diff --git a/dist/vue-router.common.js b/dist/vue-router.common.js
index 9a5d2ae73..0f9a1c772 100644
--- a/dist/vue-router.common.js
+++ b/dist/vue-router.common.js
@@ -1,5 +1,5 @@
 /*!
-  * vue-router v3.2.0
+  * vue-router v3.3.0
   * (c) 2020 Evan You
   * @license MIT
   */
@@ -23,12 +23,8 @@ function isError (err) {
   return Object.prototype.toString.call(err).indexOf('Error') > -1
 }
 
-function isExtendedError (constructor, err) {
-  return (
-    err instanceof constructor ||
-    // _name is to support IE9 too
-    (err && (err.name === constructor.name || err._name === constructor._name))
-  )
+function isRouterError (err, errorType) {
+  return isError(err) && err._isRouter && (errorType == null || err.type === errorType)
 }
 
 function extend (a, b) {
@@ -1708,12 +1704,10 @@ function setupScroll () {
   var stateCopy = extend({}, window.history.state);
   stateCopy.key = getStateKey();
   window.history.replaceState(stateCopy, '', absolutePath);
-  window.addEventListener('popstate', function (e) {
-    saveScrollPosition();
-    if (e.state && e.state.key) {
-      setStateKey(e.state.key);
-    }
-  });
+  window.addEventListener('popstate', handlePopState);
+  return function () {
+    window.removeEventListener('popstate', handlePopState);
+  }
 }
 
 function handleScroll (
@@ -1775,6 +1769,13 @@ function saveScrollPosition () {
   }
 }
 
+function handlePopState (e) {
+  saveScrollPosition();
+  if (e.state && e.state.key) {
+    setStateKey(e.state.key);
+  }
+}
+
 function getScrollPosition () {
   var key = getStateKey();
   if (key) {
@@ -2014,32 +2015,73 @@ function once (fn) {
   }
 }
 
-var NavigationDuplicated = /*@__PURE__*/(function (Error) {
-  function NavigationDuplicated (normalizedLocation) {
-    Error.call(this);
-    this.name = this._name = 'NavigationDuplicated';
-    // passing the message to super() doesn't seem to work in the transpiled version
-    this.message = "Navigating to current location (\"" + (normalizedLocation.fullPath) + "\") is not allowed";
-    // add a stack property so services like Sentry can correctly display it
-    Object.defineProperty(this, 'stack', {
-      value: new Error().stack,
-      writable: true,
-      configurable: true
-    });
-    // we could also have used
-    // Error.captureStackTrace(this, this.constructor)
-    // but it only exists on node and chrome
-  }
+var NavigationFailureType = {
+  redirected: 1,
+  aborted: 2,
+  cancelled: 3,
+  duplicated: 4
+};
+
+function createNavigationRedirectedError (from, to) {
+  return createRouterError(
+    from,
+    to,
+    NavigationFailureType.redirected,
+    ("Redirected from \"" + (from.fullPath) + "\" to \"" + (stringifyRoute(to)) + "\" via a navigation guard.")
+  )
+}
+
+function createNavigationDuplicatedError (from, to) {
+  return createRouterError(
+    from,
+    to,
+    NavigationFailureType.duplicated,
+    ("Avoided redundant navigation to current location: \"" + (from.fullPath) + "\".")
+  )
+}
+
+function createNavigationCancelledError (from, to) {
+  return createRouterError(
+    from,
+    to,
+    NavigationFailureType.cancelled,
+    ("Navigation cancelled from \"" + (from.fullPath) + "\" to \"" + (to.fullPath) + "\" with a new navigation.")
+  )
+}
+
+function createNavigationAbortedError (from, to) {
+  return createRouterError(
+    from,
+    to,
+    NavigationFailureType.aborted,
+    ("Navigation aborted from \"" + (from.fullPath) + "\" to \"" + (to.fullPath) + "\" via a navigation guard.")
+  )
+}
+
+function createRouterError (from, to, type, message) {
+  var error = new Error(message);
+  error._isRouter = true;
+  error.from = from;
+  error.to = to;
+  error.type = type;
 
-  if ( Error ) NavigationDuplicated.__proto__ = Error;
-  NavigationDuplicated.prototype = Object.create( Error && Error.prototype );
-  NavigationDuplicated.prototype.constructor = NavigationDuplicated;
+  var newStack = error.stack.split('\n');
+  newStack.splice(1, 2); // remove 2 last useless calls
+  error.stack = newStack.join('\n');
+  return error
+}
 
-  return NavigationDuplicated;
-}(Error));
+var propertiesToLog = ['params', 'query', 'hash'];
 
-// support IE9
-NavigationDuplicated._name = 'NavigationDuplicated';
+function stringifyRoute (to) {
+  if (typeof to === 'string') { return to }
+  if ('path' in to) { return to.path }
+  var location = {};
+  propertiesToLog.forEach(function (key) {
+    if (key in to) { location[key] = to[key]; }
+  });
+  return JSON.stringify(location, null, 2)
+}
 
 /*  */
 
@@ -2053,6 +2095,7 @@ var History = function History (router, base) {
   this.readyCbs = [];
   this.readyErrorCbs = [];
   this.errorCbs = [];
+  this.listeners = [];
 };
 
 History.prototype.listen = function listen (cb) {
@@ -2085,9 +2128,13 @@ History.prototype.transitionTo = function transitionTo (
   this.confirmTransition(
     route,
     function () {
+      var prev = this$1.current;
       this$1.updateRoute(route);
       onComplete && onComplete(route);
       this$1.ensureURL();
+      this$1.router.afterHooks.forEach(function (hook) {
+        hook && hook(route, prev);
+      });
 
       // fire ready cbs once
       if (!this$1.ready) {
@@ -2120,7 +2167,7 @@ History.prototype.confirmTransition = function confirmTransition (route, onCompl
     // When the user navigates through history through back/forward buttons
     // we do not want to throw the error. We only throw it if directly calling
     // push/replace. That's why it's not included in isError
-    if (!isExtendedError(NavigationDuplicated, err) && isError(err)) {
+    if (!isRouterError(err, NavigationFailureType.duplicated) && isError(err)) {
       if (this$1.errorCbs.length) {
         this$1.errorCbs.forEach(function (cb) {
           cb(err);
@@ -2138,7 +2185,7 @@ History.prototype.confirmTransition = function confirmTransition (route, onCompl
     route.matched.length === current.matched.length
   ) {
     this.ensureURL();
-    return abort(new NavigationDuplicated(route))
+    return abort(createNavigationDuplicatedError(current, route))
   }
 
   var ref = resolveQueue(
@@ -2165,12 +2212,15 @@ History.prototype.confirmTransition = function confirmTransition (route, onCompl
   this.pending = route;
   var iterator = function (hook, next) {
     if (this$1.pending !== route) {
-      return abort()
+      return abort(createNavigationCancelledError(current, route))
     }
     try {
       hook(route, current, function (to) {
-        if (to === false || isError(to)) {
+        if (to === false) {
           // next(false) -> abort navigation, ensure current URL
+          this$1.ensureURL(true);
+          abort(createNavigationAbortedError(current, route));
+        } else if (isError(to)) {
           this$1.ensureURL(true);
           abort(to);
         } else if (
@@ -2179,7 +2229,7 @@ History.prototype.confirmTransition = function confirmTransition (route, onCompl
             (typeof to.path === 'string' || typeof to.name === 'string'))
         ) {
           // next('/') or next({ path: '/' }) -> redirect
-          abort();
+          abort(createNavigationRedirectedError(current, route));
           if (typeof to === 'object' && to.replace) {
             this$1.replace(to);
           } else {
@@ -2220,12 +2270,19 @@ History.prototype.confirmTransition = function confirmTransition (route, onCompl
 };
 
 History.prototype.updateRoute = function updateRoute (route) {
-  var prev = this.current;
   this.current = route;
   this.cb && this.cb(route);
-  this.router.afterHooks.forEach(function (hook) {
-    hook && hook(route, prev);
+};
+
+History.prototype.setupListeners = function setupListeners () {
+  // Default implementation is empty
+};
+
+History.prototype.teardownListeners = function teardownListeners () {
+  this.listeners.forEach(function (cleanupListener) {
+    cleanupListener();
   });
+  this.listeners = [];
 };
 
 function normalizeBase (base) {
@@ -2370,25 +2427,37 @@ function poll (
 
 var HTML5History = /*@__PURE__*/(function (History) {
   function HTML5History (router, base) {
+    History.call(this, router, base);
+
+    this._startLocation = getLocation(this.base);
+  }
+
+  if ( History ) HTML5History.__proto__ = History;
+  HTML5History.prototype = Object.create( History && History.prototype );
+  HTML5History.prototype.constructor = HTML5History;
+
+  HTML5History.prototype.setupListeners = function setupListeners () {
     var this$1 = this;
 
-    History.call(this, router, base);
+    if (this.listeners.length > 0) {
+      return
+    }
 
+    var router = this.router;
     var expectScroll = router.options.scrollBehavior;
     var supportsScroll = supportsPushState && expectScroll;
 
     if (supportsScroll) {
-      setupScroll();
+      this.listeners.push(setupScroll());
     }
 
-    var initLocation = getLocation(this.base);
-    window.addEventListener('popstate', function (e) {
+    var handleRoutingEvent = function () {
       var current = this$1.current;
 
       // Avoiding first `popstate` event dispatched in some browsers but first
       // history route not updated since async guard at the same time.
       var location = getLocation(this$1.base);
-      if (this$1.current === START && location === initLocation) {
+      if (this$1.current === START && location === this$1._startLocation) {
         return
       }
 
@@ -2397,12 +2466,12 @@ var HTML5History = /*@__PURE__*/(function (History) {
           handleScroll(router, route, current, true);
         }
       });
+    };
+    window.addEventListener('popstate', handleRoutingEvent);
+    this.listeners.push(function () {
+      window.removeEventListener('popstate', handleRoutingEvent);
     });
-  }
-
-  if ( History ) HTML5History.__proto__ = History;
-  HTML5History.prototype = Object.create( History && History.prototype );
-  HTML5History.prototype.constructor = HTML5History;
+  };
 
   HTML5History.prototype.go = function go (n) {
     window.history.go(n);
@@ -2475,31 +2544,40 @@ var HashHistory = /*@__PURE__*/(function (History) {
   HashHistory.prototype.setupListeners = function setupListeners () {
     var this$1 = this;
 
+    if (this.listeners.length > 0) {
+      return
+    }
+
     var router = this.router;
     var expectScroll = router.options.scrollBehavior;
     var supportsScroll = supportsPushState && expectScroll;
 
     if (supportsScroll) {
-      setupScroll();
+      this.listeners.push(setupScroll());
     }
 
-    window.addEventListener(
-      supportsPushState ? 'popstate' : 'hashchange',
-      function () {
-        var current = this$1.current;
-        if (!ensureSlash()) {
-          return
-        }
-        this$1.transitionTo(getHash(), function (route) {
-          if (supportsScroll) {
-            handleScroll(this$1.router, route, current, true);
-          }
-          if (!supportsPushState) {
-            replaceHash(route.fullPath);
-          }
-        });
+    var handleRoutingEvent = function () {
+      var current = this$1.current;
+      if (!ensureSlash()) {
+        return
       }
+      this$1.transitionTo(getHash(), function (route) {
+        if (supportsScroll) {
+          handleScroll(this$1.router, route, current, true);
+        }
+        if (!supportsPushState) {
+          replaceHash(route.fullPath);
+        }
+      });
+    };
+    var eventType = supportsPushState ? 'popstate' : 'hashchange';
+    window.addEventListener(
+      eventType,
+      handleRoutingEvent
     );
+    this.listeners.push(function () {
+      window.removeEventListener(eventType, handleRoutingEvent);
+    });
   };
 
   HashHistory.prototype.push = function push (location, onComplete, onAbort) {
@@ -2672,7 +2750,7 @@ var AbstractHistory = /*@__PURE__*/(function (History) {
         this$1.updateRoute(route);
       },
       function (err) {
-        if (isExtendedError(NavigationDuplicated, err)) {
+        if (isRouterError(err, NavigationFailureType.duplicated)) {
           this$1.index = targetIndex;
         }
       }
@@ -2767,6 +2845,12 @@ VueRouter.prototype.init = function init (app /* Vue component instance */) {
     // ensure we still have a main app or null if no apps
     // we do not release the router so it can be reused
     if (this$1.app === app) { this$1.app = this$1.apps[0] || null; }
+
+    if (!this$1.app) {
+      // clean up event listeners
+      // https://github.com/vuejs/vue-router/issues/2341
+      this$1.history.teardownListeners();
+    }
   });
 
   // main app previously initialized
@@ -2779,17 +2863,11 @@ VueRouter.prototype.init = function init (app /* Vue component instance */) {
 
   var history = this.history;
 
-  if (history instanceof HTML5History) {
-    history.transitionTo(history.getCurrentLocation());
-  } else if (history instanceof HashHistory) {
-    var setupHashListener = function () {
+  if (history instanceof HTML5History || history instanceof HashHistory) {
+    var setupListeners = function () {
       history.setupListeners();
     };
-    history.transitionTo(
-      history.getCurrentLocation(),
-      setupHashListener,
-      setupHashListener
-    );
+    history.transitionTo(history.getCurrentLocation(), setupListeners, setupListeners);
   }
 
   history.listen(function (route) {
@@ -2922,7 +3000,7 @@ function createHref (base, fullPath, mode) {
 }
 
 VueRouter.install = install;
-VueRouter.version = '3.2.0';
+VueRouter.version = '3.3.0';
 
 if (inBrowser && window.Vue) {
   window.Vue.use(VueRouter);
diff --git a/dist/vue-router.esm.browser.js b/dist/vue-router.esm.browser.js
index 18cda9d4a..c9aa21b81 100644
--- a/dist/vue-router.esm.browser.js
+++ b/dist/vue-router.esm.browser.js
@@ -1,5 +1,5 @@
 /*!
-  * vue-router v3.2.0
+  * vue-router v3.3.0
   * (c) 2020 Evan You
   * @license MIT
   */
@@ -21,12 +21,8 @@ function isError (err) {
   return Object.prototype.toString.call(err).indexOf('Error') > -1
 }
 
-function isExtendedError (constructor, err) {
-  return (
-    err instanceof constructor ||
-    // _name is to support IE9 too
-    (err && (err.name === constructor.name || err._name === constructor._name))
-  )
+function isRouterError (err, errorType) {
+  return isError(err) && err._isRouter && (errorType == null || err.type === errorType)
 }
 
 function extend (a, b) {
@@ -1684,12 +1680,10 @@ function setupScroll () {
   const stateCopy = extend({}, window.history.state);
   stateCopy.key = getStateKey();
   window.history.replaceState(stateCopy, '', absolutePath);
-  window.addEventListener('popstate', e => {
-    saveScrollPosition();
-    if (e.state && e.state.key) {
-      setStateKey(e.state.key);
-    }
-  });
+  window.addEventListener('popstate', handlePopState);
+  return () => {
+    window.removeEventListener('popstate', handlePopState);
+  }
 }
 
 function handleScroll (
@@ -1751,6 +1745,13 @@ function saveScrollPosition () {
   }
 }
 
+function handlePopState (e) {
+  saveScrollPosition();
+  if (e.state && e.state.key) {
+    setStateKey(e.state.key);
+  }
+}
+
 function getScrollPosition () {
   const key = getStateKey();
   if (key) {
@@ -1987,28 +1988,73 @@ function once (fn) {
   }
 }
 
-class NavigationDuplicated extends Error {
-  constructor (normalizedLocation) {
-    super();
-    this.name = this._name = 'NavigationDuplicated';
-    // passing the message to super() doesn't seem to work in the transpiled version
-    this.message = `Navigating to current location ("${
-      normalizedLocation.fullPath
-    }") is not allowed`;
-    // add a stack property so services like Sentry can correctly display it
-    Object.defineProperty(this, 'stack', {
-      value: new Error().stack,
-      writable: true,
-      configurable: true
-    });
-    // we could also have used
-    // Error.captureStackTrace(this, this.constructor)
-    // but it only exists on node and chrome
-  }
+const NavigationFailureType = {
+  redirected: 1,
+  aborted: 2,
+  cancelled: 3,
+  duplicated: 4
+};
+
+function createNavigationRedirectedError (from, to) {
+  return createRouterError(
+    from,
+    to,
+    NavigationFailureType.redirected,
+    `Redirected from "${from.fullPath}" to "${stringifyRoute(to)}" via a navigation guard.`
+  )
+}
+
+function createNavigationDuplicatedError (from, to) {
+  return createRouterError(
+    from,
+    to,
+    NavigationFailureType.duplicated,
+    `Avoided redundant navigation to current location: "${from.fullPath}".`
+  )
+}
+
+function createNavigationCancelledError (from, to) {
+  return createRouterError(
+    from,
+    to,
+    NavigationFailureType.cancelled,
+    `Navigation cancelled from "${from.fullPath}" to "${to.fullPath}" with a new navigation.`
+  )
 }
 
-// support IE9
-NavigationDuplicated._name = 'NavigationDuplicated';
+function createNavigationAbortedError (from, to) {
+  return createRouterError(
+    from,
+    to,
+    NavigationFailureType.aborted,
+    `Navigation aborted from "${from.fullPath}" to "${to.fullPath}" via a navigation guard.`
+  )
+}
+
+function createRouterError (from, to, type, message) {
+  const error = new Error(message);
+  error._isRouter = true;
+  error.from = from;
+  error.to = to;
+  error.type = type;
+
+  const newStack = error.stack.split('\n');
+  newStack.splice(1, 2); // remove 2 last useless calls
+  error.stack = newStack.join('\n');
+  return error
+}
+
+const propertiesToLog = ['params', 'query', 'hash'];
+
+function stringifyRoute (to) {
+  if (typeof to === 'string') return to
+  if ('path' in to) return to.path
+  const location = {};
+  propertiesToLog.forEach(key => {
+    if (key in to) location[key] = to[key];
+  });
+  return JSON.stringify(location, null, 2)
+}
 
 /*  */
 
@@ -2022,6 +2068,8 @@ class History {
   
   
   
+  
+  
 
   // implemented by sub-classes
   
@@ -2029,6 +2077,7 @@ class History {
   
   
   
+  
 
   constructor (router, base) {
     this.router = router;
@@ -2040,6 +2089,7 @@ class History {
     this.readyCbs = [];
     this.readyErrorCbs = [];
     this.errorCbs = [];
+    this.listeners = [];
   }
 
   listen (cb) {
@@ -2070,9 +2120,13 @@ class History {
     this.confirmTransition(
       route,
       () => {
+        const prev = this.current;
         this.updateRoute(route);
         onComplete && onComplete(route);
         this.ensureURL();
+        this.router.afterHooks.forEach(hook => {
+          hook && hook(route, prev);
+        });
 
         // fire ready cbs once
         if (!this.ready) {
@@ -2103,7 +2157,7 @@ class History {
       // When the user navigates through history through back/forward buttons
       // we do not want to throw the error. We only throw it if directly calling
       // push/replace. That's why it's not included in isError
-      if (!isExtendedError(NavigationDuplicated, err) && isError(err)) {
+      if (!isRouterError(err, NavigationFailureType.duplicated) && isError(err)) {
         if (this.errorCbs.length) {
           this.errorCbs.forEach(cb => {
             cb(err);
@@ -2121,7 +2175,7 @@ class History {
       route.matched.length === current.matched.length
     ) {
       this.ensureURL();
-      return abort(new NavigationDuplicated(route))
+      return abort(createNavigationDuplicatedError(current, route))
     }
 
     const { updated, deactivated, activated } = resolveQueue(
@@ -2145,12 +2199,15 @@ class History {
     this.pending = route;
     const iterator = (hook, next) => {
       if (this.pending !== route) {
-        return abort()
+        return abort(createNavigationCancelledError(current, route))
       }
       try {
         hook(route, current, (to) => {
-          if (to === false || isError(to)) {
+          if (to === false) {
             // next(false) -> abort navigation, ensure current URL
+            this.ensureURL(true);
+            abort(createNavigationAbortedError(current, route));
+          } else if (isError(to)) {
             this.ensureURL(true);
             abort(to);
           } else if (
@@ -2159,7 +2216,7 @@ class History {
               (typeof to.path === 'string' || typeof to.name === 'string'))
           ) {
             // next('/') or next({ path: '/' }) -> redirect
-            abort();
+            abort(createNavigationRedirectedError(current, route));
             if (typeof to === 'object' && to.replace) {
               this.replace(to);
             } else {
@@ -2200,12 +2257,19 @@ class History {
   }
 
   updateRoute (route) {
-    const prev = this.current;
     this.current = route;
     this.cb && this.cb(route);
-    this.router.afterHooks.forEach(hook => {
-      hook && hook(route, prev);
+  }
+
+  setupListeners () {
+    // Default implementation is empty
+  }
+
+  teardownListeners () {
+    this.listeners.forEach(cleanupListener => {
+      cleanupListener();
     });
+    this.listeners = [];
   }
 }
 
@@ -2350,24 +2414,34 @@ function poll (
 /*  */
 
 class HTML5History extends History {
+  
+
   constructor (router, base) {
     super(router, base);
 
+    this._startLocation = getLocation(this.base);
+  }
+
+  setupListeners () {
+    if (this.listeners.length > 0) {
+      return
+    }
+
+    const router = this.router;
     const expectScroll = router.options.scrollBehavior;
     const supportsScroll = supportsPushState && expectScroll;
 
     if (supportsScroll) {
-      setupScroll();
+      this.listeners.push(setupScroll());
     }
 
-    const initLocation = getLocation(this.base);
-    window.addEventListener('popstate', e => {
+    const handleRoutingEvent = () => {
       const current = this.current;
 
       // Avoiding first `popstate` event dispatched in some browsers but first
       // history route not updated since async guard at the same time.
       const location = getLocation(this.base);
-      if (this.current === START && location === initLocation) {
+      if (this.current === START && location === this._startLocation) {
         return
       }
 
@@ -2376,6 +2450,10 @@ class HTML5History extends History {
           handleScroll(router, route, current, true);
         }
       });
+    };
+    window.addEventListener('popstate', handleRoutingEvent);
+    this.listeners.push(() => {
+      window.removeEventListener('popstate', handleRoutingEvent);
     });
   }
 
@@ -2436,31 +2514,40 @@ class HashHistory extends History {
   // this is delayed until the app mounts
   // to avoid the hashchange listener being fired too early
   setupListeners () {
+    if (this.listeners.length > 0) {
+      return
+    }
+
     const router = this.router;
     const expectScroll = router.options.scrollBehavior;
     const supportsScroll = supportsPushState && expectScroll;
 
     if (supportsScroll) {
-      setupScroll();
+      this.listeners.push(setupScroll());
     }
 
-    window.addEventListener(
-      supportsPushState ? 'popstate' : 'hashchange',
-      () => {
-        const current = this.current;
-        if (!ensureSlash()) {
-          return
-        }
-        this.transitionTo(getHash(), route => {
-          if (supportsScroll) {
-            handleScroll(this.router, route, current, true);
-          }
-          if (!supportsPushState) {
-            replaceHash(route.fullPath);
-          }
-        });
+    const handleRoutingEvent = () => {
+      const current = this.current;
+      if (!ensureSlash()) {
+        return
       }
+      this.transitionTo(getHash(), route => {
+        if (supportsScroll) {
+          handleScroll(this.router, route, current, true);
+        }
+        if (!supportsPushState) {
+          replaceHash(route.fullPath);
+        }
+      });
+    };
+    const eventType = supportsPushState ? 'popstate' : 'hashchange';
+    window.addEventListener(
+      eventType,
+      handleRoutingEvent
     );
+    this.listeners.push(() => {
+      window.removeEventListener(eventType, handleRoutingEvent);
+    });
   }
 
   push (location, onComplete, onAbort) {
@@ -2618,7 +2705,7 @@ class AbstractHistory extends History {
         this.updateRoute(route);
       },
       err => {
-        if (isExtendedError(NavigationDuplicated, err)) {
+        if (isRouterError(err, NavigationFailureType.duplicated)) {
           this.index = targetIndex;
         }
       }
@@ -2722,6 +2809,12 @@ class VueRouter {
       // ensure we still have a main app or null if no apps
       // we do not release the router so it can be reused
       if (this.app === app) this.app = this.apps[0] || null;
+
+      if (!this.app) {
+        // clean up event listeners
+        // https://github.com/vuejs/vue-router/issues/2341
+        this.history.teardownListeners();
+      }
     });
 
     // main app previously initialized
@@ -2734,17 +2827,11 @@ class VueRouter {
 
     const history = this.history;
 
-    if (history instanceof HTML5History) {
-      history.transitionTo(history.getCurrentLocation());
-    } else if (history instanceof HashHistory) {
-      const setupHashListener = () => {
+    if (history instanceof HTML5History || history instanceof HashHistory) {
+      const setupListeners = () => {
         history.setupListeners();
       };
-      history.transitionTo(
-        history.getCurrentLocation(),
-        setupHashListener,
-        setupHashListener
-      );
+      history.transitionTo(history.getCurrentLocation(), setupListeners, setupListeners);
     }
 
     history.listen(route => {
@@ -2872,7 +2959,7 @@ function createHref (base, fullPath, mode) {
 }
 
 VueRouter.install = install;
-VueRouter.version = '3.2.0';
+VueRouter.version = '3.3.0';
 
 if (inBrowser && window.Vue) {
   window.Vue.use(VueRouter);
diff --git a/dist/vue-router.esm.browser.min.js b/dist/vue-router.esm.browser.min.js
index 81d638b28..b98931f68 100644
--- a/dist/vue-router.esm.browser.min.js
+++ b/dist/vue-router.esm.browser.min.js
@@ -1,6 +1,6 @@
 /*!
-  * vue-router v3.2.0
+  * vue-router v3.3.0
   * (c) 2020 Evan You
   * @license MIT
   */
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t?x(t+"/"+r):r}(this.history.base,i,this.mode),normalizedTo:r,resolved:o}}addRoutes(t){this.matcher.addRoutes(t),this.history.current!==y&&this.history.transitionTo(this.history.getCurrentLocation())}}function qt(t,e){return t.push(e),()=>{const n=t.indexOf(e);n>-1&&t.splice(n,1)}}Lt.install=function t(e){if(t.installed&&K===e)return;t.installed=!0,K=e;const n=t=>void 0!==t,o=(t,e)=>{let r=t.$options._parentVnode;n(r)&&n(r=r.data)&&n(r=r.registerRouteInstance)&&r(t,e)};e.mixin({beforeCreate(){n(this.$options.router)?(this._routerRoot=this,this._router=this.$options.router,this._router.init(this),e.util.defineReactive(this,"_route",this._router.history.current)):this._routerRoot=this.$parent&&this.$parent._routerRoot||this,o(this,this)},destroyed(){o(this)}}),Object.defineProperty(e.prototype,"$router",{get(){return this._routerRoot._router}}),Object.defineProperty(e.prototype,"$route",{get(){return this._routerRoot._route}}),e.component("RouterView",r),e.component("RouterLink",F);const 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e=t.indexOf("#");t=e>-1?decodeURI(t.slice(0,e))+t.slice(e):decodeURI(t)}else t=decodeURI(t.slice(0,n))+t.slice(n);return t}function Pt(t){const e=window.location.href,n=e.indexOf("#");return`${n>=0?e.slice(0,n):e}#${t}`}function qt(t){ft?dt(Pt(t)):window.location.hash=t}function Ut(t){ft?yt(Pt(t)):window.location.replace(Pt(t))}class It extends At{constructor(t,e){super(t,e),this.stack=[],this.index=-1}push(t,e,n){this.transitionTo(t,t=>{this.stack=this.stack.slice(0,this.index+1).concat(t),this.index++,e&&e(t)},n)}replace(t,e,n){this.transitionTo(t,t=>{this.stack=this.stack.slice(0,this.index).concat(t),e&&e(t)},n)}go(t){const n=this.index+t;if(n<0||n>=this.stack.length)return;const r=this.stack[n];this.confirmTransition(r,()=>{this.index=n,this.updateRoute(r)},t=>{e(t,kt.duplicated)&&(this.index=n)})}getCurrentLocation(){const t=this.stack[this.stack.length-1];return t?t.fullPath:"/"}ensureURL(){}}class Mt{constructor(t={}){this.app=null,this.apps=[],this.options=t,this.beforeHooks=[],this.resolveHooks=[],this.afterHooks=[],this.matcher=Y(t.routes||[],this);let e=t.mode||"hash";switch(this.fallback="history"===e&&!ft&&!1!==t.fallback,this.fallback&&(e="hash"),J||(e="abstract"),this.mode=e,e){case"history":this.history=new jt(this,t.base);break;case"hash":this.history=new Lt(this,t.base,this.fallback);break;case"abstract":this.history=new It(this,t.base)}}match(t,e,n){return this.matcher.match(t,e,n)}get currentRoute(){return this.history&&this.history.current}init(t){if(this.apps.push(t),t.$once("hook:destroyed",()=>{const e=this.apps.indexOf(t);e>-1&&this.apps.splice(e,1),this.app===t&&(this.app=this.apps[0]||null),this.app||this.history.teardownListeners()}),this.app)return;this.app=t;const e=this.history;if(e instanceof jt||e instanceof Lt){const t=()=>{e.setupListeners()};e.transitionTo(e.getCurrentLocation(),t,t)}e.listen(t=>{this.apps.forEach(e=>{e._route=t})})}beforeEach(t){return Vt(this.beforeHooks,t)}beforeResolve(t){return Vt(this.resolveHooks,t)}afterEach(t){return Vt(this.afterHooks,t)}onReady(t,e){this.history.onReady(t,e)}onError(t){this.history.onError(t)}push(t,e,n){if(!e&&!n&&"undefined"!=typeof Promise)return new Promise((e,n)=>{this.history.push(t,e,n)});this.history.push(t,e,n)}replace(t,e,n){if(!e&&!n&&"undefined"!=typeof Promise)return new Promise((e,n)=>{this.history.replace(t,e,n)});this.history.replace(t,e,n)}go(t){this.history.go(t)}back(){this.go(-1)}forward(){this.go(1)}getMatchedComponents(t){const e=t?t.matched?t:this.resolve(t).route:this.currentRoute;return e?[].concat.apply([],e.matched.map(t=>Object.keys(t.components).map(e=>t.components[e]))):[]}resolve(t,e,n){const r=B(t,e=e||this.history.current,n,this),o=this.match(r,e),i=o.redirectedFrom||o.fullPath;return{location:r,route:o,href:function(t,e,n){var r="hash"===n?"#"+e:e;return t?x(t+"/"+r):r}(this.history.base,i,this.mode),normalizedTo:r,resolved:o}}addRoutes(t){this.matcher.addRoutes(t),this.history.current!==y&&this.history.transitionTo(this.history.getCurrentLocation())}}function Vt(t,e){return t.push(e),()=>{const n=t.indexOf(e);n>-1&&t.splice(n,1)}}Mt.install=function t(e){if(t.installed&&K===e)return;t.installed=!0,K=e;const n=t=>void 0!==t,o=(t,e)=>{let r=t.$options._parentVnode;n(r)&&n(r=r.data)&&n(r=r.registerRouteInstance)&&r(t,e)};e.mixin({beforeCreate(){n(this.$options.router)?(this._routerRoot=this,this._router=this.$options.router,this._router.init(this),e.util.defineReactive(this,"_route",this._router.history.current)):this._routerRoot=this.$parent&&this.$parent._routerRoot||this,o(this,this)},destroyed(){o(this)}}),Object.defineProperty(e.prototype,"$router",{get(){return this._routerRoot._router}}),Object.defineProperty(e.prototype,"$route",{get(){return this._routerRoot._route}}),e.component("RouterView",r),e.component("RouterLink",N);const i=e.config.optionMergeStrategies;i.beforeRouteEnter=i.beforeRouteLeave=i.beforeRouteUpdate=i.created},Mt.version="3.3.0",J&&window.Vue&&window.Vue.use(Mt);export default Mt;
\ No newline at end of file
diff --git a/dist/vue-router.esm.js b/dist/vue-router.esm.js
index c7937a04d..6ec69f9d4 100644
--- a/dist/vue-router.esm.js
+++ b/dist/vue-router.esm.js
@@ -1,5 +1,5 @@
 /*!
-  * vue-router v3.2.0
+  * vue-router v3.3.0
   * (c) 2020 Evan You
   * @license MIT
   */
@@ -21,12 +21,8 @@ function isError (err) {
   return Object.prototype.toString.call(err).indexOf('Error') > -1
 }
 
-function isExtendedError (constructor, err) {
-  return (
-    err instanceof constructor ||
-    // _name is to support IE9 too
-    (err && (err.name === constructor.name || err._name === constructor._name))
-  )
+function isRouterError (err, errorType) {
+  return isError(err) && err._isRouter && (errorType == null || err.type === errorType)
 }
 
 function extend (a, b) {
@@ -1706,12 +1702,10 @@ function setupScroll () {
   var stateCopy = extend({}, window.history.state);
   stateCopy.key = getStateKey();
   window.history.replaceState(stateCopy, '', absolutePath);
-  window.addEventListener('popstate', function (e) {
-    saveScrollPosition();
-    if (e.state && e.state.key) {
-      setStateKey(e.state.key);
-    }
-  });
+  window.addEventListener('popstate', handlePopState);
+  return function () {
+    window.removeEventListener('popstate', handlePopState);
+  }
 }
 
 function handleScroll (
@@ -1773,6 +1767,13 @@ function saveScrollPosition () {
   }
 }
 
+function handlePopState (e) {
+  saveScrollPosition();
+  if (e.state && e.state.key) {
+    setStateKey(e.state.key);
+  }
+}
+
 function getScrollPosition () {
   var key = getStateKey();
   if (key) {
@@ -2012,32 +2013,73 @@ function once (fn) {
   }
 }
 
-var NavigationDuplicated = /*@__PURE__*/(function (Error) {
-  function NavigationDuplicated (normalizedLocation) {
-    Error.call(this);
-    this.name = this._name = 'NavigationDuplicated';
-    // passing the message to super() doesn't seem to work in the transpiled version
-    this.message = "Navigating to current location (\"" + (normalizedLocation.fullPath) + "\") is not allowed";
-    // add a stack property so services like Sentry can correctly display it
-    Object.defineProperty(this, 'stack', {
-      value: new Error().stack,
-      writable: true,
-      configurable: true
-    });
-    // we could also have used
-    // Error.captureStackTrace(this, this.constructor)
-    // but it only exists on node and chrome
-  }
+var NavigationFailureType = {
+  redirected: 1,
+  aborted: 2,
+  cancelled: 3,
+  duplicated: 4
+};
+
+function createNavigationRedirectedError (from, to) {
+  return createRouterError(
+    from,
+    to,
+    NavigationFailureType.redirected,
+    ("Redirected from \"" + (from.fullPath) + "\" to \"" + (stringifyRoute(to)) + "\" via a navigation guard.")
+  )
+}
+
+function createNavigationDuplicatedError (from, to) {
+  return createRouterError(
+    from,
+    to,
+    NavigationFailureType.duplicated,
+    ("Avoided redundant navigation to current location: \"" + (from.fullPath) + "\".")
+  )
+}
+
+function createNavigationCancelledError (from, to) {
+  return createRouterError(
+    from,
+    to,
+    NavigationFailureType.cancelled,
+    ("Navigation cancelled from \"" + (from.fullPath) + "\" to \"" + (to.fullPath) + "\" with a new navigation.")
+  )
+}
+
+function createNavigationAbortedError (from, to) {
+  return createRouterError(
+    from,
+    to,
+    NavigationFailureType.aborted,
+    ("Navigation aborted from \"" + (from.fullPath) + "\" to \"" + (to.fullPath) + "\" via a navigation guard.")
+  )
+}
+
+function createRouterError (from, to, type, message) {
+  var error = new Error(message);
+  error._isRouter = true;
+  error.from = from;
+  error.to = to;
+  error.type = type;
 
-  if ( Error ) NavigationDuplicated.__proto__ = Error;
-  NavigationDuplicated.prototype = Object.create( Error && Error.prototype );
-  NavigationDuplicated.prototype.constructor = NavigationDuplicated;
+  var newStack = error.stack.split('\n');
+  newStack.splice(1, 2); // remove 2 last useless calls
+  error.stack = newStack.join('\n');
+  return error
+}
 
-  return NavigationDuplicated;
-}(Error));
+var propertiesToLog = ['params', 'query', 'hash'];
 
-// support IE9
-NavigationDuplicated._name = 'NavigationDuplicated';
+function stringifyRoute (to) {
+  if (typeof to === 'string') { return to }
+  if ('path' in to) { return to.path }
+  var location = {};
+  propertiesToLog.forEach(function (key) {
+    if (key in to) { location[key] = to[key]; }
+  });
+  return JSON.stringify(location, null, 2)
+}
 
 /*  */
 
@@ -2051,6 +2093,7 @@ var History = function History (router, base) {
   this.readyCbs = [];
   this.readyErrorCbs = [];
   this.errorCbs = [];
+  this.listeners = [];
 };
 
 History.prototype.listen = function listen (cb) {
@@ -2083,9 +2126,13 @@ History.prototype.transitionTo = function transitionTo (
   this.confirmTransition(
     route,
     function () {
+      var prev = this$1.current;
       this$1.updateRoute(route);
       onComplete && onComplete(route);
       this$1.ensureURL();
+      this$1.router.afterHooks.forEach(function (hook) {
+        hook && hook(route, prev);
+      });
 
       // fire ready cbs once
       if (!this$1.ready) {
@@ -2118,7 +2165,7 @@ History.prototype.confirmTransition = function confirmTransition (route, onCompl
     // When the user navigates through history through back/forward buttons
     // we do not want to throw the error. We only throw it if directly calling
     // push/replace. That's why it's not included in isError
-    if (!isExtendedError(NavigationDuplicated, err) && isError(err)) {
+    if (!isRouterError(err, NavigationFailureType.duplicated) && isError(err)) {
       if (this$1.errorCbs.length) {
         this$1.errorCbs.forEach(function (cb) {
           cb(err);
@@ -2136,7 +2183,7 @@ History.prototype.confirmTransition = function confirmTransition (route, onCompl
     route.matched.length === current.matched.length
   ) {
     this.ensureURL();
-    return abort(new NavigationDuplicated(route))
+    return abort(createNavigationDuplicatedError(current, route))
   }
 
   var ref = resolveQueue(
@@ -2163,12 +2210,15 @@ History.prototype.confirmTransition = function confirmTransition (route, onCompl
   this.pending = route;
   var iterator = function (hook, next) {
     if (this$1.pending !== route) {
-      return abort()
+      return abort(createNavigationCancelledError(current, route))
     }
     try {
       hook(route, current, function (to) {
-        if (to === false || isError(to)) {
+        if (to === false) {
           // next(false) -> abort navigation, ensure current URL
+          this$1.ensureURL(true);
+          abort(createNavigationAbortedError(current, route));
+        } else if (isError(to)) {
           this$1.ensureURL(true);
           abort(to);
         } else if (
@@ -2177,7 +2227,7 @@ History.prototype.confirmTransition = function confirmTransition (route, onCompl
             (typeof to.path === 'string' || typeof to.name === 'string'))
         ) {
           // next('/') or next({ path: '/' }) -> redirect
-          abort();
+          abort(createNavigationRedirectedError(current, route));
           if (typeof to === 'object' && to.replace) {
             this$1.replace(to);
           } else {
@@ -2218,12 +2268,19 @@ History.prototype.confirmTransition = function confirmTransition (route, onCompl
 };
 
 History.prototype.updateRoute = function updateRoute (route) {
-  var prev = this.current;
   this.current = route;
   this.cb && this.cb(route);
-  this.router.afterHooks.forEach(function (hook) {
-    hook && hook(route, prev);
+};
+
+History.prototype.setupListeners = function setupListeners () {
+  // Default implementation is empty
+};
+
+History.prototype.teardownListeners = function teardownListeners () {
+  this.listeners.forEach(function (cleanupListener) {
+    cleanupListener();
   });
+  this.listeners = [];
 };
 
 function normalizeBase (base) {
@@ -2368,25 +2425,37 @@ function poll (
 
 var HTML5History = /*@__PURE__*/(function (History) {
   function HTML5History (router, base) {
+    History.call(this, router, base);
+
+    this._startLocation = getLocation(this.base);
+  }
+
+  if ( History ) HTML5History.__proto__ = History;
+  HTML5History.prototype = Object.create( History && History.prototype );
+  HTML5History.prototype.constructor = HTML5History;
+
+  HTML5History.prototype.setupListeners = function setupListeners () {
     var this$1 = this;
 
-    History.call(this, router, base);
+    if (this.listeners.length > 0) {
+      return
+    }
 
+    var router = this.router;
     var expectScroll = router.options.scrollBehavior;
     var supportsScroll = supportsPushState && expectScroll;
 
     if (supportsScroll) {
-      setupScroll();
+      this.listeners.push(setupScroll());
     }
 
-    var initLocation = getLocation(this.base);
-    window.addEventListener('popstate', function (e) {
+    var handleRoutingEvent = function () {
       var current = this$1.current;
 
       // Avoiding first `popstate` event dispatched in some browsers but first
       // history route not updated since async guard at the same time.
       var location = getLocation(this$1.base);
-      if (this$1.current === START && location === initLocation) {
+      if (this$1.current === START && location === this$1._startLocation) {
         return
       }
 
@@ -2395,12 +2464,12 @@ var HTML5History = /*@__PURE__*/(function (History) {
           handleScroll(router, route, current, true);
         }
       });
+    };
+    window.addEventListener('popstate', handleRoutingEvent);
+    this.listeners.push(function () {
+      window.removeEventListener('popstate', handleRoutingEvent);
     });
-  }
-
-  if ( History ) HTML5History.__proto__ = History;
-  HTML5History.prototype = Object.create( History && History.prototype );
-  HTML5History.prototype.constructor = HTML5History;
+  };
 
   HTML5History.prototype.go = function go (n) {
     window.history.go(n);
@@ -2473,31 +2542,40 @@ var HashHistory = /*@__PURE__*/(function (History) {
   HashHistory.prototype.setupListeners = function setupListeners () {
     var this$1 = this;
 
+    if (this.listeners.length > 0) {
+      return
+    }
+
     var router = this.router;
     var expectScroll = router.options.scrollBehavior;
     var supportsScroll = supportsPushState && expectScroll;
 
     if (supportsScroll) {
-      setupScroll();
+      this.listeners.push(setupScroll());
     }
 
-    window.addEventListener(
-      supportsPushState ? 'popstate' : 'hashchange',
-      function () {
-        var current = this$1.current;
-        if (!ensureSlash()) {
-          return
-        }
-        this$1.transitionTo(getHash(), function (route) {
-          if (supportsScroll) {
-            handleScroll(this$1.router, route, current, true);
-          }
-          if (!supportsPushState) {
-            replaceHash(route.fullPath);
-          }
-        });
+    var handleRoutingEvent = function () {
+      var current = this$1.current;
+      if (!ensureSlash()) {
+        return
       }
+      this$1.transitionTo(getHash(), function (route) {
+        if (supportsScroll) {
+          handleScroll(this$1.router, route, current, true);
+        }
+        if (!supportsPushState) {
+          replaceHash(route.fullPath);
+        }
+      });
+    };
+    var eventType = supportsPushState ? 'popstate' : 'hashchange';
+    window.addEventListener(
+      eventType,
+      handleRoutingEvent
     );
+    this.listeners.push(function () {
+      window.removeEventListener(eventType, handleRoutingEvent);
+    });
   };
 
   HashHistory.prototype.push = function push (location, onComplete, onAbort) {
@@ -2670,7 +2748,7 @@ var AbstractHistory = /*@__PURE__*/(function (History) {
         this$1.updateRoute(route);
       },
       function (err) {
-        if (isExtendedError(NavigationDuplicated, err)) {
+        if (isRouterError(err, NavigationFailureType.duplicated)) {
           this$1.index = targetIndex;
         }
       }
@@ -2765,6 +2843,12 @@ VueRouter.prototype.init = function init (app /* Vue component instance */) {
     // ensure we still have a main app or null if no apps
     // we do not release the router so it can be reused
     if (this$1.app === app) { this$1.app = this$1.apps[0] || null; }
+
+    if (!this$1.app) {
+      // clean up event listeners
+      // https://github.com/vuejs/vue-router/issues/2341
+      this$1.history.teardownListeners();
+    }
   });
 
   // main app previously initialized
@@ -2777,17 +2861,11 @@ VueRouter.prototype.init = function init (app /* Vue component instance */) {
 
   var history = this.history;
 
-  if (history instanceof HTML5History) {
-    history.transitionTo(history.getCurrentLocation());
-  } else if (history instanceof HashHistory) {
-    var setupHashListener = function () {
+  if (history instanceof HTML5History || history instanceof HashHistory) {
+    var setupListeners = function () {
       history.setupListeners();
     };
-    history.transitionTo(
-      history.getCurrentLocation(),
-      setupHashListener,
-      setupHashListener
-    );
+    history.transitionTo(history.getCurrentLocation(), setupListeners, setupListeners);
   }
 
   history.listen(function (route) {
@@ -2920,7 +2998,7 @@ function createHref (base, fullPath, mode) {
 }
 
 VueRouter.install = install;
-VueRouter.version = '3.2.0';
+VueRouter.version = '3.3.0';
 
 if (inBrowser && window.Vue) {
   window.Vue.use(VueRouter);
diff --git a/dist/vue-router.js b/dist/vue-router.js
index f5532aaca..9c1c5b65b 100644
--- a/dist/vue-router.js
+++ b/dist/vue-router.js
@@ -1,5 +1,5 @@
 /*!
-  * vue-router v3.2.0
+  * vue-router v3.3.0
   * (c) 2020 Evan You
   * @license MIT
   */
@@ -27,12 +27,8 @@
     return Object.prototype.toString.call(err).indexOf('Error') > -1
   }
 
-  function isExtendedError (constructor, err) {
-    return (
-      err instanceof constructor ||
-      // _name is to support IE9 too
-      (err && (err.name === constructor.name || err._name === constructor._name))
-    )
+  function isRouterError (err, errorType) {
+    return isError(err) && err._isRouter && (errorType == null || err.type === errorType)
   }
 
   function extend (a, b) {
@@ -1712,12 +1708,10 @@
     var stateCopy = extend({}, window.history.state);
     stateCopy.key = getStateKey();
     window.history.replaceState(stateCopy, '', absolutePath);
-    window.addEventListener('popstate', function (e) {
-      saveScrollPosition();
-      if (e.state && e.state.key) {
-        setStateKey(e.state.key);
-      }
-    });
+    window.addEventListener('popstate', handlePopState);
+    return function () {
+      window.removeEventListener('popstate', handlePopState);
+    }
   }
 
   function handleScroll (
@@ -1779,6 +1773,13 @@
     }
   }
 
+  function handlePopState (e) {
+    saveScrollPosition();
+    if (e.state && e.state.key) {
+      setStateKey(e.state.key);
+    }
+  }
+
   function getScrollPosition () {
     var key = getStateKey();
     if (key) {
@@ -2018,32 +2019,73 @@
     }
   }
 
-  var NavigationDuplicated = /*@__PURE__*/(function (Error) {
-    function NavigationDuplicated (normalizedLocation) {
-      Error.call(this);
-      this.name = this._name = 'NavigationDuplicated';
-      // passing the message to super() doesn't seem to work in the transpiled version
-      this.message = "Navigating to current location (\"" + (normalizedLocation.fullPath) + "\") is not allowed";
-      // add a stack property so services like Sentry can correctly display it
-      Object.defineProperty(this, 'stack', {
-        value: new Error().stack,
-        writable: true,
-        configurable: true
-      });
-      // we could also have used
-      // Error.captureStackTrace(this, this.constructor)
-      // but it only exists on node and chrome
-    }
+  var NavigationFailureType = {
+    redirected: 1,
+    aborted: 2,
+    cancelled: 3,
+    duplicated: 4
+  };
+
+  function createNavigationRedirectedError (from, to) {
+    return createRouterError(
+      from,
+      to,
+      NavigationFailureType.redirected,
+      ("Redirected from \"" + (from.fullPath) + "\" to \"" + (stringifyRoute(to)) + "\" via a navigation guard.")
+    )
+  }
+
+  function createNavigationDuplicatedError (from, to) {
+    return createRouterError(
+      from,
+      to,
+      NavigationFailureType.duplicated,
+      ("Avoided redundant navigation to current location: \"" + (from.fullPath) + "\".")
+    )
+  }
+
+  function createNavigationCancelledError (from, to) {
+    return createRouterError(
+      from,
+      to,
+      NavigationFailureType.cancelled,
+      ("Navigation cancelled from \"" + (from.fullPath) + "\" to \"" + (to.fullPath) + "\" with a new navigation.")
+    )
+  }
+
+  function createNavigationAbortedError (from, to) {
+    return createRouterError(
+      from,
+      to,
+      NavigationFailureType.aborted,
+      ("Navigation aborted from \"" + (from.fullPath) + "\" to \"" + (to.fullPath) + "\" via a navigation guard.")
+    )
+  }
+
+  function createRouterError (from, to, type, message) {
+    var error = new Error(message);
+    error._isRouter = true;
+    error.from = from;
+    error.to = to;
+    error.type = type;
 
-    if ( Error ) NavigationDuplicated.__proto__ = Error;
-    NavigationDuplicated.prototype = Object.create( Error && Error.prototype );
-    NavigationDuplicated.prototype.constructor = NavigationDuplicated;
+    var newStack = error.stack.split('\n');
+    newStack.splice(1, 2); // remove 2 last useless calls
+    error.stack = newStack.join('\n');
+    return error
+  }
 
-    return NavigationDuplicated;
-  }(Error));
+  var propertiesToLog = ['params', 'query', 'hash'];
 
-  // support IE9
-  NavigationDuplicated._name = 'NavigationDuplicated';
+  function stringifyRoute (to) {
+    if (typeof to === 'string') { return to }
+    if ('path' in to) { return to.path }
+    var location = {};
+    propertiesToLog.forEach(function (key) {
+      if (key in to) { location[key] = to[key]; }
+    });
+    return JSON.stringify(location, null, 2)
+  }
 
   /*  */
 
@@ -2057,6 +2099,7 @@
     this.readyCbs = [];
     this.readyErrorCbs = [];
     this.errorCbs = [];
+    this.listeners = [];
   };
 
   History.prototype.listen = function listen (cb) {
@@ -2089,9 +2132,13 @@
     this.confirmTransition(
       route,
       function () {
+        var prev = this$1.current;
         this$1.updateRoute(route);
         onComplete && onComplete(route);
         this$1.ensureURL();
+        this$1.router.afterHooks.forEach(function (hook) {
+          hook && hook(route, prev);
+        });
 
         // fire ready cbs once
         if (!this$1.ready) {
@@ -2124,7 +2171,7 @@
       // When the user navigates through history through back/forward buttons
       // we do not want to throw the error. We only throw it if directly calling
       // push/replace. That's why it's not included in isError
-      if (!isExtendedError(NavigationDuplicated, err) && isError(err)) {
+      if (!isRouterError(err, NavigationFailureType.duplicated) && isError(err)) {
         if (this$1.errorCbs.length) {
           this$1.errorCbs.forEach(function (cb) {
             cb(err);
@@ -2142,7 +2189,7 @@
       route.matched.length === current.matched.length
     ) {
       this.ensureURL();
-      return abort(new NavigationDuplicated(route))
+      return abort(createNavigationDuplicatedError(current, route))
     }
 
     var ref = resolveQueue(
@@ -2169,12 +2216,15 @@
     this.pending = route;
     var iterator = function (hook, next) {
       if (this$1.pending !== route) {
-        return abort()
+        return abort(createNavigationCancelledError(current, route))
       }
       try {
         hook(route, current, function (to) {
-          if (to === false || isError(to)) {
+          if (to === false) {
             // next(false) -> abort navigation, ensure current URL
+            this$1.ensureURL(true);
+            abort(createNavigationAbortedError(current, route));
+          } else if (isError(to)) {
             this$1.ensureURL(true);
             abort(to);
           } else if (
@@ -2183,7 +2233,7 @@
               (typeof to.path === 'string' || typeof to.name === 'string'))
           ) {
             // next('/') or next({ path: '/' }) -> redirect
-            abort();
+            abort(createNavigationRedirectedError(current, route));
             if (typeof to === 'object' && to.replace) {
               this$1.replace(to);
             } else {
@@ -2224,12 +2274,19 @@
   };
 
   History.prototype.updateRoute = function updateRoute (route) {
-    var prev = this.current;
     this.current = route;
     this.cb && this.cb(route);
-    this.router.afterHooks.forEach(function (hook) {
-      hook && hook(route, prev);
+  };
+
+  History.prototype.setupListeners = function setupListeners () {
+    // Default implementation is empty
+  };
+
+  History.prototype.teardownListeners = function teardownListeners () {
+    this.listeners.forEach(function (cleanupListener) {
+      cleanupListener();
     });
+    this.listeners = [];
   };
 
   function normalizeBase (base) {
@@ -2374,25 +2431,37 @@
 
   var HTML5History = /*@__PURE__*/(function (History) {
     function HTML5History (router, base) {
+      History.call(this, router, base);
+
+      this._startLocation = getLocation(this.base);
+    }
+
+    if ( History ) HTML5History.__proto__ = History;
+    HTML5History.prototype = Object.create( History && History.prototype );
+    HTML5History.prototype.constructor = HTML5History;
+
+    HTML5History.prototype.setupListeners = function setupListeners () {
       var this$1 = this;
 
-      History.call(this, router, base);
+      if (this.listeners.length > 0) {
+        return
+      }
 
+      var router = this.router;
       var expectScroll = router.options.scrollBehavior;
       var supportsScroll = supportsPushState && expectScroll;
 
       if (supportsScroll) {
-        setupScroll();
+        this.listeners.push(setupScroll());
       }
 
-      var initLocation = getLocation(this.base);
-      window.addEventListener('popstate', function (e) {
+      var handleRoutingEvent = function () {
         var current = this$1.current;
 
         // Avoiding first `popstate` event dispatched in some browsers but first
         // history route not updated since async guard at the same time.
         var location = getLocation(this$1.base);
-        if (this$1.current === START && location === initLocation) {
+        if (this$1.current === START && location === this$1._startLocation) {
           return
         }
 
@@ -2401,12 +2470,12 @@
             handleScroll(router, route, current, true);
           }
         });
+      };
+      window.addEventListener('popstate', handleRoutingEvent);
+      this.listeners.push(function () {
+        window.removeEventListener('popstate', handleRoutingEvent);
       });
-    }
-
-    if ( History ) HTML5History.__proto__ = History;
-    HTML5History.prototype = Object.create( History && History.prototype );
-    HTML5History.prototype.constructor = HTML5History;
+    };
 
     HTML5History.prototype.go = function go (n) {
       window.history.go(n);
@@ -2479,31 +2548,40 @@
     HashHistory.prototype.setupListeners = function setupListeners () {
       var this$1 = this;
 
+      if (this.listeners.length > 0) {
+        return
+      }
+
       var router = this.router;
       var expectScroll = router.options.scrollBehavior;
       var supportsScroll = supportsPushState && expectScroll;
 
       if (supportsScroll) {
-        setupScroll();
+        this.listeners.push(setupScroll());
       }
 
-      window.addEventListener(
-        supportsPushState ? 'popstate' : 'hashchange',
-        function () {
-          var current = this$1.current;
-          if (!ensureSlash()) {
-            return
-          }
-          this$1.transitionTo(getHash(), function (route) {
-            if (supportsScroll) {
-              handleScroll(this$1.router, route, current, true);
-            }
-            if (!supportsPushState) {
-              replaceHash(route.fullPath);
-            }
-          });
+      var handleRoutingEvent = function () {
+        var current = this$1.current;
+        if (!ensureSlash()) {
+          return
         }
+        this$1.transitionTo(getHash(), function (route) {
+          if (supportsScroll) {
+            handleScroll(this$1.router, route, current, true);
+          }
+          if (!supportsPushState) {
+            replaceHash(route.fullPath);
+          }
+        });
+      };
+      var eventType = supportsPushState ? 'popstate' : 'hashchange';
+      window.addEventListener(
+        eventType,
+        handleRoutingEvent
       );
+      this.listeners.push(function () {
+        window.removeEventListener(eventType, handleRoutingEvent);
+      });
     };
 
     HashHistory.prototype.push = function push (location, onComplete, onAbort) {
@@ -2676,7 +2754,7 @@
           this$1.updateRoute(route);
         },
         function (err) {
-          if (isExtendedError(NavigationDuplicated, err)) {
+          if (isRouterError(err, NavigationFailureType.duplicated)) {
             this$1.index = targetIndex;
           }
         }
@@ -2771,6 +2849,12 @@
       // ensure we still have a main app or null if no apps
       // we do not release the router so it can be reused
       if (this$1.app === app) { this$1.app = this$1.apps[0] || null; }
+
+      if (!this$1.app) {
+        // clean up event listeners
+        // https://github.com/vuejs/vue-router/issues/2341
+        this$1.history.teardownListeners();
+      }
     });
 
     // main app previously initialized
@@ -2783,17 +2867,11 @@
 
     var history = this.history;
 
-    if (history instanceof HTML5History) {
-      history.transitionTo(history.getCurrentLocation());
-    } else if (history instanceof HashHistory) {
-      var setupHashListener = function () {
+    if (history instanceof HTML5History || history instanceof HashHistory) {
+      var setupListeners = function () {
         history.setupListeners();
       };
-      history.transitionTo(
-        history.getCurrentLocation(),
-        setupHashListener,
-        setupHashListener
-      );
+      history.transitionTo(history.getCurrentLocation(), setupListeners, setupListeners);
     }
 
     history.listen(function (route) {
@@ -2926,7 +3004,7 @@
   }
 
   VueRouter.install = install;
-  VueRouter.version = '3.2.0';
+  VueRouter.version = '3.3.0';
 
   if (inBrowser && window.Vue) {
     window.Vue.use(VueRouter);
diff --git a/dist/vue-router.min.js b/dist/vue-router.min.js
index c2986691b..8cfffe57d 100644
--- a/dist/vue-router.min.js
+++ b/dist/vue-router.min.js
@@ -1,6 +1,6 @@
 /*!
-  * vue-router v3.2.0
+  * vue-router v3.3.0
   * (c) 2020 Evan You
   * @license MIT
   */
-var t,e;t=this,e=function(){"use strict";function t(t){return Object.prototype.toString.call(t).indexOf("Error")>-1}function e(t,e){return e instanceof t||e&&(e.name===t.name||e._name===t._name)}function r(t,e){for(var r in e)t[r]=e[r];return t}var n={name:"RouterView",functional:!0,props:{name:{type:String,default:"default"}},render:function(t,e){var n=e.props,i=e.children,a=e.parent,c=e.data;c.routerView=!0;for(var u=a.$createElement,s=n.name,p=a.$route,f=a._routerViewCache||(a._routerViewCache={}),h=0,l=!1;a&&a._routerRoot!==a;){var d=a.$vnode?a.$vnode.data:{};d.routerView&&h++,d.keepAlive&&a._directInactive&&a._inactive&&(l=!0),a=a.$parent}if(c.routerViewDepth=h,l){var v=f[s],y=v&&v.component;return y?(v.configProps&&o(y,c,v.route,v.configProps),u(y,c,i)):u()}var m=p.matched[h],g=m&&m.components[s];if(!m||!g)return f[s]=null,u();f[s]={component:g},c.registerRouteInstance=function(t,e){var r=m.instances[s];(e&&r!==t||!e&&r===t)&&(m.instances[s]=e)},(c.hook||(c.hook={})).prepatch=function(t,e){m.instances[s]=e.componentInstance},c.hook.init=function(t){t.data.keepAlive&&t.componentInstance&&t.componentInstance!==m.instances[s]&&(m.instances[s]=t.componentInstance)};var w=m.props&&m.props[s];return w&&(r(f[s],{route:p,configProps:w}),o(g,c,p,w)),u(g,c,i)}};function o(t,e,n,o){var i=e.props=function(t,e){switch(typeof e){case"undefined":return;case"object":return e;case"function":return e(t);case"boolean":return e?t.params:void 0}}(n,o);if(i){i=e.props=r({},i);var a=e.attrs=e.attrs||{};for(var c in i)t.props&&c in t.props||(a[c]=i[c],delete i[c])}}var i=/[!'()*]/g,a=function(t){return"%"+t.charCodeAt(0).toString(16)},c=/%2C/g,u=function(t){return encodeURIComponent(t).replace(i,a).replace(c,",")},s=decodeURIComponent;function p(t){var e={};return(t=t.trim().replace(/^(\?|#|&)/,""))?(t.split("&").forEach(function(t){var r=t.replace(/\+/g," 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