diff --git a/agent.go b/agent.go
index 1a8c897..6dfe4f6 100644
--- a/agent.go
+++ b/agent.go
@@ -69,6 +69,7 @@ type Agent struct {
 	srflxAcceptanceMinWait time.Duration
 	prflxAcceptanceMinWait time.Duration
 	relayAcceptanceMinWait time.Duration
+	stunGatherTimeout      time.Duration
 
 	tcpPriorityOffset uint16
 	disableActiveTCP  bool
diff --git a/agent_config.go b/agent_config.go
index 6877313..73ebf8d 100644
--- a/agent_config.go
+++ b/agent_config.go
@@ -38,6 +38,9 @@ const (
 	// defaultRelayAcceptanceMinWait is the wait time before nominating a relay candidate
 	defaultRelayAcceptanceMinWait = 2000 * time.Millisecond
 
+	// defaultStunGatherTimeout is the wait time for STUN responses
+	defaultStunGatherTimeout = 5 * time.Second
+
 	// defaultMaxBindingRequests is the maximum number of binding requests before considering a pair failed
 	defaultMaxBindingRequests = 7
 
@@ -136,6 +139,8 @@ type AgentConfig struct {
 	PrflxAcceptanceMinWait *time.Duration
 	// HostAcceptanceMinWait specify a minimum wait time before selecting relay candidates
 	RelayAcceptanceMinWait *time.Duration
+	// StunGatherTimeout specify a minimum wait time for STUN responses
+	StunGatherTimeout *time.Duration
 
 	// Net is the our abstracted network interface for internal development purpose only
 	// (see https://github.com/pion/transport)
@@ -222,6 +227,12 @@ func (config *AgentConfig) initWithDefaults(a *Agent) {
 		a.relayAcceptanceMinWait = *config.RelayAcceptanceMinWait
 	}
 
+	if config.StunGatherTimeout == nil {
+		a.stunGatherTimeout = defaultStunGatherTimeout
+	} else {
+		a.stunGatherTimeout = *config.StunGatherTimeout
+	}
+
 	if config.TCPPriorityOffset == nil {
 		a.tcpPriorityOffset = defaultTCPPriorityOffset
 	} else {
diff --git a/gather.go b/gather.go
index fe56cc7..e97fe43 100644
--- a/gather.go
+++ b/gather.go
@@ -12,7 +12,6 @@ import (
 	"net/netip"
 	"reflect"
 	"sync"
-	"time"
 
 	"github.com/pion/dtls/v2"
 	"github.com/pion/ice/v3/internal/fakenet"
@@ -22,10 +21,6 @@ import (
 	"github.com/pion/turn/v3"
 )
 
-const (
-	stunGatherTimeout = time.Second * 5
-)
-
 // Close a net.Conn and log if we have a failure
 func closeConnAndLog(c io.Closer, log logging.LeveledLogger, msg string, args ...interface{}) {
 	if c == nil || (reflect.ValueOf(c).Kind() == reflect.Ptr && reflect.ValueOf(c).IsNil()) {
@@ -479,7 +474,7 @@ func (a *Agent) gatherCandidatesSrflxUDPMux(ctx context.Context, urls []*stun.UR
 						return
 					}
 
-					xorAddr, err := a.udpMuxSrflx.GetXORMappedAddr(serverAddr, stunGatherTimeout)
+					xorAddr, err := a.udpMuxSrflx.GetXORMappedAddr(serverAddr, a.stunGatherTimeout)
 					if err != nil {
 						a.log.Warnf("Failed get server reflexive address %s %s: %v", network, url, err)
 						return
@@ -564,7 +559,7 @@ func (a *Agent) gatherCandidatesSrflx(ctx context.Context, urls []*stun.URI, net
 					}
 				}()
 
-				xorAddr, err := stunx.GetXORMappedAddr(conn, serverAddr, stunGatherTimeout)
+				xorAddr, err := stunx.GetXORMappedAddr(conn, serverAddr, a.stunGatherTimeout)
 				if err != nil {
 					closeConnAndLog(conn, a.log, "failed to get server reflexive address %s %s: %v", network, url, err)
 					return