diff --git a/.changeset/prompt-add-back-settimeout.md b/.changeset/prompt-add-back-settimeout.md
new file mode 100644
index 0000000000..16e775931e
--- /dev/null
+++ b/.changeset/prompt-add-back-settimeout.md
@@ -0,0 +1,5 @@
+---
+"react-router-dom": patch
+---
+
+[Remove] add back in `setTimeout` removal from `usePrompt`
diff --git a/packages/react-router-dom/index.tsx b/packages/react-router-dom/index.tsx
index cf12bca451..6150a864dc 100644
--- a/packages/react-router-dom/index.tsx
+++ b/packages/react-router-dom/index.tsx
@@ -1465,7 +1465,10 @@ function usePrompt({ when, message }: { when: boolean; message: string }) {
     if (blocker.state === "blocked") {
       let proceed = window.confirm(message);
       if (proceed) {
-        blocker.proceed();
+        // This timeout is needed to avoid a weird "race" on POP navigations
+        // between the `window.history` revert navigation and the result of
+        // `window.confirm`
+        setTimeout(blocker.proceed, 0);
       } else {
         blocker.reset();
       }