Miley Cyrus has caught some backlash from the hip-hop community in the past, but that's not stopping her from twerking at festivals.

On Friday, Megan Thee Stallion was performing at the Austin City Limits festival when she was surprised by Cyrus on stage, who joined in a mid-set twerking competition.

Cyrus also headlined Friday night at the festival, and she said the moment was a dream come true.

Peep the footage below.

"Dreams DO come true! Me & @theestallion doing hot girl shit!"

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