diff --git a/stacks-signer/CHANGELOG.md b/stacks-signer/CHANGELOG.md
index 2e801d680d..4eaa122f8d 100644
--- a/stacks-signer/CHANGELOG.md
+++ b/stacks-signer/CHANGELOG.md
@@ -7,10 +7,10 @@ and this project adheres to the versioning scheme outlined in the [README.md](RE
 
 ## [Unreleased]
 
-### Added
-
 ### Changed
 
+- Increase default `block_proposal_timeout_ms` from 10 minutes to 4 hours. Until #5729 is implemented, there is no value in rejecting a late block from a miner, since a late block is better than no block at all.
+
 ## [3.1.0.0.5.0]
 
 ### Added
diff --git a/stacks-signer/src/config.rs b/stacks-signer/src/config.rs
index 29ee35c961..8902295d00 100644
--- a/stacks-signer/src/config.rs
+++ b/stacks-signer/src/config.rs
@@ -35,7 +35,7 @@ use stacks_common::util::hash::Hash160;
 use crate::client::SignerSlotID;
 
 const EVENT_TIMEOUT_MS: u64 = 5000;
-const BLOCK_PROPOSAL_TIMEOUT_MS: u64 = 600_000;
+const BLOCK_PROPOSAL_TIMEOUT_MS: u64 = 14_400_000;
 const BLOCK_PROPOSAL_VALIDATION_TIMEOUT_MS: u64 = 120_000;
 const DEFAULT_FIRST_PROPOSAL_BURN_BLOCK_TIMING_SECS: u64 = 60;
 const DEFAULT_TENURE_LAST_BLOCK_PROPOSAL_TIMEOUT_SECS: u64 = 30;
diff --git a/testnet/stacks-node/src/tests/nakamoto_integrations.rs b/testnet/stacks-node/src/tests/nakamoto_integrations.rs
index 4099ce64f2..3fa540d64f 100644
--- a/testnet/stacks-node/src/tests/nakamoto_integrations.rs
+++ b/testnet/stacks-node/src/tests/nakamoto_integrations.rs
@@ -14,6 +14,7 @@
 // You should have received a copy of the GNU General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 use std::collections::{BTreeMap, HashMap, HashSet};
+use std::ops::RangeBounds;
 use std::sync::atomic::{AtomicU64, Ordering};
 use std::sync::mpsc::{channel, Receiver, Sender};
 use std::sync::{Arc, Mutex};
@@ -1437,6 +1438,26 @@ fn wait_for_first_naka_block_commit(timeout_secs: u64, naka_commits_submitted: &
     }
 }
 
+// Check for missing burn blocks in `range`, but allow for a missed block at
+// the epoch 3 transition. Panic if any other blocks are missing.
+fn check_nakamoto_no_missing_blocks(conf: &Config, range: impl RangeBounds<u64>) {
+    let epoch_3 = &conf.burnchain.epochs.as_ref().unwrap()[StacksEpochId::Epoch30];
+    let missing = test_observer::get_missing_burn_blocks(range).unwrap();
+    let missing_is_error: Vec<_> = missing
+        .into_iter()
+        .filter(|&i| {
+            (i != epoch_3.start_height - 1) || {
+                warn!("Missing burn block {} at epoch 3 transition", i);
+                false
+            }
+        })
+        .collect();
+
+    if !missing_is_error.is_empty() {
+        panic!("Missing the following burn blocks: {missing_is_error:?}");
+    }
+}
+
 #[test]
 #[ignore]
 /// This test spins up a nakamoto-neon node.
@@ -1628,28 +1649,9 @@ fn simple_neon_integration() {
     assert!(tip.anchored_header.as_stacks_nakamoto().is_some());
     assert!(tip.stacks_block_height >= block_height_pre_3_0 + 30);
 
-    // Check that we aren't missing burn blocks
+    // Check that we aren't missing burn blocks (except during the Nakamoto transition)
     let bhh = u64::from(tip.burn_header_height);
-    let missing = test_observer::get_missing_burn_blocks(220..=bhh).unwrap();
-
-    // This test was flakey because it was sometimes missing burn block 230, which is right at the Nakamoto transition
-    // So it was possible to miss a burn block during the transition
-    // But I don't it matters at this point since the Nakamoto transition has already happened on mainnet
-    // So just print a warning instead, don't count it as an error
-    let missing_is_error: Vec<_> = missing
-        .into_iter()
-        .filter(|i| match i {
-            230 => {
-                warn!("Missing burn block {i}");
-                false
-            }
-            _ => true,
-        })
-        .collect();
-
-    if !missing_is_error.is_empty() {
-        panic!("Missing the following burn blocks: {missing_is_error:?}");
-    }
+    check_nakamoto_no_missing_blocks(&naka_conf, 220..=bhh);
 
     // make sure prometheus returns an updated number of processed blocks
     #[cfg(feature = "monitoring_prom")]
@@ -9941,9 +9943,9 @@ fn skip_mining_long_tx() {
     assert_eq!(sender_2_nonce, 0);
     assert_eq!(sender_1_nonce, 4);
 
-    // Check that we aren't missing burn blocks
+    // Check that we aren't missing burn blocks (except during the Nakamoto transition)
     let bhh = u64::from(tip.burn_header_height);
-    test_observer::contains_burn_block_range(220..=bhh).unwrap();
+    check_nakamoto_no_missing_blocks(&naka_conf, 220..=bhh);
 
     check_nakamoto_empty_block_heuristics();
 
diff --git a/testnet/stacks-node/src/tests/signer/v0.rs b/testnet/stacks-node/src/tests/signer/v0.rs
index dfe5c34443..a666f0ebed 100644
--- a/testnet/stacks-node/src/tests/signer/v0.rs
+++ b/testnet/stacks-node/src/tests/signer/v0.rs
@@ -8140,7 +8140,7 @@ fn block_validation_pending_table() {
     .expect("Timed out waiting for pending block validation to be submitted");
 
     info!("----- Waiting for pending block validation to be removed -----");
-    wait_for(30, || {
+    wait_for(60, || {
         let is_pending = signer_db
             .has_pending_block_validation(&block_signer_signature_hash)
             .expect("Unexpected DBError");