diff --git a/src/core/border_router/infra_if.cpp b/src/core/border_router/infra_if.cpp
index 02d5e48e4..e5edcc3a0 100644
--- a/src/core/border_router/infra_if.cpp
+++ b/src/core/border_router/infra_if.cpp
@@ -167,6 +167,7 @@ Error InfraIf::HandleStateChanged(uint32_t aIfIndex, bool aIsRunning)
 
     mIsRunning = aIsRunning;
 
+    Get<RxRaTracker>().HandleInfraIfStateChanged();
     Get<RoutingManager>().HandleInfraIfStateChanged();
 
 #if OPENTHREAD_CONFIG_SRP_SERVER_ADVERTISING_PROXY_ENABLE
diff --git a/src/core/border_router/routing_manager.cpp b/src/core/border_router/routing_manager.cpp
index 0bda7cad1..d6c56bd3d 100644
--- a/src/core/border_router/routing_manager.cpp
+++ b/src/core/border_router/routing_manager.cpp
@@ -260,7 +260,7 @@ void RoutingManager::Start(void)
         LogInfo("Starting");
 
         mIsRunning = true;
-        Get<RxRaTracker>().Start();
+        Get<RxRaTracker>().SetEnabled(true, RxRaTracker::kRequesterRoutingManager);
         mOnLinkPrefixManager.Start();
         mOmrPrefixManager.Start();
         mRoutePublisher.Start();
@@ -294,7 +294,7 @@ void RoutingManager::Stop(void)
 
     SendRouterAdvertisement(kInvalidateAllPrevPrefixes);
 
-    Get<RxRaTracker>().Stop();
+    Get<RxRaTracker>().SetEnabled(false, RxRaTracker::kRequesterRoutingManager);
 
     mTxRaInfo.mTxCount = 0;
 
diff --git a/src/core/border_router/rx_ra_tracker.cpp b/src/core/border_router/rx_ra_tracker.cpp
index 245a2af07..ebf2fde24 100644
--- a/src/core/border_router/rx_ra_tracker.cpp
+++ b/src/core/border_router/rx_ra_tracker.cpp
@@ -48,6 +48,9 @@ RegisterLogModule("BorderRouting");
 
 RxRaTracker::RxRaTracker(Instance &aInstance)
     : InstanceLocator(aInstance)
+    , mRoutingManagerEnabled(false)
+    , mMultiAilDetectorEnabled(false)
+    , mIsRunning(false)
     , mRsSender(aInstance)
     , mExpirationTimer(aInstance)
     , mStaleTimer(aInstance)
@@ -59,14 +62,50 @@ RxRaTracker::RxRaTracker(Instance &aInstance)
     mLocalRaHeader.Clear();
 }
 
+void RxRaTracker::SetEnabled(bool aEnable, Requester aRequester)
+{
+    switch (aRequester)
+    {
+    case kRequesterRoutingManager:
+        mRoutingManagerEnabled = aEnable;
+        break;
+    case kRequesterMultiAilDetector:
+        mMultiAilDetectorEnabled = aEnable;
+        break;
+    }
+
+    UpdateState();
+}
+
+void RxRaTracker::UpdateState(void)
+{
+    if ((mRoutingManagerEnabled || mMultiAilDetectorEnabled) && Get<InfraIf>().IsRunning())
+    {
+        Start();
+    }
+    else
+    {
+        Stop();
+    }
+}
+
 void RxRaTracker::Start(void)
 {
+    VerifyOrExit(!mIsRunning);
+    mIsRunning = true;
+
     mRsSender.Start();
     HandleNetDataChange();
+
+exit:
+    return;
 }
 
 void RxRaTracker::Stop(void)
 {
+    VerifyOrExit(mIsRunning);
+    mIsRunning = false;
+
     mRouters.Free();
     mIfAddresses.Free();
     mLocalRaHeader.Clear();
@@ -78,6 +117,9 @@ void RxRaTracker::Stop(void)
     mRdnssAddrTimer.Stop();
 
     mRsSender.Stop();
+
+exit:
+    return;
 }
 
 void RxRaTracker::HandleRsSenderFinished(TimeMilli aStartTime)
diff --git a/src/core/border_router/rx_ra_tracker.hpp b/src/core/border_router/rx_ra_tracker.hpp
index 344ea7969..d42098607 100644
--- a/src/core/border_router/rx_ra_tracker.hpp
+++ b/src/core/border_router/rx_ra_tracker.hpp
@@ -74,6 +74,7 @@ class RxRaTracker : public InstanceLocator
 {
     friend class NetDataBrTracker;
     friend class ot::Notifier;
+    friend class InfraIf;
 
 public:
     /**
@@ -86,6 +87,15 @@ public:
         kThisBrOtherEntity,    ///< From this Border Router, generated by another software entity.
     };
 
+    /**
+     * Represents an entity requesting to enable/disable the `RxRaTracker`.
+     */
+    enum Requester : uint8_t
+    {
+        kRequesterRoutingManager,   ///< Requested by `RoutingManager`.
+        kRequesterMultiAilDetector, ///< Requested by `MultiAilDetector`.
+    };
+
     /**
      * Initializes the `RxRaTracker` object.
      *
@@ -94,14 +104,15 @@ public:
     explicit RxRaTracker(Instance &aInstance);
 
     /**
-     * Starts the RA tracker.
+     * Enables or disables the `RxRaTracker`.
+     *
+     * The `RxRaTracker` can be enabled by multiple requesters (see `Requester`). It remains enabled as long as
+     * at least one requester has it enabled. It is disabled only when all requesters have disabled it.
+     *
+     * @param[in] aEnable      A boolean to enable/disable the  Tracker.
+     * @param[in] aRequester   The entity requesting to enable/disable.
      */
-    void Start(void);
-
-    /**
-     * Stops the RA tracker.
-     */
-    void Stop(void);
+    void SetEnabled(bool aEnable, Requester aRequester);
 
     /**
      * Indicates whether the Router Solicitation (RS) transmission process is in progress.
@@ -532,6 +543,9 @@ private:
 
     //-  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -  -
 
+    void UpdateState(void);
+    void Start(void);
+    void Stop(void);
     void HandleRsSenderFinished(TimeMilli aStartTime);
     void ProcessRaHeader(const RouterAdvert::Header &aRaHeader, Router &aRouter, RouterAdvOrigin aRaOrigin);
     void ProcessPrefixInfoOption(const PrefixInfoOption &aPio, Router &aRouter);
@@ -552,6 +566,9 @@ private:
     void HandleNotifierEvents(Events aEvents);
     void HandleNetDataChange(void);
 
+    // Callback from `InfraIf`
+    void HandleInfraIfStateChanged(void) { UpdateState(); }
+
     // Tasklet or timer callbacks
     void HandleSignalTask(void);
     void HandleRdnssAddrTask(void);
@@ -576,6 +593,9 @@ private:
     using IfAddressList   = OwningList<Entry<IfAddress>>;
     using RdnssCallback   = Callback<RdnssAddrCallback>;
 
+    bool                 mRoutingManagerEnabled : 1;
+    bool                 mMultiAilDetectorEnabled : 1;
+    bool                 mIsRunning : 1;
     RsSender             mRsSender;
     DecisionFactors      mDecisionFactors;
     RouterList           mRouters;