diff --git a/quickstep/src/com/android/quickstep/RecentsAnimationDeviceState.java b/quickstep/src/com/android/quickstep/RecentsAnimationDeviceState.java
index 7d2997ecb8..7693e693d6 100644
--- a/quickstep/src/com/android/quickstep/RecentsAnimationDeviceState.java
+++ b/quickstep/src/com/android/quickstep/RecentsAnimationDeviceState.java
@@ -338,8 +338,16 @@ public class RecentsAnimationDeviceState implements DisplayInfoChangeListener {
         boolean canStartWithNavHidden = (mSystemUiStateFlags & SYSUI_STATE_NAV_BAR_HIDDEN) == 0
                 || (mSystemUiStateFlags & SYSUI_STATE_ALLOW_GESTURE_IGNORING_BAR_VISIBILITY) != 0
                 || mRotationTouchHelper.isTaskListFrozen();
-        return canStartWithNavHidden
-                && (mSystemUiStateFlags & SYSUI_STATE_NOTIFICATION_PANEL_EXPANDED) == 0
+        return canStartWithNavHidden && canStartTrackpadGesture();
+    }
+
+    /**
+     * @return whether SystemUI is in a state where we can start a system gesture from the trackpad.
+     * Trackpad gestures can start even when the nav bar / task bar is hidden in sticky immersive
+     * mode.
+     */
+    public boolean canStartTrackpadGesture() {
+        return (mSystemUiStateFlags & SYSUI_STATE_NOTIFICATION_PANEL_EXPANDED) == 0
                 && (mSystemUiStateFlags & SYSUI_STATE_STATUS_BAR_KEYGUARD_SHOWING) == 0
                 && (mSystemUiStateFlags & SYSUI_STATE_QUICK_SETTINGS_EXPANDED) == 0
                 && (mSystemUiStateFlags & SYSUI_STATE_MAGNIFICATION_OVERLAP) == 0
diff --git a/quickstep/src/com/android/quickstep/TouchInteractionService.java b/quickstep/src/com/android/quickstep/TouchInteractionService.java
index 5998c35f13..b5c0f7ddd9 100644
--- a/quickstep/src/com/android/quickstep/TouchInteractionService.java
+++ b/quickstep/src/com/android/quickstep/TouchInteractionService.java
@@ -847,7 +847,9 @@ public class TouchInteractionService extends Service
             return consumer;
         }
 
-        boolean canStartSystemGesture = mDeviceState.canStartSystemGesture();
+        boolean canStartSystemGesture =
+                mGestureState.isTrackpadGesture() ? mDeviceState.canStartTrackpadGesture()
+                        : mDeviceState.canStartSystemGesture();
 
         if (!LockedUserState.get(this).isUserUnlocked()) {
             CompoundString reasonString = newCompoundString("device locked");