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Context. Coronal mass ejections (CMEs) are large-scale structures of magnetized plasma that erupt from the corona into interplanetary space. The launch of Solar Orbiter (SolO) in 2020 enables in situ measurements of CMEs in the innermost heliosphere, at such distances where CMEs can be observed remotely within the inner field of view of heliospheric imagers (HIs). It thus provides the opportunity for investigations into the correspondence of the CME substructures measured in situ and observed remotely. We studied a CME that started on 2022 March 10 and was measured in situ by SolO at ∼0.44 au. Aims. Combining remote observations of CMEs from wide-angle imagers and in situ measurements in the innermost heliosphere allows us to compare CME properties derived through both techniques, validate the estimates, and better understand CME evolution, specifically the size and radial expansion, within 0.5 au. Methods. We compared the evolution of different CME substructures observed in images from the HIs on board the Ahead Solar Terrestrial Relations Observatory (STEREO-A) and the CME signatures measured in situ by SolO. The CME is found to possess a density enhancement at its rear edge in both remote and in situ observations, which validates the use of the signature of density enhancement following the CMEs to accurately identify the CME rear edge. We also estimated and compared the radial size and radial expansion speed of different substructures in both observations. Results. The evolution of the CME front and rear edges in remote images is consistent with the in situ CME measurements. The radial expansion (i.e., radial size and radial expansion speed) of the whole CME structure consisting of the magnetic ejecta and the sheath is consistent with the in situ estimates obtained at the same time from SolO. However, we do not find such consistencies for the magnetic ejecta region inside the CME because it is difficult to identify the magnetic ejecta edges in the remote images. [ABSTRACT FROM AUTHOR]