diff --git a/x-pack/plugins/ingest_manager/server/routes/agent/index.ts b/x-pack/plugins/ingest_manager/server/routes/agent/index.ts
index 12116d3f037e0..ea8981bbfbad5 100644
--- a/x-pack/plugins/ingest_manager/server/routes/agent/index.ts
+++ b/x-pack/plugins/ingest_manager/server/routes/agent/index.ts
@@ -11,7 +11,12 @@
 
 import { IRouter, RouteValidationResultFactory } from 'src/core/server';
 import Ajv from 'ajv';
-import { PLUGIN_ID, AGENT_API_ROUTES, LIMITED_CONCURRENCY_ROUTE_TAG } from '../../constants';
+import {
+  PLUGIN_ID,
+  AGENT_API_ROUTES,
+  LIMITED_CONCURRENCY_ROUTE_TAG,
+  AGENT_POLLING_REQUEST_TIMEOUT_MARGIN_MS,
+} from '../../constants';
 import {
   GetAgentsRequestSchema,
   GetOneAgentRequestSchema,
@@ -124,7 +129,8 @@ export const registerRoutes = (router: IRouter, config: IngestManagerConfigType)
       },
       options: {
         tags: [],
-        ...(pollingRequestTimeout
+        // If the timeout is too short, do not set socket idle timeout and rely on Kibana global socket timeout
+        ...(pollingRequestTimeout && pollingRequestTimeout > AGENT_POLLING_REQUEST_TIMEOUT_MARGIN_MS
           ? {
               timeout: {
                 idleSocket: pollingRequestTimeout,
diff --git a/x-pack/plugins/ingest_manager/server/services/agents/checkin/state_new_actions.ts b/x-pack/plugins/ingest_manager/server/services/agents/checkin/state_new_actions.ts
index 8ae151577fefa..2481655ccdc6f 100644
--- a/x-pack/plugins/ingest_manager/server/services/agents/checkin/state_new_actions.ts
+++ b/x-pack/plugins/ingest_manager/server/services/agents/checkin/state_new_actions.ts
@@ -167,6 +167,12 @@ export async function createAgentActionFromPolicyAction(
 
 function getPollingTimeoutMs() {
   const pollingTimeoutMs = appContextService.getConfig()?.fleet.pollingRequestTimeout ?? 0;
+
+  // If polling timeout is too short do not use margin
+  if (pollingTimeoutMs <= AGENT_POLLING_REQUEST_TIMEOUT_MARGIN_MS) {
+    return pollingTimeoutMs;
+  }
+
   // Set a timeout 20s before the real timeout to have a chance to respond an empty response before socket timeout
   return Math.max(
     pollingTimeoutMs - AGENT_POLLING_REQUEST_TIMEOUT_MARGIN_MS,
diff --git a/x-pack/test/ingest_manager_api_integration/apis/fleet/agents/complete_flow.ts b/x-pack/test/ingest_manager_api_integration/apis/fleet/agents/complete_flow.ts
index d925d77b5b93f..a59b3ff0890f7 100644
--- a/x-pack/test/ingest_manager_api_integration/apis/fleet/agents/complete_flow.ts
+++ b/x-pack/test/ingest_manager_api_integration/apis/fleet/agents/complete_flow.ts
@@ -19,8 +19,7 @@ export default function (providerContext: FtrProviderContext) {
   const supertestWithoutAuth = getSupertestWithoutAuth(providerContext);
   const esClient = getService('es');
 
-  // Failing: See https://github.com/elastic/kibana/issues/75241
-  describe.skip('fleet_agent_flow', () => {
+  describe('fleet_agent_flow', () => {
     skipIfNoDockerRegistry(providerContext);
     before(async () => {
       await esArchiver.load('empty_kibana');