diff --git a/core/CHANGELOG.md b/core/CHANGELOG.md
index 2bc23f1c1..4169500d9 100644
--- a/core/CHANGELOG.md
+++ b/core/CHANGELOG.md
@@ -7,6 +7,7 @@
 **Bug Fixes**
 
 * Downgrade to kotlin 1.9
+* Support launching activities in fullscreen mode with ActivityScenario on XR devices
 
 **New Features**
 
diff --git a/core/java/androidx/test/core/app/ActivityScenario.java b/core/java/androidx/test/core/app/ActivityScenario.java
index e82c603b1..af86f0686 100644
--- a/core/java/androidx/test/core/app/ActivityScenario.java
+++ b/core/java/androidx/test/core/app/ActivityScenario.java
@@ -25,6 +25,8 @@
 import android.app.Instrumentation.ActivityResult;
 import android.content.ComponentName;
 import android.content.Intent;
+import android.content.pm.PackageManager;
+import android.content.pm.PackageManager.Property;
 import android.os.Build.VERSION;
 import android.os.Bundle;
 import android.os.Looper;
@@ -200,7 +202,7 @@ private ActivityScenario(Class<A> activityClass) {
    */
   public static <A extends Activity> ActivityScenario<A> launch(Class<A> activityClass) {
     ActivityScenario<A> scenario = new ActivityScenario<>(checkNotNull(activityClass));
-    scenario.launchInternal(/*activityOptions=*/ null, /*launchActivityForResult=*/ false);
+    scenario.checkXrAndLaunchInternal(/* activityOptions= */ null);
     return scenario;
   }
 
@@ -213,7 +215,7 @@ public static <A extends Activity> ActivityScenario<A> launch(Class<A> activityC
   public static <A extends Activity> ActivityScenario<A> launch(
       Class<A> activityClass, @Nullable Bundle activityOptions) {
     ActivityScenario<A> scenario = new ActivityScenario<>(checkNotNull(activityClass));
-    scenario.launchInternal(activityOptions, /*launchActivityForResult=*/ false);
+    scenario.checkXrAndLaunchInternal(activityOptions);
     return scenario;
   }
 
@@ -234,7 +236,7 @@ public static <A extends Activity> ActivityScenario<A> launch(
    */
   public static <A extends Activity> ActivityScenario<A> launch(Intent startActivityIntent) {
     ActivityScenario<A> scenario = new ActivityScenario<>(checkNotNull(startActivityIntent));
-    scenario.launchInternal(/*activityOptions=*/ null, /*launchActivityForResult=*/ false);
+    scenario.checkXrAndLaunchInternal(/* activityOptions= */ null);
     return scenario;
   }
 
@@ -249,7 +251,7 @@ public static <A extends Activity> ActivityScenario<A> launch(Intent startActivi
   public static <A extends Activity> ActivityScenario<A> launch(
       Intent startActivityIntent, @Nullable Bundle activityOptions) {
     ActivityScenario<A> scenario = new ActivityScenario<>(checkNotNull(startActivityIntent));
-    scenario.launchInternal(activityOptions, /*launchActivityForResult=*/ false);
+    scenario.checkXrAndLaunchInternal(activityOptions);
     return scenario;
   }
 
@@ -383,6 +385,39 @@ private void launchInternal(@Nullable Bundle activityOptions, boolean launchActi
     }
   }
 
+  /**
+   * An internal helper method for handling launching the activity for the given scenario instance
+   * on XR devices.
+   *
+   * @param activityOptions activity options bundle to be passed when launching this activity
+   */
+  private void checkXrAndLaunchInternal(@Nullable Bundle activityOptions) {
+    // Activities cannot be launched in full screen mode from the application context on XR devices.
+    // Check if the current device is an XR device and fall back to launching activity for result
+    // if the android.window.PROPERTY_XR_ACTIVITY_START_MODE property is set to full screen mode
+    // so that the bootstrap activity can act as a temporary focused activity which the requested
+    // activity is launched from.
+    PackageManager packageManager = getInstrumentation().getTargetContext().getPackageManager();
+    if (packageManager.hasSystemFeature("android.software.xr.immersive")) {
+      String packageName = getInstrumentation().getTargetContext().getPackageName();
+      try {
+        Property startMode =
+            packageManager.getProperty(
+                "android.window.PROPERTY_XR_ACTIVITY_START_MODE", packageName);
+        if (startMode.getString().equals("XR_ACTIVITY_START_MODE_FULL_SPACE_MANAGED")
+            || startMode.getString().equals("XR_ACTIVITY_START_MODE_FULL_SPACE_UNMANAGED")) {
+          launchInternal(activityOptions, true);
+        } else {
+          launchInternal(activityOptions, false);
+        }
+      } catch (PackageManager.NameNotFoundException e) {
+        launchInternal(activityOptions, false);
+      }
+    } else {
+      launchInternal(activityOptions, false);
+    }
+  }
+
   /**
    * Finishes the managed activity and cleans up device's state. This method blocks execution until
    * the activity becomes {@link State#DESTROYED}.