diff --git a/frigate/comms/dispatcher.py b/frigate/comms/dispatcher.py
index f83a117510..6cb4f21b07 100644
--- a/frigate/comms/dispatcher.py
+++ b/frigate/comms/dispatcher.py
@@ -588,6 +588,10 @@ class Dispatcher:
                 self.ptz_metrics[camera_name].start_time.value = 0
                 ptz_autotracker_settings.enabled = False
 
+        self.config_updater.publish_update(
+            CameraConfigUpdateTopic(CameraConfigUpdateEnum.autotracking, camera_name),
+            ptz_autotracker_settings,
+        )
         self.publish(f"{camera_name}/ptz_autotracker/state", payload, retain=True)
 
     def _on_motion_contour_area_command(self, camera_name: str, payload: int) -> None:
diff --git a/frigate/config/camera/updater.py b/frigate/config/camera/updater.py
index afa501904a..c0b9260873 100644
--- a/frigate/config/camera/updater.py
+++ b/frigate/config/camera/updater.py
@@ -14,6 +14,7 @@ class CameraConfigUpdateEnum(str, Enum):
     add = "add"  # for adding a camera
     audio = "audio"
     audio_transcription = "audio_transcription"
+    autotracking = "autotracking"  # ptz autotracking only, without an onvif reinit
     birdseye = "birdseye"
     detect = "detect"
     enabled = "enabled"
@@ -145,6 +146,8 @@ class CameraConfigUpdateSubscriber:
             config.snapshots = updated_config
         elif update_type == CameraConfigUpdateEnum.onvif:
             config.onvif = updated_config
+        elif update_type == CameraConfigUpdateEnum.autotracking:
+            config.onvif.autotracking = updated_config
         elif update_type == CameraConfigUpdateEnum.timestamp_style:
             config.timestamp_style = updated_config
         elif update_type == CameraConfigUpdateEnum.zones:
diff --git a/frigate/ptz/autotrack.py b/frigate/ptz/autotrack.py
index 4e27e2653d..7cb78fcc8e 100644
--- a/frigate/ptz/autotrack.py
+++ b/frigate/ptz/autotrack.py
@@ -20,6 +20,10 @@ from norfair.camera_motion import (
 from frigate.camera import PTZMetrics
 from frigate.comms.dispatcher import Dispatcher
 from frigate.config import CameraConfig, FrigateConfig, ZoomingModeEnum
+from frigate.config.camera.updater import (
+    CameraConfigUpdateEnum,
+    CameraConfigUpdateSubscriber,
+)
 from frigate.const import (
     AUTOTRACKING_MAX_AREA_RATIO,
     AUTOTRACKING_MAX_MOVE_METRICS,
@@ -194,7 +198,9 @@ class PtzAutoTrackerThread(threading.Thread):
 
     def run(self):
         while not self.stop_event.wait(1):
-            for camera, camera_config in self.config.cameras.items():
+            self.ptz_autotracker.config_subscriber.check_for_updates()
+
+            for camera, camera_config in list(self.config.cameras.items()):
                 if not camera_config.enabled:
                     continue
 
@@ -211,6 +217,7 @@ class PtzAutoTrackerThread(threading.Thread):
                         self.ptz_autotracker.tracked_object[camera] = None
                         self.ptz_autotracker.tracked_object_history[camera].clear()
 
+        self.ptz_autotracker.config_subscriber.stop()
         logger.info("Exiting autotracker...")
 
 
@@ -244,6 +251,15 @@ class PtzAutoTracker:
         self.zoom_time: dict[str, float] = {}
         self.zoom_factor: dict[str, object] = {}
 
+        self.config_subscriber = CameraConfigUpdateSubscriber(
+            self.config,
+            self.config.cameras,
+            [
+                CameraConfigUpdateEnum.add,
+                CameraConfigUpdateEnum.autotracking,
+            ],
+        )
+
         # if cam is set to autotrack, onvif should be set up
         for camera, camera_config in self.config.cameras.items():
             if not camera_config.enabled: