diff --git a/bevy_rapier3d/Cargo.toml b/bevy_rapier3d/Cargo.toml
index 3ab3cfcb..646e1bb1 100644
--- a/bevy_rapier3d/Cargo.toml
+++ b/bevy_rapier3d/Cargo.toml
@@ -82,3 +82,8 @@ harness = false
 [[bench]]
 name = "many_pyramids3"
 harness = false
+
+[[example]]
+name = "ambiguity_detection"
+path = "tests/ambiguity_detection.rs"
+doc-scrape-examples = true
diff --git a/bevy_rapier3d/tests/ambiguity_detection.rs b/bevy_rapier3d/tests/ambiguity_detection.rs
new file mode 100644
index 00000000..78f7e3d2
--- /dev/null
+++ b/bevy_rapier3d/tests/ambiguity_detection.rs
@@ -0,0 +1,71 @@
+//! Adapted from https://github.com/bevyengine/bevy/blob/5a0c09d38fd63383281991da9d6c353ad7228f50/tests/ecs/ambiguity_detection.rs
+//!
+//! A test to confirm that `bevy_rapier` doesn't regress its system ambiguities count when using [`DefaultPlugins`].
+//! This is run in CI.
+//!
+//! Note that because this test requires rendering, it isn't actually an integration test!
+//! Instead, it's secretly an example: you can run this test manually using `cargo run --example ambiguity_detection`.
+
+use bevy::{
+    ecs::schedule::{InternedScheduleLabel, LogLevel, ScheduleBuildSettings},
+    prelude::*,
+    utils::HashMap,
+};
+use bevy_rapier3d::{
+    plugin::{NoUserData, RapierPhysicsPlugin},
+    render::RapierDebugRenderPlugin,
+};
+
+fn main() {
+    let mut app = App::new();
+    app.add_plugins(DefaultPlugins);
+    app.add_plugins(RapierPhysicsPlugin::<NoUserData>::default());
+    app.add_plugins(RapierDebugRenderPlugin::default());
+
+    let main_app = app.main_mut();
+    configure_ambiguity_detection(main_app);
+
+    app.finish();
+    app.cleanup();
+    app.update();
+
+    let main_app_ambiguities = count_ambiguities(app.main());
+    assert_eq!(
+        main_app_ambiguities.total(),
+        0,
+        "Main app has unexpected ambiguities among the following schedules: \n{main_app_ambiguities:#?}.",
+    );
+}
+
+/// Contains the number of conflicting systems per schedule.
+#[derive(Debug, Deref, DerefMut)]
+struct AmbiguitiesCount(pub HashMap<InternedScheduleLabel, usize>);
+
+impl AmbiguitiesCount {
+    fn total(&self) -> usize {
+        self.values().sum()
+    }
+}
+
+fn configure_ambiguity_detection(sub_app: &mut SubApp) {
+    let mut schedules = sub_app.world_mut().resource_mut::<Schedules>();
+    for (_, schedule) in schedules.iter_mut() {
+        schedule.set_build_settings(ScheduleBuildSettings {
+            // NOTE: you can change this to `LogLevel::Ignore` to easily see the current number of ambiguities.
+            ambiguity_detection: LogLevel::Warn,
+            use_shortnames: false,
+            ..default()
+        });
+    }
+}
+
+/// Returns the number of conflicting systems per schedule.
+fn count_ambiguities(sub_app: &SubApp) -> AmbiguitiesCount {
+    let schedules = sub_app.world().resource::<Schedules>();
+    let mut ambiguities = HashMap::new();
+    for (_, schedule) in schedules.iter() {
+        let ambiguities_in_schedule = schedule.graph().conflicting_systems().len();
+        ambiguities.insert(schedule.label(), ambiguities_in_schedule);
+    }
+    AmbiguitiesCount(ambiguities)
+}