diff --git a/packages/stack/src/index.tsx b/packages/stack/src/index.tsx
index 11c38fdb..85121f2b 100644
--- a/packages/stack/src/index.tsx
+++ b/packages/stack/src/index.tsx
@@ -37,11 +37,11 @@ export {
  * Utilities
  */
 export { default as CardAnimationContext } from './utils/CardAnimationContext';
-export { default as FloatingHeaderHeightContext } from './utils/FloatingHeaderHeightContext';
+export { default as HeaderHeightContext } from './utils/HeaderHeightContext';
 export { default as GestureHandlerRefContext } from './utils/GestureHandlerRefContext';
 
 export { default as useCardAnimation } from './utils/useCardAnimation';
-export { default as useFloatingHeaderHeight } from './utils/useFloatingHeaderHeight';
+export { default as useHeaderHeight } from './utils/useHeaderHeight';
 export { default as useGestureHandlerRef } from './utils/useGestureHandlerRef';
 
 /**
diff --git a/packages/stack/src/utils/FloatingHeaderHeightContext.tsx b/packages/stack/src/utils/FloatingHeaderHeightContext.tsx
deleted file mode 100644
index f31f9dac..00000000
--- a/packages/stack/src/utils/FloatingHeaderHeightContext.tsx
+++ /dev/null
@@ -1,3 +0,0 @@
-import * as React from 'react';
-
-export default React.createContext<number>(0);
diff --git a/packages/stack/src/utils/HeaderHeightContext.tsx b/packages/stack/src/utils/HeaderHeightContext.tsx
new file mode 100644
index 00000000..e61d0446
--- /dev/null
+++ b/packages/stack/src/utils/HeaderHeightContext.tsx
@@ -0,0 +1,3 @@
+import * as React from 'react';
+
+export default React.createContext<number | undefined>(undefined);
diff --git a/packages/stack/src/utils/useFloatingHeaderHeight.tsx b/packages/stack/src/utils/useFloatingHeaderHeight.tsx
deleted file mode 100644
index c39ddba7..00000000
--- a/packages/stack/src/utils/useFloatingHeaderHeight.tsx
+++ /dev/null
@@ -1,14 +0,0 @@
-import * as React from 'react';
-import FloatingHeaderHeightContext from './FloatingHeaderHeightContext';
-
-export default function useFloatingHeaderHeight() {
-  const height = React.useContext(FloatingHeaderHeightContext);
-
-  if (height === undefined) {
-    throw new Error(
-      "Couldn't find the floating header height. Are you inside a screen in Stack?"
-    );
-  }
-
-  return height;
-}
diff --git a/packages/stack/src/utils/useHeaderHeight.tsx b/packages/stack/src/utils/useHeaderHeight.tsx
new file mode 100644
index 00000000..6303db3d
--- /dev/null
+++ b/packages/stack/src/utils/useHeaderHeight.tsx
@@ -0,0 +1,14 @@
+import * as React from 'react';
+import HeaderHeightContext from './HeaderHeightContext';
+
+export default function useFloatingHeaderHeight() {
+  const height = React.useContext(HeaderHeightContext);
+
+  if (height === undefined) {
+    throw new Error(
+      "Couldn't find the header height. Are you inside a screen in Stack?"
+    );
+  }
+
+  return height;
+}
diff --git a/packages/stack/src/views/Stack/CardContainer.tsx b/packages/stack/src/views/Stack/CardContainer.tsx
index fe3c095d..b4e6b5b6 100644
--- a/packages/stack/src/views/Stack/CardContainer.tsx
+++ b/packages/stack/src/views/Stack/CardContainer.tsx
@@ -4,7 +4,7 @@ import { StackNavigationState } from '@react-navigation/routers';
 import { Route, useTheme } from '@react-navigation/native';
 import { Props as HeaderContainerProps } from '../Header/HeaderContainer';
 import Card from './Card';
-import FloatingHeaderHeightContext from '../../utils/FloatingHeaderHeightContext';
+import HeaderHeightContext from '../../utils/HeaderHeightContext';
 import { Scene, Layout, StackHeaderMode, TransitionPreset } from '../../types';
 
 type Props = TransitionPreset & {
@@ -48,7 +48,11 @@ type Props = TransitionPreset & {
   headerMode: StackHeaderMode;
   headerShown?: boolean;
   headerTransparent?: boolean;
-  floatingHeaderHeight: number;
+  headerHeight: number;
+  onHeaderHeightChange: (props: {
+    route: Route<string>;
+    height: number;
+  }) => void;
 };
 
 export default function CardContainer({
@@ -59,7 +63,6 @@ export default function CardContainer({
   cardStyleInterpolator,
   closing,
   gesture,
-  floatingHeaderHeight,
   focused,
   gestureDirection,
   gestureEnabled,
@@ -70,6 +73,8 @@ export default function CardContainer({
   headerShown,
   headerStyleInterpolator,
   headerTransparent,
+  headerHeight,
+  onHeaderHeightChange,
   index,
   layout,
   onCloseRoute,
@@ -150,7 +155,7 @@ export default function CardContainer({
       pointerEvents="box-none"
       containerStyle={
         headerMode === 'float' && !headerTransparent && headerShown !== false
-          ? { marginTop: floatingHeaderHeight }
+          ? { marginTop: headerHeight }
           : null
       }
       contentStyle={[{ backgroundColor: colors.background }, cardStyle]}
@@ -158,9 +163,9 @@ export default function CardContainer({
     >
       <View style={styles.container}>
         <View style={styles.scene}>
-          <FloatingHeaderHeightContext.Provider value={floatingHeaderHeight}>
+          <HeaderHeightContext.Provider value={headerHeight}>
             {renderScene({ route: scene.route })}
-          </FloatingHeaderHeightContext.Provider>
+          </HeaderHeightContext.Provider>
         </View>
         {headerMode === 'screen'
           ? renderHeader({
@@ -171,6 +176,7 @@ export default function CardContainer({
               state,
               getPreviousRoute,
               styleInterpolator: headerStyleInterpolator,
+              onContentHeightChange: onHeaderHeightChange,
             })
           : null}
       </View>
diff --git a/packages/stack/src/views/Stack/CardStack.tsx b/packages/stack/src/views/Stack/CardStack.tsx
index 11337bc8..268a8433 100755
--- a/packages/stack/src/views/Stack/CardStack.tsx
+++ b/packages/stack/src/views/Stack/CardStack.tsx
@@ -71,7 +71,7 @@ type State = {
   scenes: Scene<Route<string>>[];
   gestures: GestureValues;
   layout: Layout;
-  floatingHeaderHeights: Record<string, number>;
+  headerHeights: Record<string, number>;
 };
 
 const EPSILON = 1e-5;
@@ -112,7 +112,7 @@ const MaybeScreen = ({
 
 const FALLBACK_DESCRIPTOR = Object.freeze({ options: {} });
 
-const getFloatingHeaderHeights = (
+const getHeaderHeights = (
   routes: Route<string>[],
   insets: EdgeInsets,
   descriptors: StackDescriptorMap,
@@ -283,12 +283,12 @@ export default class CardStack extends React.Component<Props, State> {
       }),
       gestures,
       descriptors: props.descriptors,
-      floatingHeaderHeights: getFloatingHeaderHeights(
+      headerHeights: getHeaderHeights(
         props.routes,
         props.insets,
         state.descriptors,
         state.layout,
-        state.floatingHeaderHeights
+        state.headerHeights
       ),
     };
   }
@@ -304,7 +304,7 @@ export default class CardStack extends React.Component<Props, State> {
     // This is not a great heuristic here. We don't know synchronously
     // on mount what the header height is so we have just used the most
     // common cases here.
-    floatingHeaderHeights: {},
+    headerHeights: {},
   };
 
   private handleLayout = (e: LayoutChangeEvent) => {
@@ -319,7 +319,7 @@ export default class CardStack extends React.Component<Props, State> {
 
       return {
         layout,
-        floatingHeaderHeights: getFloatingHeaderHeights(
+        headerHeights: getHeaderHeights(
           props.routes,
           props.insets,
           state.descriptors,
@@ -330,23 +330,23 @@ export default class CardStack extends React.Component<Props, State> {
     });
   };
 
-  private handleFloatingHeaderLayout = ({
+  private handleHeaderLayout = ({
     route,
     height,
   }: {
     route: Route<string>;
     height: number;
   }) => {
-    this.setState(({ floatingHeaderHeights }) => {
-      const previousHeight = floatingHeaderHeights[route.key];
+    this.setState(({ headerHeights }) => {
+      const previousHeight = headerHeights[route.key];
 
       if (previousHeight === height) {
         return null;
       }
 
       return {
-        floatingHeaderHeights: {
-          ...floatingHeaderHeights,
+        headerHeights: {
+          ...headerHeights,
           [route.key]: height,
         },
       };
@@ -375,7 +375,7 @@ export default class CardStack extends React.Component<Props, State> {
       onPageChangeCancel,
     } = this.props;
 
-    const { scenes, layout, gestures, floatingHeaderHeights } = this.state;
+    const { scenes, layout, gestures, headerHeights } = this.state;
 
     const focusedRoute = state.routes[state.index];
     const focusedDescriptor = descriptors[focusedRoute.key];
@@ -521,7 +521,8 @@ export default class CardStack extends React.Component<Props, State> {
                   onPageChangeConfirm={onPageChangeConfirm}
                   onPageChangeCancel={onPageChangeCancel}
                   gestureResponseDistance={gestureResponseDistance}
-                  floatingHeaderHeight={floatingHeaderHeights[route.key]}
+                  headerHeight={headerHeights[route.key]}
+                  onHeaderHeightChange={this.handleHeaderLayout}
                   getPreviousRoute={getPreviousRoute}
                   headerMode={headerMode}
                   headerShown={headerShown}
@@ -548,7 +549,7 @@ export default class CardStack extends React.Component<Props, State> {
               scenes,
               state,
               getPreviousRoute,
-              onContentHeightChange: this.handleFloatingHeaderLayout,
+              onContentHeightChange: this.handleHeaderLayout,
               styleInterpolator:
                 focusedOptions.headerStyleInterpolator !== undefined
                   ? focusedOptions.headerStyleInterpolator