diff --git a/configuration/packages/configuring-regulated-pp.rst b/configuration/packages/configuring-regulated-pp.rst
index c70367a56..61a1411c3 100644
--- a/configuration/packages/configuring-regulated-pp.rst
+++ b/configuration/packages/configuring-regulated-pp.rst
@@ -399,17 +399,6 @@ Regulated Pure Pursuit Parameters
 
     Note: Needs ``use_fixed_curvature_lookahead`` to be ``true``
 
-:stateful:
-
-  ============== =============================
-  Type           Default
-  -------------- -----------------------------
-  bool           true
-  ============== =============================
-
-  Description
-    Enables stateful goal handling behavior. When set to true, the controller will persist the goal state once the robot reaches the XY tolerance. It will then focus on aligning to the goal heading without reverting to XY position corrections.
-
 :allow_parameter_qos_overrides:
 
   ============== =============================
@@ -478,7 +467,6 @@ Example
         plugin: "nav2_controller::SimpleGoalChecker"
         xy_goal_tolerance: 0.25
         yaw_goal_tolerance: 0.25
-        stateful: True
       FollowPath:
         plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController"
         max_linear_vel: 0.5
@@ -511,6 +499,5 @@ Example
         allow_reversing: false
         rotate_to_heading_min_angle: 0.785
         min_distance_to_obstacle: 0.0
-        stateful: true
         use_dynamic_window: false
         allow_obstacle_checking_beyond_goal: false
diff --git a/migration/Kilted.rst b/migration/Kilted.rst
index ce0d2a088..3e34998bd 100644
--- a/migration/Kilted.rst
+++ b/migration/Kilted.rst
@@ -938,3 +938,9 @@ Key changes:
 - New parameters ``publish_scan``, ``odom_publish_dur``, and ``scan_noise_std`` are available.
 
 See :ref:`configuring_loopback_sim` for full parameter documentation.
+
+Stateful parameter removed from Regulated Pure Pursuit Controller
+-----------------------------------------------------------------
+`PR #6071 <https://github.com/ros-navigation/navigation2/pull/6071>`_ removes the stateful parameter from the Regulated Pure Pursuit Controller. That parameter previously enabled stateful goal handling, allowing the controller to keep the goal active and continue aligning heading once the XY tolerance was reached, rather than reverting to XY position corrections.
+
+A new GoalChecker API has been added so that controllers can query whether goal checking should be stateful. This removes the need for a separate controller plugin parameter, and the behavior now applies consistently across the Graceful controller, the Rotation Shim controller, and the Regulated Pure Pursuit controller.