diff --git a/packages/eslint-plugin/src/rules/prefer-readonly.ts b/packages/eslint-plugin/src/rules/prefer-readonly.ts
index be92e541781c..ea4ff0e1bc4c 100644
--- a/packages/eslint-plugin/src/rules/prefer-readonly.ts
+++ b/packages/eslint-plugin/src/rules/prefer-readonly.ts
@@ -251,6 +251,13 @@ type ParameterOrPropertyDeclaration =
 const OUTSIDE_CONSTRUCTOR = -1;
 const DIRECTLY_INSIDE_CONSTRUCTOR = 0;
 
+enum TypeToClassRelation {
+  ClassAndInstance,
+  Class,
+  Instance,
+  None,
+}
+
 class ClassScope {
   private readonly privateModifiableMembers = new Map<
     string,
@@ -312,29 +319,75 @@ class ClassScope {
     ).set(node.name.getText(), node);
   }
 
+  public getTypeToClassRelation(type: ts.Type): TypeToClassRelation {
+    if (type.isIntersection()) {
+      let result: TypeToClassRelation = TypeToClassRelation.None;
+      for (const subType of type.types) {
+        const subTypeResult = this.getTypeToClassRelation(subType);
+        switch (subTypeResult) {
+          case TypeToClassRelation.Class:
+            if (result === TypeToClassRelation.Instance) {
+              return TypeToClassRelation.ClassAndInstance;
+            }
+            result = TypeToClassRelation.Class;
+            break;
+          case TypeToClassRelation.Instance:
+            if (result === TypeToClassRelation.Class) {
+              return TypeToClassRelation.ClassAndInstance;
+            }
+            result = TypeToClassRelation.Instance;
+            break;
+        }
+      }
+      return result;
+    }
+    if (type.isUnion()) {
+      // any union of class/instance and something else will prevent access to
+      // private members, so we assume that union consists only of classes
+      // or class instances, because otherwise tsc will report an error
+      return this.getTypeToClassRelation(type.types[0]);
+    }
+
+    if (!type.getSymbol() || !typeIsOrHasBaseType(type, this.classType)) {
+      return TypeToClassRelation.None;
+    }
+
+    const typeIsClass =
+      tsutils.isObjectType(type) &&
+      tsutils.isObjectFlagSet(type, ts.ObjectFlags.Anonymous);
+
+    if (typeIsClass) {
+      return TypeToClassRelation.Class;
+    }
+
+    return TypeToClassRelation.Instance;
+  }
+
   public addVariableModification(node: ts.PropertyAccessExpression): void {
     const modifierType = this.checker.getTypeAtLocation(node.expression);
+
+    const relationOfModifierTypeToClass =
+      this.getTypeToClassRelation(modifierType);
+
     if (
-      !modifierType.getSymbol() ||
-      !typeIsOrHasBaseType(modifierType, this.classType)
+      relationOfModifierTypeToClass === TypeToClassRelation.Instance &&
+      this.constructorScopeDepth === DIRECTLY_INSIDE_CONSTRUCTOR
     ) {
       return;
     }
 
-    const modifyingStatic =
-      tsutils.isObjectType(modifierType) &&
-      tsutils.isObjectFlagSet(modifierType, ts.ObjectFlags.Anonymous);
     if (
-      !modifyingStatic &&
-      this.constructorScopeDepth === DIRECTLY_INSIDE_CONSTRUCTOR
+      relationOfModifierTypeToClass === TypeToClassRelation.Instance ||
+      relationOfModifierTypeToClass === TypeToClassRelation.ClassAndInstance
     ) {
-      return;
+      this.memberVariableModifications.add(node.name.text);
+    }
+    if (
+      relationOfModifierTypeToClass === TypeToClassRelation.Class ||
+      relationOfModifierTypeToClass === TypeToClassRelation.ClassAndInstance
+    ) {
+      this.staticVariableModifications.add(node.name.text);
     }
-
-    (modifyingStatic
-      ? this.staticVariableModifications
-      : this.memberVariableModifications
-    ).add(node.name.text);
   }
 
   public enterConstructor(
diff --git a/packages/eslint-plugin/tests/rules/prefer-readonly.test.ts b/packages/eslint-plugin/tests/rules/prefer-readonly.test.ts
index d35ffa66edb6..a8d170c4a7d0 100644
--- a/packages/eslint-plugin/tests/rules/prefer-readonly.test.ts
+++ b/packages/eslint-plugin/tests/rules/prefer-readonly.test.ts
@@ -651,6 +651,72 @@ class Foo {
         }
       `,
     },
+    `
+      class TestIntersection {
+        private prop: number = 3;
+      
+        test() {
+          const that = {} as this & { _foo: 'bar' };
+          that.prop = 1;
+        }
+      }
+    `,
+    `
+      class TestUnion {
+        private prop: number = 3;
+      
+        test() {
+          const that = {} as this | (this & { _foo: 'bar' });
+          that.prop = 1;
+        }
+      }
+    `,
+    `
+      class TestStaticIntersection {
+        private static prop: number;
+      
+        test() {
+          const that = {} as typeof TestStaticIntersection & { _foo: 'bar' };
+          that.prop = 1;
+        }
+      }
+    `,
+    `
+      class TestStaticUnion {
+        private static prop: number = 1;
+      
+        test() {
+          const that = {} as
+            | typeof TestStaticUnion
+            | (typeof TestStaticUnion & { _foo: 'bar' });
+          that.prop = 1;
+        }
+      }
+    `,
+    `
+      class TestBothIntersection {
+        private prop1: number = 1;
+        private static prop2: number;
+      
+        test() {
+          const that = {} as typeof TestBothIntersection & this;
+          that.prop1 = 1;
+          that.prop2 = 1;
+        }
+      }
+    `,
+    `
+      class TestBothIntersection {
+        private prop1: number = 1;
+        private static prop2: number;
+      
+        test() {
+          const that = {} as this & typeof TestBothIntersection;
+          that.prop1 = 1;
+          that.prop2 = 1;
+        }
+      }
+    `,
   ],
   invalid: [
     {
@@ -1978,5 +2044,98 @@ function ClassWithName<TBase extends new (...args: any[]) => {}>(Base: TBase) {
         },
       ],
     },
+    {
+      code: `
+        class Test {
+          private prop: number = 3;
+        
+          test() {
+            const that = {} as this & { _foo: 'bar' };
+            that._foo = 1;
+          }
+        }
+      `,
+      output: `
+        class Test {
+          private readonly prop: number = 3
+
+          test() {
+            const that = {} as this & {_foo: 'bar'}
+            that._foo = 1
+          }
+        }
+      `,
+      errors: [
+        {
+          data: {
+            name: 'prop',
+          },
+          line: 3,
+          messageId: 'preferReadonly',
+        },
+      ],
+    },
+    {
+      code: `
+        class Test {
+          private prop: number = 3;
+        
+          test() {
+            const that = {} as this | (this & { _foo: 'bar' });
+            that.prop;
+          }
+        }
+      `,
+      output: `
+        class Test {
+          private readonly prop: number = 3
+
+          test() {
+            const that = {} as this | (this & {_foo: 'bar'})
+            that.prop
+          }
+        }
+      `,
+      errors: [
+        {
+          data: {
+            name: 'prop',
+          },
+          line: 3,
+          messageId: 'preferReadonly',
+        },
+      ],
+    },
+    {
+      code: `
+        class Test {
+          private prop: number;
+        
+          constructor() {
+            const that = {} as this & { _foo: 'bar' };
+            that.prop = 1;
+          }
+        }
+      `,
+      output: `
+        class Test {
+          private readonly prop: number
+
+          constructor() {
+            const that = {} as this & {_foo: 'bar'}
+            that.prop = 1
+          }
+        }
+      `,
+      errors: [
+        {
+          data: {
+            name: 'prop',
+          },
+          line: 3,
+          messageId: 'preferReadonly',
+        },
+      ],
+    },
   ],
 });