 
     expected_transformed_data_schema = {
-        'x': typing.Sequence[np.float32],
-        'y': typing.Sequence[np.float32],
-        'z': typing.Sequence[bytes]
+        'x': Sequence[np.float32],
+        'y': Sequence[np.float32],
+        'z': Sequence[bytes]
     }
 
     actual_transformed_data_schema = (
diff --git a/sdks/python/setup.py b/sdks/python/setup.py
index 3b45cbf82fc1..53c7a532e706 100644
--- a/sdks/python/setup.py
+++ b/sdks/python/setup.py
@@ -490,12 +490,9 @@ def get_portability_package_data():
               'sentence-transformers',
               'skl2onnx',
               'pillow',
-              # Support TF 2.16.0: https://github.com/apache/beam/issues/31294
-              # Once TF version is unpinned, also don't restrict Python version.
-              'tensorflow<2.16.0;python_version<"3.12"',
+              'tensorflow',
               'tensorflow-hub',
-              # https://github.com/tensorflow/transform/issues/313
-              'tensorflow-transform;python_version<"3.11"',
+              'tensorflow-transform',
               'tf2onnx',
               'torch',
               'transformers',
@@ -504,6 +501,19 @@ def get_portability_package_data():
               # https://github.com/apache/beam/issues/31285
               # 'xgboost<2.0',  # https://github.com/apache/beam/issues/31252
           ],
+          'p312_ml_test': [
+              'datatable',
+              'embeddings',
+              'onnxruntime',
+              'sentence-transformers',
+              'skl2onnx',
+              'pillow',
+              'tensorflow',
+              'tensorflow-hub',
+              'tf2onnx',
+              'torch',
+              'transformers',
+          ],
           'aws': ['boto3>=1.9,<2'],
           'azure': [
               'azure-storage-blob>=12.3.2,<13',
diff --git a/sdks/python/tox.ini b/sdks/python/tox.ini
index 7a2424325890..68ac15ced70d 100644
--- a/sdks/python/tox.ini
+++ b/sdks/python/tox.ini
@@ -101,11 +101,23 @@ commands =
   python apache_beam/examples/complete/autocomplete_test.py
   bash {toxinidir}/scripts/run_pytest.sh {envname} "{posargs}"
 
-[testenv:py{39,310,311,312}-ml]
+[testenv:py{39,310,311}-ml]
 # Don't set TMPDIR to avoid "AF_UNIX path too long" errors in certain tests.
 setenv =
 extras = test,gcp,dataframe,ml_test
 commands =
+  # Log tensorflow version for debugging
+  /bin/sh -c "pip freeze | grep -E tensorflow"
+  bash {toxinidir}/scripts/run_pytest.sh {envname} "{posargs}"
+
+[testenv:py312-ml]
+# many packages do not support py3.12
+# Don't set TMPDIR to avoid "AF_UNIX path too long" errors in certain tests.
+setenv =
+extras = test,gcp,dataframe,p312_ml_test
+commands =
+  # Log tensorflow version for debugging
+  /bin/sh -c "pip freeze | grep -E tensorflow"
   bash {toxinidir}/scripts/run_pytest.sh {envname} "{posargs}"
 
 [testenv:py{39,310,311,312}-dask]