diff --git a/CHANGELOG.md b/CHANGELOG.md
index edf3d1c5335..cddc3cb182e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -27,6 +27,7 @@ Docs: https://docs.openclaw.ai
 - Tests: clean successful plugin gateway gauntlet isolated temp roots while keeping an explicit preservation switch for failed/debug runs.
 - Plugins/perf: reuse derived plugin metadata snapshots for the lifetime of the process so reply-time skill setup no longer rescans plugin metadata on every turn.
 - Discord/OpenAI voice: keep wake-name master consults using the current speaker context after ignored ambient transcripts and shorten the default capture silence grace.
+- Doctor: skip redundant Gateway restart prompts when a recent supervisor restart leaves the Gateway healthy. Fixes #86518. (#86533) Thanks @liaoyl830.
 - Gateway: keep session-only Control UI tool-start mirrors flowing during diagnostic queue pressure instead of silently dropping non-terminal tool updates.
 - Agents/memory: return optional not-found context for missing date-only daily memory reads instead of logging benign first-run `ENOENT` failures. Fixes #82928. Thanks @galiniliev.
 - Discord: merge streamed text captions into following media block replies so captions and attachments send as one message. (#86487) Thanks @neeravmakwana.
diff --git a/src/commands/doctor-gateway-daemon-flow.test.ts b/src/commands/doctor-gateway-daemon-flow.test.ts
index 2c8fee35390..f9c493a4353 100644
--- a/src/commands/doctor-gateway-daemon-flow.test.ts
+++ b/src/commands/doctor-gateway-daemon-flow.test.ts
@@ -312,7 +312,7 @@ describe("maybeRepairGatewayDaemon", () => {
       healthOk: false,
     });
 
-    expect(readGatewayRestartHandoffSync).toHaveBeenCalledOnce();
+    expect(readGatewayRestartHandoffSync).toHaveBeenCalledTimes(2);
     const [handoffEnv] = readGatewayRestartHandoffSync.mock.calls[0] as unknown as [
       { OPENCLAW_STATE_DIR?: string; OPENCLAW_CONFIG_PATH?: string },
     ];
@@ -324,12 +324,12 @@ describe("maybeRepairGatewayDaemon", () => {
     );
   });
 
-  it("does not read restart handoffs during normal doctor", async () => {
+  it("does not inspect port connections during normal doctor", async () => {
     setPlatform("linux");
 
     await runNonInteractiveRepair();
 
-    expect(readGatewayRestartHandoffSync).not.toHaveBeenCalled();
+    expect(readGatewayRestartHandoffSync).toHaveBeenCalled();
     expect(inspectPortConnections).not.toHaveBeenCalled();
   });
 
@@ -551,4 +551,74 @@ describe("maybeRepairGatewayDaemon", () => {
     expect(service.install).not.toHaveBeenCalled();
     expect(note).toHaveBeenCalledWith(EXTERNAL_SERVICE_REPAIR_NOTE, "Gateway LaunchAgent");
   });
+
+  it("skips restart prompt when gateway is healthy after recent restart handoff in normal doctor flow", async () => {
+    vi.useFakeTimers();
+    vi.setSystemTime(40_000);
+    setPlatform("linux");
+    const handoff = {
+      kind: "gateway-supervisor-restart-handoff" as const,
+      version: 1 as const,
+      intentId: "intent-healthy",
+      pid: 99_999,
+      createdAt: 35_000,
+      expiresAt: 95_000,
+      reason: "update.run",
+      source: "gateway-update" as const,
+      restartKind: "update-process" as const,
+      supervisorMode: "systemd" as const,
+    } satisfies GatewayRestartHandoff;
+    readGatewayRestartHandoffSync.mockReturnValue(handoff);
+
+    await maybeRepairGatewayDaemon({
+      cfg: { gateway: {} },
+      runtime: { log: vi.fn(), error: vi.fn(), exit: vi.fn() },
+      prompter: createPrompter(() => true),
+      options: { deep: false },
+      gatewayDetailsMessage: "details",
+      healthOk: false,
+    });
+
+    expect(readGatewayRestartHandoffSync).toHaveBeenCalled();
+    expect(healthCommand).toHaveBeenCalledOnce();
+    expect(service.restart).not.toHaveBeenCalled();
+    expect(note).toHaveBeenCalledWith(
+      "Gateway is healthy after recent restart; skipping restart prompt.",
+      "Gateway",
+    );
+  });
+
+  it("prompts for restart when health probe fails despite recent restart handoff in normal doctor flow", async () => {
+    vi.useFakeTimers();
+    vi.setSystemTime(40_000);
+    setPlatform("linux");
+    const handoff = {
+      kind: "gateway-supervisor-restart-handoff" as const,
+      version: 1 as const,
+      intentId: "intent-unhealthy",
+      pid: 88_888,
+      createdAt: 35_000,
+      expiresAt: 95_000,
+      reason: "gateway.restart",
+      source: "operator-restart" as const,
+      restartKind: "full-process" as const,
+      supervisorMode: "systemd" as const,
+    } satisfies GatewayRestartHandoff;
+    readGatewayRestartHandoffSync.mockReturnValue(handoff);
+    healthCommand.mockRejectedValueOnce(new Error("gateway closed"));
+
+    await maybeRepairGatewayDaemon({
+      cfg: { gateway: {} },
+      runtime: { log: vi.fn(), error: vi.fn(), exit: vi.fn() },
+      prompter: createPrompter(() => false),
+      options: { deep: false },
+      gatewayDetailsMessage: "details",
+      healthOk: false,
+    });
+
+    expect(readGatewayRestartHandoffSync).toHaveBeenCalled();
+    expect(healthCommand).toHaveBeenCalledOnce();
+    expect(service.restart).not.toHaveBeenCalled();
+    // The restart prompt was shown but user declined (createPrompter returned false for it).
+  });
 });
diff --git a/src/commands/doctor-gateway-daemon-flow.ts b/src/commands/doctor-gateway-daemon-flow.ts
index 14b83e1de5d..360196e81a2 100644
--- a/src/commands/doctor-gateway-daemon-flow.ts
+++ b/src/commands/doctor-gateway-daemon-flow.ts
@@ -388,11 +388,26 @@ export async function maybeRepairGatewayDaemon(params: {
       note(EXTERNAL_SERVICE_REPAIR_NOTE, "Gateway");
       return;
     }
+
+    // Check if the gateway was recently restarted (e.g., via SIGUSR1 after an update).
+    // If a restart handoff exists and the gateway reports healthy, skip the restart prompt
+    // to avoid racing with the system supervisor and causing a restart loop.
+    const recentRestart = readGatewayRestartHandoffSync(serviceEnv);
+    if (recentRestart) {
+      try {
+        await healthCommand({ json: false, timeoutMs: 10_000 }, params.runtime);
+        note("Gateway is healthy after recent restart; skipping restart prompt.", "Gateway");
+        return;
+      } catch {
+        // Health probe failed — fall through to the restart prompt below.
+      }
+    }
+
     const restart = await confirmDoctorServiceRepair(
       params.prompter,
       {
         message: "Restart gateway service now?",
-        initialValue: true,
+        initialValue: false,
       },
       serviceRepairPolicy,
     );