diff --git a/change/@ni-nimble-components-4d32fe1a-efcc-4f03-b069-09a00bd0bc3d.json b/change/@ni-nimble-components-4d32fe1a-efcc-4f03-b069-09a00bd0bc3d.json
new file mode 100644
index 0000000000..e718823d7d
--- /dev/null
+++ b/change/@ni-nimble-components-4d32fe1a-efcc-4f03-b069-09a00bd0bc3d.json
@@ -0,0 +1,7 @@
+{
+  "type": "patch",
+  "comment": "Fix race condition when closing the drawer immediately after it finishes opening",
+  "packageName": "@ni/nimble-components",
+  "email": "20542556+mollykreis@users.noreply.github.com",
+  "dependentChangeType": "patch"
+}
diff --git a/packages/nimble-components/src/drawer/index.ts b/packages/nimble-components/src/drawer/index.ts
index 45306082c4..ea1c8d83b2 100644
--- a/packages/nimble-components/src/drawer/index.ts
+++ b/packages/nimble-components/src/drawer/index.ts
@@ -131,6 +131,13 @@ export class Drawer<CloseReason = void> extends FoundationElement {
     }
 
     private triggerAnimation(): void {
+        // Read the offsetHeight of the dialog to trigger a reflow. This guarantees that the browser
+        // has processed the 'animating' class being removed before trying to readd it, even if the previous
+        // animation has just finished. Otherwise, problems can occur. For example, trying to close the
+        // drawer immediately after the opening animation ends does not actually close the drawer.
+        // https://github.com/ni/nimble/issues/1994
+        void this.dialog.offsetHeight;
+
         this.dialog.classList.add('animating');
         if (this.closing) {
             this.dialog.classList.add('closing');
diff --git a/packages/nimble-components/src/drawer/tests/drawer.spec.ts b/packages/nimble-components/src/drawer/tests/drawer.spec.ts
index eefa3b0f52..632820c834 100644
--- a/packages/nimble-components/src/drawer/tests/drawer.spec.ts
+++ b/packages/nimble-components/src/drawer/tests/drawer.spec.ts
@@ -133,8 +133,7 @@ describe('Drawer', () => {
             await expectAsync(promise).toBePending();
         });
 
-        // Firefox skipped, see: https://github.com/ni/nimble/issues/1937
-        it('should resolve promise if drawer completely opens before being closed #SkipFirefox', async () => {
+        it('should resolve promise if drawer completely opens before being closed', async () => {
             const promise = element.show();
             await completeAnimationAsync(element);
             element.close();