diff --git a/homeassistant/components/bluetooth/manifest.json b/homeassistant/components/bluetooth/manifest.json
index f31a6e0afef5..e525e5ae9255 100644
--- a/homeassistant/components/bluetooth/manifest.json
+++ b/homeassistant/components/bluetooth/manifest.json
@@ -21,6 +21,6 @@
     "bluetooth-auto-recovery==1.6.4",
     "bluetooth-data-tools==1.29.18",
     "dbus-fast==5.0.22",
-    "habluetooth==6.26.2"
+    "habluetooth==6.26.5"
   ]
 }
diff --git a/homeassistant/package_constraints.txt b/homeassistant/package_constraints.txt
index 37e9c989b35b..1673fadae40c 100644
--- a/homeassistant/package_constraints.txt
+++ b/homeassistant/package_constraints.txt
@@ -35,7 +35,7 @@ file-read-backwards==2.0.0
 fnv-hash-fast==2.0.3
 go2rtc-client==0.4.0
 ha-ffmpeg==3.2.2
-habluetooth==6.26.2
+habluetooth==6.26.5
 hass-nabucasa==2.2.0
 hassil==3.8.0
 home-assistant-bluetooth==2.0.0
diff --git a/requirements_all.txt b/requirements_all.txt
index 828728189e44..7606f47553b3 100644
--- a/requirements_all.txt
+++ b/requirements_all.txt
@@ -1213,7 +1213,7 @@ ha-xthings-cloud==1.0.5
 habiticalib==0.4.7
 
 # homeassistant.components.bluetooth
-habluetooth==6.26.2
+habluetooth==6.26.5
 
 # homeassistant.components.hanna
 hanna-cloud==0.0.7
diff --git a/tests/components/bluetooth/test_manager.py b/tests/components/bluetooth/test_manager.py
index b6f4b1f8ce1e..c8aa6610df5f 100644
--- a/tests/components/bluetooth/test_manager.py
+++ b/tests/components/bluetooth/test_manager.py
@@ -12,6 +12,9 @@ from habluetooth import BluetoothScanningMode, HaScanner
 
 # pylint: disable-next=no-name-in-module
 from habluetooth.advertisement_tracker import TRACKER_BUFFERING_WOBBLE_SECONDS
+
+# pylint: disable-next=no-name-in-module
+from habluetooth.const import STALE_ROAM_FACTOR
 import pytest
 
 from homeassistant import config_entries
@@ -402,9 +405,26 @@ async def test_switching_adapters_based_on_stale_with_discovered_interval(
         start_time_monotonic + 10 + TRACKER_BUFFERING_WOBBLE_SECONDS + 1,
         HCI1_SOURCE_ADDRESS,
     )
-    # Should switch to hci1 since the previous advertisement is stale
-    # even though the signal is poor because the device is now
-    # likely unreachable via hci0
+    # Should not roam yet: a single missed reception interval must not hand a
+    # stationary device to a comparable scanner before the roam gate
+    # (STALE_ROAM_FACTOR stale windows)
+    assert (
+        bluetooth.async_ble_device_from_address(hass, address)
+        is switchbot_device_poor_signal_hci0
+    )
+
+    inject_advertisement_with_time_and_source(
+        hass,
+        switchbot_device_poor_signal_hci1,
+        switchbot_adv_poor_signal_hci1,
+        start_time_monotonic
+        + (10 + TRACKER_BUFFERING_WOBBLE_SECONDS) * STALE_ROAM_FACTOR
+        + 1,
+        HCI1_SOURCE_ADDRESS,
+    )
+    # Past the roam gate (STALE_ROAM_FACTOR stale windows): switch to hci1
+    # since the previous advertisement is stale even though the signal is poor
+    # because the device is now likely unreachable via hci0
     assert (
         bluetooth.async_ble_device_from_address(hass, address)
         is switchbot_device_poor_signal_hci1