diff --git a/doc/classes/NavigationMesh.xml b/doc/classes/NavigationMesh.xml
index a76e739c23b6..8b2265baad52 100644
--- a/doc/classes/NavigationMesh.xml
+++ b/doc/classes/NavigationMesh.xml
@@ -96,6 +96,11 @@
 			The distance to erode/shrink the walkable area of the heightfield away from obstructions.
 			[b]Note:[/b] While baking, this value will be rounded up to the nearest multiple of [member cell_size].
 		</member>
+		<member name="border_size" type="float" setter="set_border_size" getter="get_border_size" default="0.0">
+			The size of the non-navigable border around the bake bounding area.
+			In conjunction with the [member filter_baking_aabb] and a [member edge_max_error] value at [code]1.0[/code] or below the border size can be used to bake tile aligned navigation meshes without the tile edges being shrunk by [member agent_radius].
+			[b]Note:[/b] While baking and not zero, this value will be rounded up to the nearest multiple of [member cell_size].
+		</member>
 		<member name="cell_height" type="float" setter="set_cell_height" getter="get_cell_height" default="0.25">
 			The cell height used to rasterize the navigation mesh vertices on the Y axis. Must match with the cell height on the navigation map.
 		</member>
diff --git a/modules/navigation/nav_mesh_generator_3d.cpp b/modules/navigation/nav_mesh_generator_3d.cpp
index 8719801c72d4..df93edaaeab8 100644
--- a/modules/navigation/nav_mesh_generator_3d.cpp
+++ b/modules/navigation/nav_mesh_generator_3d.cpp
@@ -625,6 +625,9 @@ void NavMeshGenerator3D::generator_bake_from_source_geometry_data(Ref<Navigation
 
 	cfg.cs = p_navigation_mesh->get_cell_size();
 	cfg.ch = p_navigation_mesh->get_cell_height();
+	if (p_navigation_mesh->get_border_size() > 0.0) {
+		cfg.borderSize = (int)Math::ceil(p_navigation_mesh->get_border_size() / cfg.cs);
+	}
 	cfg.walkableSlopeAngle = p_navigation_mesh->get_agent_max_slope();
 	cfg.walkableHeight = (int)Math::ceil(p_navigation_mesh->get_agent_height() / cfg.ch);
 	cfg.walkableClimb = (int)Math::floor(p_navigation_mesh->get_agent_max_climb() / cfg.ch);
@@ -637,6 +640,9 @@ void NavMeshGenerator3D::generator_bake_from_source_geometry_data(Ref<Navigation
 	cfg.detailSampleDist = MAX(p_navigation_mesh->get_cell_size() * p_navigation_mesh->get_detail_sample_distance(), 0.1f);
 	cfg.detailSampleMaxError = p_navigation_mesh->get_cell_height() * p_navigation_mesh->get_detail_sample_max_error();
 
+	if (p_navigation_mesh->get_border_size() > 0.0 && !Math::is_equal_approx(p_navigation_mesh->get_cell_size(), p_navigation_mesh->get_border_size())) {
+		WARN_PRINT("Property border_size is ceiled to cell_size voxel units and loses precision.");
+	}
 	if (!Math::is_equal_approx((float)cfg.walkableHeight * cfg.ch, p_navigation_mesh->get_agent_height())) {
 		WARN_PRINT("Property agent_height is ceiled to cell_height voxel units and loses precision.");
 	}
@@ -738,11 +744,11 @@ void NavMeshGenerator3D::generator_bake_from_source_geometry_data(Ref<Navigation
 
 	if (p_navigation_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_WATERSHED) {
 		ERR_FAIL_COND(!rcBuildDistanceField(&ctx, *chf));
-		ERR_FAIL_COND(!rcBuildRegions(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
+		ERR_FAIL_COND(!rcBuildRegions(&ctx, *chf, cfg.borderSize, cfg.minRegionArea, cfg.mergeRegionArea));
 	} else if (p_navigation_mesh->get_sample_partition_type() == NavigationMesh::SAMPLE_PARTITION_MONOTONE) {
-		ERR_FAIL_COND(!rcBuildRegionsMonotone(&ctx, *chf, 0, cfg.minRegionArea, cfg.mergeRegionArea));
+		ERR_FAIL_COND(!rcBuildRegionsMonotone(&ctx, *chf, cfg.borderSize, cfg.minRegionArea, cfg.mergeRegionArea));
 	} else {
-		ERR_FAIL_COND(!rcBuildLayerRegions(&ctx, *chf, 0, cfg.minRegionArea));
+		ERR_FAIL_COND(!rcBuildLayerRegions(&ctx, *chf, cfg.borderSize, cfg.minRegionArea));
 	}
 
 	bake_state = "Creating contours..."; // step #8
diff --git a/scene/resources/navigation_mesh.cpp b/scene/resources/navigation_mesh.cpp
index dd2e7ef26813..a7ce15c5ad18 100644
--- a/scene/resources/navigation_mesh.cpp
+++ b/scene/resources/navigation_mesh.cpp
@@ -153,6 +153,15 @@ float NavigationMesh::get_cell_height() const {
 	return cell_height;
 }
 
+void NavigationMesh::set_border_size(float p_value) {
+	ERR_FAIL_COND(p_value < 0);
+	border_size = p_value;
+}
+
+float NavigationMesh::get_border_size() const {
+	return border_size;
+}
+
 void NavigationMesh::set_agent_height(float p_value) {
 	ERR_FAIL_COND(p_value < 0);
 	agent_height = p_value;
@@ -464,6 +473,9 @@ void NavigationMesh::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_cell_height", "cell_height"), &NavigationMesh::set_cell_height);
 	ClassDB::bind_method(D_METHOD("get_cell_height"), &NavigationMesh::get_cell_height);
 
+	ClassDB::bind_method(D_METHOD("set_border_size", "border_size"), &NavigationMesh::set_border_size);
+	ClassDB::bind_method(D_METHOD("get_border_size"), &NavigationMesh::get_border_size);
+
 	ClassDB::bind_method(D_METHOD("set_agent_height", "agent_height"), &NavigationMesh::set_agent_height);
 	ClassDB::bind_method(D_METHOD("get_agent_height"), &NavigationMesh::get_agent_height);
 
@@ -537,9 +549,10 @@ void NavigationMesh::_bind_methods() {
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "geometry_source_geometry_mode", PROPERTY_HINT_ENUM, "Root Node Children,Group With Children,Group Explicit"), "set_source_geometry_mode", "get_source_geometry_mode");
 	ADD_PROPERTY(PropertyInfo(Variant::STRING, "geometry_source_group_name"), "set_source_group_name", "get_source_group_name");
 	ADD_PROPERTY_DEFAULT("geometry_source_group_name", StringName("navigation_mesh_source_group"));
-	ADD_GROUP("Cells", "cell_");
+	ADD_GROUP("Cells", "");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "cell_size", PROPERTY_HINT_RANGE, "0.01,500.0,0.01,or_greater,suffix:m"), "set_cell_size", "get_cell_size");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "cell_height", PROPERTY_HINT_RANGE, "0.01,500.0,0.01,or_greater,suffix:m"), "set_cell_height", "get_cell_height");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "border_size", PROPERTY_HINT_RANGE, "0.0,500.0,0.01,or_greater,suffix:m"), "set_border_size", "get_border_size");
 	ADD_GROUP("Agents", "agent_");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent_height", PROPERTY_HINT_RANGE, "0.0,500.0,0.01,or_greater,suffix:m"), "set_agent_height", "get_agent_height");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "agent_radius", PROPERTY_HINT_RANGE, "0.0,500.0,0.01,or_greater,suffix:m"), "set_agent_radius", "get_agent_radius");
diff --git a/scene/resources/navigation_mesh.h b/scene/resources/navigation_mesh.h
index cb8880eb94ff..1daebdda7f41 100644
--- a/scene/resources/navigation_mesh.h
+++ b/scene/resources/navigation_mesh.h
@@ -80,6 +80,7 @@ public:
 protected:
 	float cell_size = 0.25f; // Must match ProjectSettings default 3D cell_size and NavigationServer NavMap cell_size.
 	float cell_height = 0.25f; // Must match ProjectSettings default 3D cell_height and NavigationServer NavMap cell_height.
+	float border_size = 0.0f;
 	float agent_height = 1.5f;
 	float agent_radius = 0.5f;
 	float agent_max_climb = 0.25f;
@@ -131,6 +132,9 @@ public:
 	void set_cell_height(float p_value);
 	float get_cell_height() const;
 
+	void set_border_size(float p_value);
+	float get_border_size() const;
+
 	void set_agent_height(float p_value);
 	float get_agent_height() const;