diff --git a/samples/MvcSandbox/Startup.cs b/samples/MvcSandbox/Startup.cs
index 5c241cdc32..dac9f9d057 100644
--- a/samples/MvcSandbox/Startup.cs
+++ b/samples/MvcSandbox/Startup.cs
@@ -33,12 +33,11 @@ namespace MvcSandbox
                     pattern: "/endpoints",
                     displayName: "Home");
 
-                builder.MapMvcRoute(
+                builder.MapControllerRoute(
                     name: "default",
                     template: "{controller=Home}/{action=Index}/{id?}");
 
-                builder.MapMvcControllers();
-                builder.MapRazorPages();
+                builder.MapApplication();
 
                 builder.MapHealthChecks("/healthz");
             });
diff --git a/src/Microsoft.AspNetCore.Mvc.Core/Builder/MvcEndpointInfo.cs b/src/Microsoft.AspNetCore.Mvc.Core/Builder/MvcEndpointInfo.cs
index 289a1a2f34..5712fa6a55 100644
--- a/src/Microsoft.AspNetCore.Mvc.Core/Builder/MvcEndpointInfo.cs
+++ b/src/Microsoft.AspNetCore.Mvc.Core/Builder/MvcEndpointInfo.cs
@@ -43,7 +43,6 @@ namespace Microsoft.AspNetCore.Builder
 
         public string Name { get; }
         public string Pattern { get; }
-        public Type ControllerType { get; set; }
 
         // Non-inline defaults
         public RouteValueDictionary Defaults { get; }
diff --git a/src/Microsoft.AspNetCore.Mvc.Core/Builder/MvcEndpointRouteBuilderExtensions.cs b/src/Microsoft.AspNetCore.Mvc.Core/Builder/MvcEndpointRouteBuilderExtensions.cs
index a4d392a3b5..bef1b53372 100644
--- a/src/Microsoft.AspNetCore.Mvc.Core/Builder/MvcEndpointRouteBuilderExtensions.cs
+++ b/src/Microsoft.AspNetCore.Mvc.Core/Builder/MvcEndpointRouteBuilderExtensions.cs
@@ -1,8 +1,8 @@
 // Copyright (c) .NET Foundation. All rights reserved.
 // Licensed under the Apache License, Version 2.0. See License.txt in the project root for license information.
 
+using System;
 using System.Linq;
-using Microsoft.AspNetCore.Mvc;
 using Microsoft.AspNetCore.Mvc.Controllers;
 using Microsoft.AspNetCore.Mvc.Routing;
 using Microsoft.AspNetCore.Routing;
@@ -12,14 +12,21 @@ namespace Microsoft.AspNetCore.Builder
 {
     public static class MvcEndpointRouteBuilderExtensions
     {
-        public static IEndpointConventionBuilder MapMvcControllers(
+        public static IEndpointConventionBuilder MapApplication(
             this IEndpointRouteBuilder routeBuilder)
         {
-            return MapMvcControllers<ControllerBase>(routeBuilder);
+            return MapActionDescriptors(routeBuilder, null);
         }
 
-        public static IEndpointConventionBuilder MapMvcControllers<TController>(
-            this IEndpointRouteBuilder routeBuilder) where TController : ControllerBase
+        public static IEndpointConventionBuilder MapAssembly<TContainingType>(
+            this IEndpointRouteBuilder routeBuilder)
+        {
+            return MapActionDescriptors(routeBuilder, typeof(TContainingType));
+        }
+
+        private static IEndpointConventionBuilder MapActionDescriptors(
+            this IEndpointRouteBuilder routeBuilder,
+            Type containingType)
         {
             var mvcEndpointDataSource = routeBuilder.DataSources.OfType<MvcEndpointDataSource>().FirstOrDefault();
 
@@ -31,92 +38,64 @@ namespace Microsoft.AspNetCore.Builder
 
             var conventionBuilder = new DefaultEndpointConventionBuilder();
 
+            var assemblyFilter = containingType?.Assembly;
+
             mvcEndpointDataSource.AttributeRoutingConventionResolvers.Add(actionDescriptor =>
             {
-                if (actionDescriptor is ControllerActionDescriptor controllerActionDescriptor &&
-                    typeof(TController).IsAssignableFrom(controllerActionDescriptor.ControllerTypeInfo))
+                // Filter a descriptor by the assembly
+                // Note that this will only filter actions on controllers
+                // Does not support filtering Razor pages embedded in assemblies
+                if (assemblyFilter != null)
                 {
-                    return conventionBuilder;
+                    if (actionDescriptor is ControllerActionDescriptor controllerActionDescriptor)
+                    {
+                        if (controllerActionDescriptor.ControllerTypeInfo.Assembly != assemblyFilter)
+                        {
+                            return null;
+                        }
+                    }
                 }
 
-                return null;
+                return conventionBuilder;
             });
 
             return conventionBuilder;
         }
 
-        public static IEndpointConventionBuilder MapMvcRoute(
+        public static IEndpointConventionBuilder MapControllerRoute(
             this IEndpointRouteBuilder routeBuilder,
             string name,
             string template)
         {
-            return MapMvcRoute<ControllerBase>(routeBuilder, name, template, defaults: null);
+            return MapControllerRoute(routeBuilder, name, template, defaults: null);
         }
 
-        public static IEndpointConventionBuilder MapMvcRoute(
+        public static IEndpointConventionBuilder MapControllerRoute(
             this IEndpointRouteBuilder routeBuilder,
             string name,
             string template,
             object defaults)
         {
-            return MapMvcRoute<ControllerBase>(routeBuilder, name, template, defaults, constraints: null);
+            return MapControllerRoute(routeBuilder, name, template, defaults, constraints: null);
         }
 
-        public static IEndpointConventionBuilder MapMvcRoute(
+        public static IEndpointConventionBuilder MapControllerRoute(
             this IEndpointRouteBuilder routeBuilder,
             string name,
             string template,
             object defaults,
             object constraints)
         {
-            return MapMvcRoute<ControllerBase>(routeBuilder, name, template, defaults, constraints, dataTokens: null);
+            return MapControllerRoute(routeBuilder, name, template, defaults, constraints, dataTokens: null);
         }
 
-        public static IEndpointConventionBuilder MapMvcRoute(
+        public static IEndpointConventionBuilder MapControllerRoute(
             this IEndpointRouteBuilder routeBuilder,
             string name,
             string template,
             object defaults,
             object constraints,
             object dataTokens)
-        {
-            return MapMvcRoute<ControllerBase>(routeBuilder, name, template, defaults, constraints, dataTokens);
-        }
-
-        public static IEndpointConventionBuilder MapMvcRoute<TController>(
-            this IEndpointRouteBuilder routeBuilder,
-            string name,
-            string template) where TController : ControllerBase
-        {
-            return MapMvcRoute<TController>(routeBuilder, name, template, defaults: null);
-        }
-
-        public static IEndpointConventionBuilder MapMvcRoute<TController>(
-            this IEndpointRouteBuilder routeBuilder,
-            string name,
-            string template,
-            object defaults) where TController : ControllerBase
-        {
-            return MapMvcRoute<TController>(routeBuilder, name, template, defaults, constraints: null);
-        }
-
-        public static IEndpointConventionBuilder MapMvcRoute<TController>(
-            this IEndpointRouteBuilder routeBuilder,
-            string name,
-            string template,
-            object defaults,
-            object constraints) where TController : ControllerBase
-        {
-            return MapMvcRoute<TController>(routeBuilder, name, template, defaults, constraints, dataTokens: null);
-        }
-
-        public static IEndpointConventionBuilder MapMvcRoute<TController>(
-            this IEndpointRouteBuilder routeBuilder,
-            string name,
-            string template,
-            object defaults,
-            object constraints,
-            object dataTokens) where TController : ControllerBase
         {
             var mvcEndpointDataSource = routeBuilder.DataSources.OfType<MvcEndpointDataSource>().FirstOrDefault();
 
@@ -134,8 +113,6 @@ namespace Microsoft.AspNetCore.Builder
                 new RouteValueDictionary(dataTokens),
                 routeBuilder.ServiceProvider.GetRequiredService<ParameterPolicyFactory>());
 
-            endpointInfo.ControllerType = typeof(TController);
-
             mvcEndpointDataSource.ConventionalEndpointInfos.Add(endpointInfo);
 
             return endpointInfo;
diff --git a/src/Microsoft.AspNetCore.Mvc.Core/Routing/MvcEndpointDataSource.cs b/src/Microsoft.AspNetCore.Mvc.Core/Routing/MvcEndpointDataSource.cs
index f4b7d895d9..53e37a4595 100644
--- a/src/Microsoft.AspNetCore.Mvc.Core/Routing/MvcEndpointDataSource.cs
+++ b/src/Microsoft.AspNetCore.Mvc.Core/Routing/MvcEndpointDataSource.cs
@@ -139,16 +139,6 @@ namespace Microsoft.AspNetCore.Mvc.Routing
                         // - Home/Login
                         foreach (var endpointInfo in ConventionalEndpointInfos)
                         {
-                            if (endpointInfo.ControllerType != null &&
-                                endpointInfo.ControllerType != typeof(ControllerBase))
-                            {
-                                if (!ValidateControllerConstraint(action, endpointInfo))
-                                {
-                                    // Action descriptor does not belong to a controller of the specified type
-                                    continue;
-                                }
-                            }
-
                             // An 'endpointInfo' is applicable if:
                             // 1. it has a parameter (or default value) for 'required' non-null route value
                             // 2. it does not have a parameter (or default value) for 'required' null route value
@@ -244,16 +234,6 @@ namespace Microsoft.AspNetCore.Mvc.Routing
             return null;
         }
 
-        private static bool ValidateControllerConstraint(ActionDescriptor action, MvcEndpointInfo endpointInfo)
-        {
-            if (action is ControllerActionDescriptor controllerActionDescriptor)
-            {
-                return endpointInfo.ControllerType.IsAssignableFrom(controllerActionDescriptor.ControllerTypeInfo);
-            }
-
-            return false;
-        }
-
         // CreateEndpoints processes the route pattern, replacing area/controller/action parameters with endpoint values
         // Because of default values it is possible for a route pattern to resolve to multiple endpoints
         private int CreateEndpoints(