diff --git a/doc/lispref/text.texi b/doc/lispref/text.texi
index 22bce370197..7f43c631482 100644
--- a/doc/lispref/text.texi
+++ b/doc/lispref/text.texi
@@ -3042,6 +3042,7 @@ followed by the text properties.  If @var{object} is a string, only
 text properties are considered, since strings never have overlays.
 @end defun
 
+@anchor{Boundaries of text and overlay properties}
 @defun get-pos-property position prop &optional object
 This function is like @code{get-char-property}, except that it pays
 attention to properties' stickiness and overlays' advancement settings
@@ -4019,6 +4020,10 @@ The movement can be @code{entered} or @code{left}, depending on whether
 the cursor is entering the text that has this property or leaving it, or
 @code{moved} when the cursor moved within that text.
 Other values for the direction should be ignored.
+Whether the boundary positions (at the beginning and end of an overlay or
+a stretch of text-property) are considered as inside or outside follows
+the same rules as for @code{get-pos-property}, see @pxref{Boundaries of
+text and overlay properties}.
 The functions are called only when the minor mode
 @code{cursor-sensor-mode} is turned on.
 
diff --git a/etc/NEWS b/etc/NEWS
index a746ca7b1a3..3021ad42a12 100644
--- a/etc/NEWS
+++ b/etc/NEWS
@@ -3987,6 +3987,21 @@ all versions, sleep events require Windows 8 or later).
 
 * Incompatible Lisp Changes in Emacs 31.1
 
++++
+** Boundaries of 'cursor-sensor-functions' now obey stickiness.
+'cursor-sensor-mode' now uses 'get-pos-property' to decide whether a
+boundary is considered as inside or outside.
+
+This means that by default, the boundaries have changed: the end
+position of a stretch of a 'cursor-sensor-functions' text property
+used to be considered outside of the stretch whereas it is now
+considered as inside.  You can recover the previous behavior by
+controlling the stickiness, for example with a call like:
+
+    (add-text-properties BEG END
+                         '(cursor-sensor-functions (MY-FUNCTION)
+                           rear-nonsticky (cursor-sensor-functions)))
+
 +++
 ** 'makunbound' on a variable alias undoes the alias.
 Previously, it had the effect of applying the 'makunbound' on the