diff --git a/subsys/bluetooth/mesh/Kconfig b/subsys/bluetooth/mesh/Kconfig
index e7c308dc89a..e6ae3f6f3ed 100644
--- a/subsys/bluetooth/mesh/Kconfig
+++ b/subsys/bluetooth/mesh/Kconfig
@@ -878,6 +878,15 @@ config BT_MESH_FRIEND_SEG_RX
 	  many elements we can simultaneously be receiving segmented
 	  messages from when the messages are going into the Friend queue.
 
+config BT_MESH_FRIEND_ADV_LATENCY
+	int "Latency for enabling advertising"
+	default 0
+	help
+	  Latency in milliseconds that it takes to start friend advertising
+	  after requesting it. Used to tune the receive delay window to make
+	  Friend poll events more efficient by compensating for the time the
+	  non-ideal latency otherwise would add to the delay.
+
 endif # BT_MESH_FRIEND
 
 config BT_MESH_CFG_CLI
diff --git a/subsys/bluetooth/mesh/friend.c b/subsys/bluetooth/mesh/friend.c
index d9cc4279307..2d532ccb759 100644
--- a/subsys/bluetooth/mesh/friend.c
+++ b/subsys/bluetooth/mesh/friend.c
@@ -1034,7 +1034,7 @@ init_friend:
 	frnd->lpn = rx->ctx.addr;
 	frnd->num_elem = msg->num_elem;
 	frnd->subnet = rx->sub;
-	frnd->recv_delay = msg->recv_delay;
+	frnd->recv_delay = msg->recv_delay - CONFIG_BT_MESH_FRIEND_ADV_LATENCY;
 	frnd->poll_to = poll_to * 100U;
 	frnd->lpn_counter = sys_be16_to_cpu(msg->lpn_counter);
 	frnd->clear.frnd = sys_be16_to_cpu(msg->prev_addr);