diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0f0ee531..78adc000 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,11 @@
 
 ## Unreleased
 
+### 🐛 Bug fixes
+
+- **iOS**: Fixed footer ignoring safe area insets by pinning to `safeAreaLayoutGuide.bottomAnchor` instead of `bottomAnchor`. ([#644](https://github.com/lodev09/react-native-true-sheet/pull/644) by [@isaacrowntree](https://github.com/isaacrowntree))
+- **Android**: Fixed footer rendering behind the navigation/gesture bar by accounting for `bottomInset` in `positionFooter`. ([#644](https://github.com/lodev09/react-native-true-sheet/pull/644) by [@isaacrowntree](https://github.com/isaacrowntree))
+
 ## 3.10.0
 
 ### 🎉 New features
diff --git a/android/src/main/java/com/lodev09/truesheet/TrueSheetViewController.kt b/android/src/main/java/com/lodev09/truesheet/TrueSheetViewController.kt
index c69af33d..863e4b7c 100644
--- a/android/src/main/java/com/lodev09/truesheet/TrueSheetViewController.kt
+++ b/android/src/main/java/com/lodev09/truesheet/TrueSheetViewController.kt
@@ -964,7 +964,10 @@ class TrueSheetViewController(private val reactContext: ThemedReactContext) :
     val sheetHeight = sheet.height
     val sheetTop = sheet.top
 
-    var footerY = (sheetHeight - sheetTop - footerHeight - currentKeyboardInset).toFloat()
+    // Subtract bottomInset so footer content doesn't render behind the navigation/gesture bar.
+    // When the keyboard is visible, currentKeyboardInset already accounts for the bottom inset.
+    val safeAreaOffset = if (currentKeyboardInset > 0) 0 else bottomInset
+    var footerY = (sheetHeight - sheetTop - footerHeight - currentKeyboardInset - safeAreaOffset).toFloat()
 
     // Adjust during dismiss animation when slideOffset is negative
     if (slideOffset != null && slideOffset < 0) {
diff --git a/ios/TrueSheetFooterView.mm b/ios/TrueSheetFooterView.mm
index f2bf1d4d..4a44f997 100644
--- a/ios/TrueSheetFooterView.mm
+++ b/ios/TrueSheetFooterView.mm
@@ -61,7 +61,9 @@ - (void)setupConstraintsWithHeight:(CGFloat)height {
   [self.leadingAnchor constraintEqualToAnchor:parentView.leadingAnchor].active = YES;
   [self.trailingAnchor constraintEqualToAnchor:parentView.trailingAnchor].active = YES;
 
-  _bottomConstraint = [self.bottomAnchor constraintEqualToAnchor:parentView.bottomAnchor
+  // Pin to safe area so footer content doesn't render behind the home indicator.
+  // When the keyboard is visible, its height already includes the safe area inset.
+  _bottomConstraint = [self.bottomAnchor constraintEqualToAnchor:parentView.safeAreaLayoutGuide.bottomAnchor
                                                         constant:-_currentKeyboardOffset];
   _bottomConstraint.active = YES;