diff --git a/configuration/packages/configuring-bt-navigator.rst b/configuration/packages/configuring-bt-navigator.rst
index 1431fc277..233c04be2 100644
--- a/configuration/packages/configuring-bt-navigator.rst
+++ b/configuration/packages/configuring-bt-navigator.rst
@@ -57,6 +57,17 @@ Parameters
     You can use substitution to specify file path like ``$(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml``.
 
 
+:always_reload_bt_xml:
+
+  ====== =======
+  Type   Default
+  ------ -------
+  bool   false 
+  ====== =======
+
+  Description
+    Always load the requested behavior tree XML description, regardless of the name of the currently active XML.
+
 :plugin_lib_names:
 
   ============== ==========================================================
@@ -229,6 +240,7 @@ Example
         transform_tolerance: 0.1
         default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml
         default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml
+        always_reload_bt_xml: false
         goal_blackboard_id: goal
         goals_blackboard_id: goals
         path_blackboard_id: path
diff --git a/migration/Iron.rst b/migration/Iron.rst
index 627271840..5cf688861 100644
--- a/migration/Iron.rst
+++ b/migration/Iron.rst
@@ -270,7 +270,7 @@ Interpolation is based on the orientation of the vector formed by the last 2 pos
 .. image:: images/rpp_goal_lookahead_interpolate.gif
   :width: 45%
 
-Additionally, the conflict between ``use_rotate_to_heading` and ``allow_reversing`` was fixed so ``use_rotate_to_heading`` can now be used backward.
+Additionally, the conflict between ``use_rotate_to_heading`` and ``allow_reversing`` was fixed so ``use_rotate_to_heading`` can now be used backward.
 
 Cancel Checker Interface For GlobalPlanner
 *******************************************
@@ -287,3 +287,10 @@ New interface for ``GlobalPlanner::createPlan``:
 
 This is implemented for all the planners in the stack, you can check them for the example use of ``cancel_checker`` function (simply check ``cancel_checker()``).
 Smac and Theta* planners have a new parameter ``terminal_checking_interval`` which is the frequency of the cancel or timeout checking in terms of number of iterations.
+
+
+New BtActionServer/BtNavigator parameter
+****************************************
+
+`PR #4209 <https://github.com/ros-planning/navigation2/pull/4209>`_ introduces a new boolean parameter ``always_reload_bt_xml``, which enables the possibility to always reload a requested behavior tree XML description, regardless of the currently active XML. This allows keeping the action server running while changing/developing the XML description.
+