diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
index d783139aa1..0bccb0b49f 100644
--- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
+++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp
@@ -94,6 +94,18 @@ void IterativeRobotBase::SetNetworkTablesFlushEnabled(bool enabled) {
   m_ntFlushEnabled = enabled;
 }
 
+void IterativeRobotBase::EnableLiveWindowInTest(bool testLW) {
+  if (IsTest()) {
+    throw FRC_MakeError(err::IncompatibleMode,
+                        "Can't configure test mode while in test mode!");
+  }
+  m_lwEnabledInTest = testLW;
+}
+
+bool IterativeRobotBase::IsLiveWindowEnabledInTest() {
+  return m_lwEnabledInTest;
+}
+
 units::second_t IterativeRobotBase::GetPeriod() const {
   return m_period;
 }
@@ -125,8 +137,10 @@ void IterativeRobotBase::LoopFunc() {
     } else if (m_lastMode == Mode::kTeleop) {
       TeleopExit();
     } else if (m_lastMode == Mode::kTest) {
-      LiveWindow::SetEnabled(false);
-      Shuffleboard::DisableActuatorWidgets();
+      if (m_lwEnabledInTest) {
+        LiveWindow::SetEnabled(false);
+        Shuffleboard::DisableActuatorWidgets();
+      }
       TestExit();
     }
 
@@ -141,8 +155,10 @@ void IterativeRobotBase::LoopFunc() {
       TeleopInit();
       m_watchdog.AddEpoch("TeleopInit()");
     } else if (mode == Mode::kTest) {
-      LiveWindow::SetEnabled(true);
-      Shuffleboard::EnableActuatorWidgets();
+      if (m_lwEnabledInTest) {
+        LiveWindow::SetEnabled(true);
+        Shuffleboard::EnableActuatorWidgets();
+      }
       TestInit();
       m_watchdog.AddEpoch("TestInit()");
     }
diff --git a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
index 7392e673ce..77ed197479 100644
--- a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
+++ b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
@@ -201,6 +201,19 @@ class IterativeRobotBase : public RobotBase {
    */
   void SetNetworkTablesFlushEnabled(bool enabled);
 
+  /**
+   * Sets whether LiveWindow operation is enabled during test mode.
+   *
+   * @param testLW True to enable, false to disable. Defaults to true.
+   * @throws if called in test mode.
+   */
+  void EnableLiveWindowInTest(bool testLW);
+
+  /**
+   * Whether LiveWindow operation is enabled during test mode.
+   */
+  bool IsLiveWindowEnabledInTest();
+
   /**
    * Gets time period between calls to Periodic() functions.
    */
@@ -228,6 +241,7 @@ class IterativeRobotBase : public RobotBase {
   units::second_t m_period;
   Watchdog m_watchdog;
   bool m_ntFlushEnabled = true;
+  bool m_lwEnabledInTest = true;
 
   void PrintLoopOverrunMessage();
 };
diff --git a/wpilibc/src/test/native/cpp/TimedRobotTest.cpp b/wpilibc/src/test/native/cpp/TimedRobotTest.cpp
index 4ccce1b92d..08c262bc41 100644
--- a/wpilibc/src/test/native/cpp/TimedRobotTest.cpp
+++ b/wpilibc/src/test/native/cpp/TimedRobotTest.cpp
@@ -9,6 +9,7 @@
 #include <atomic>
 #include <thread>
 
+#include "frc/livewindow/LiveWindow.h"
 #include "frc/simulation/DriverStationSim.h"
 #include "frc/simulation/SimHooks.h"
 #include "gtest/gtest.h"
@@ -16,7 +17,7 @@
 using namespace frc;
 
 namespace {
-class TimedRobotTest : public ::testing::Test {
+class TimedRobotTest : public ::testing::TestWithParam<bool> {
  protected:
   void SetUp() override { frc::sim::PauseTiming(); }
 
@@ -304,8 +305,11 @@ TEST_F(TimedRobotTest, TeleopMode) {
   robotThread.join();
 }
 
-TEST_F(TimedRobotTest, TestMode) {
+TEST_P(TimedRobotTest, TestMode) {
+  bool isTestLW = GetParam();
+
   MockRobot robot;
+  robot.EnableLiveWindowInTest(isTestLW);
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
 
@@ -321,6 +325,7 @@ TEST_F(TimedRobotTest, TestMode) {
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
   EXPECT_EQ(0u, robot.m_teleopInitCount);
   EXPECT_EQ(0u, robot.m_testInitCount);
+  EXPECT_FALSE(frc::LiveWindow::IsEnabled());
 
   EXPECT_EQ(0u, robot.m_robotPeriodicCount);
   EXPECT_EQ(0u, robot.m_simulationPeriodicCount);
@@ -342,6 +347,9 @@ TEST_F(TimedRobotTest, TestMode) {
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
   EXPECT_EQ(0u, robot.m_teleopInitCount);
   EXPECT_EQ(1u, robot.m_testInitCount);
+  EXPECT_EQ(isTestLW, frc::LiveWindow::IsEnabled());
+
+  EXPECT_THROW(robot.EnableLiveWindowInTest(isTestLW), std::runtime_error);
 
   EXPECT_EQ(1u, robot.m_robotPeriodicCount);
   EXPECT_EQ(1u, robot.m_simulationPeriodicCount);
@@ -376,6 +384,32 @@ TEST_F(TimedRobotTest, TestMode) {
   EXPECT_EQ(0u, robot.m_teleopExitCount);
   EXPECT_EQ(0u, robot.m_testExitCount);
 
+  frc::sim::DriverStationSim::SetEnabled(false);
+  frc::sim::DriverStationSim::SetAutonomous(false);
+  frc::sim::DriverStationSim::SetTest(false);
+  frc::sim::DriverStationSim::NotifyNewData();
+  frc::sim::StepTiming(20_ms);  // Wait for Notifiers
+
+  EXPECT_EQ(1u, robot.m_robotInitCount);
+  EXPECT_EQ(1u, robot.m_simulationInitCount);
+  EXPECT_EQ(1u, robot.m_disabledInitCount);
+  EXPECT_EQ(0u, robot.m_autonomousInitCount);
+  EXPECT_EQ(0u, robot.m_teleopInitCount);
+  EXPECT_EQ(1u, robot.m_testInitCount);
+  EXPECT_FALSE(frc::LiveWindow::IsEnabled());
+
+  EXPECT_EQ(3u, robot.m_robotPeriodicCount);
+  EXPECT_EQ(3u, robot.m_simulationPeriodicCount);
+  EXPECT_EQ(1u, robot.m_disabledPeriodicCount);
+  EXPECT_EQ(0u, robot.m_autonomousPeriodicCount);
+  EXPECT_EQ(0u, robot.m_teleopPeriodicCount);
+  EXPECT_EQ(2u, robot.m_testPeriodicCount);
+
+  EXPECT_EQ(0u, robot.m_disabledExitCount);
+  EXPECT_EQ(0u, robot.m_autonomousExitCount);
+  EXPECT_EQ(0u, robot.m_teleopExitCount);
+  EXPECT_EQ(1u, robot.m_testExitCount);
+
   robot.EndCompetition();
   robotThread.join();
 }
@@ -572,3 +606,5 @@ TEST_F(TimedRobotTest, AddPeriodicWithOffset) {
   robot.EndCompetition();
   robotThread.join();
 }
+
+INSTANTIATE_TEST_SUITE_P(TimedRobotTests, TimedRobotTest, testing::Bool());
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
index 1115130a61..e0fe0344c0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
@@ -10,6 +10,7 @@ import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.ConcurrentModificationException;
 
 /**
  * IterativeRobotBase implements a specific type of robot program framework, extending the RobotBase
@@ -67,6 +68,7 @@ public abstract class IterativeRobotBase extends RobotBase {
   private final double m_period;
   private final Watchdog m_watchdog;
   private boolean m_ntFlushEnabled = true;
+  private boolean m_lwEnabledInTest = true;
 
   /**
    * Constructor for IterativeRobotBase.
@@ -244,6 +246,28 @@ public abstract class IterativeRobotBase extends RobotBase {
     m_ntFlushEnabled = enabled;
   }
 
+  /**
+   * Sets whether LiveWindow operation is enabled during test mode. Calling
+   *
+   * @param testLW True to enable, false to disable. Defaults to true.
+   * @throws ConcurrentModificationException if this is called during test mode.
+   */
+  public void enableLiveWindowInTest(boolean testLW) {
+    if (isTest()) {
+      throw new ConcurrentModificationException("Can't configure test mode while in test mode!");
+    }
+    m_lwEnabledInTest = testLW;
+  }
+
+  /**
+   * Whether LiveWindow operation is enabled during test mode.
+   *
+   * @return whether LiveWindow should be enabled in test mode.
+   */
+  public boolean isLiveWindowEnabledInTest() {
+    return m_lwEnabledInTest;
+  }
+
   /**
    * Gets time period between calls to Periodic() functions.
    *
@@ -281,8 +305,10 @@ public abstract class IterativeRobotBase extends RobotBase {
       } else if (m_lastMode == Mode.kTeleop) {
         teleopExit();
       } else if (m_lastMode == Mode.kTest) {
-        LiveWindow.setEnabled(false);
-        Shuffleboard.disableActuatorWidgets();
+        if (m_lwEnabledInTest) {
+          LiveWindow.setEnabled(false);
+          Shuffleboard.disableActuatorWidgets();
+        }
         testExit();
       }
 
@@ -297,8 +323,10 @@ public abstract class IterativeRobotBase extends RobotBase {
         teleopInit();
         m_watchdog.addEpoch("teleopInit()");
       } else if (mode == Mode.kTest) {
-        LiveWindow.setEnabled(true);
-        Shuffleboard.enableActuatorWidgets();
+        if (m_lwEnabledInTest) {
+          LiveWindow.setEnabled(true);
+          Shuffleboard.enableActuatorWidgets();
+        }
         testInit();
         m_watchdog.addEpoch("testInit()");
       }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
index de5fd1cc0d..bf143e79ab 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
@@ -5,14 +5,20 @@
 package edu.wpi.first.wpilibj;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertThrows;
 
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
+import java.util.ConcurrentModificationException;
 import java.util.concurrent.atomic.AtomicInteger;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.parallel.ResourceLock;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.ValueSource;
 
 class TimedRobotTest {
   static class MockRobot extends TimedRobot {
@@ -119,6 +125,7 @@ class TimedRobotTest {
   @BeforeEach
   void setup() {
     SimHooks.pauseTiming();
+    DriverStationSim.resetData();
   }
 
   @AfterEach
@@ -391,10 +398,12 @@ class TimedRobotTest {
     robot.close();
   }
 
-  @Test
+  @ValueSource(booleans = {true, false})
+  @ParameterizedTest
   @ResourceLock("timing")
-  void testModeTest() {
+  void testModeTest(boolean isLW) {
     MockRobot robot = new MockRobot();
+    robot.enableLiveWindowInTest(isLW);
 
     Thread robotThread =
         new Thread(
@@ -415,6 +424,7 @@ class TimedRobotTest {
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
     assertEquals(0, robot.m_testInitCount.get());
+    assertFalse(LiveWindow.isEnabled());
 
     assertEquals(0, robot.m_robotPeriodicCount.get());
     assertEquals(0, robot.m_simulationPeriodicCount.get());
@@ -457,6 +467,9 @@ class TimedRobotTest {
     assertEquals(0, robot.m_autonomousInitCount.get());
     assertEquals(0, robot.m_teleopInitCount.get());
     assertEquals(1, robot.m_testInitCount.get());
+    assertEquals(isLW, LiveWindow.isEnabled());
+
+    assertThrows(ConcurrentModificationException.class, () -> robot.enableLiveWindowInTest(isLW));
 
     assertEquals(2, robot.m_robotPeriodicCount.get());
     assertEquals(2, robot.m_simulationPeriodicCount.get());
@@ -470,6 +483,33 @@ class TimedRobotTest {
     assertEquals(0, robot.m_teleopExitCount.get());
     assertEquals(0, robot.m_testExitCount.get());
 
+    DriverStationSim.setEnabled(false);
+    DriverStationSim.setAutonomous(false);
+    DriverStationSim.setTest(false);
+    DriverStationSim.notifyNewData();
+
+    SimHooks.stepTiming(0.02);
+
+    assertEquals(1, robot.m_robotInitCount.get());
+    assertEquals(1, robot.m_simulationInitCount.get());
+    assertEquals(1, robot.m_disabledInitCount.get());
+    assertEquals(0, robot.m_autonomousInitCount.get());
+    assertEquals(0, robot.m_teleopInitCount.get());
+    assertEquals(1, robot.m_testInitCount.get());
+    assertFalse(LiveWindow.isEnabled());
+
+    assertEquals(3, robot.m_robotPeriodicCount.get());
+    assertEquals(3, robot.m_simulationPeriodicCount.get());
+    assertEquals(1, robot.m_disabledPeriodicCount.get());
+    assertEquals(0, robot.m_autonomousPeriodicCount.get());
+    assertEquals(0, robot.m_teleopPeriodicCount.get());
+    assertEquals(2, robot.m_testPeriodicCount.get());
+
+    assertEquals(0, robot.m_disabledExitCount.get());
+    assertEquals(0, robot.m_autonomousExitCount.get());
+    assertEquals(0, robot.m_teleopExitCount.get());
+    assertEquals(1, robot.m_testExitCount.get());
+
     robot.endCompetition();
     try {
       robotThread.interrupt();