diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 880bc2261b2..989f2a640ed 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -297,8 +297,8 @@ navigator start
 uxrce_dds_ns=""
 if [ "$px4_instance" -ne "0" ]
 then
-	# for multi intances setup, add namespace prefix
-	uxrce_dds_ns="-n px4_$px4_instance"
+	# for multi instances setup, add namespace prefix
+	uxrce_dds_ns="-n uav_$px4_instance"
 fi
 if [ "${PX4_UXRCE_DDS_NS+x}" ]; then
 	# Override, as variable is set (empty or not)
diff --git a/docs/en/releases/main.md b/docs/en/releases/main.md
index b9ce3a9adef..f678e61021f 100644
--- a/docs/en/releases/main.md
+++ b/docs/en/releases/main.md
@@ -90,7 +90,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 
 ### uXRCE-DDS / Zenoh / ROS 2
 
-- TBD
+- (uXRCE-DDS): SITL multi vehicle automatic namespace prefix is now `uav_{px4_instance}` and it is aligned with the behaviour of `UXRCE_DDS_NS_IDX`. ([PX4-Autopilot#28338](https://github.com/PX4/PX4-Autopilot/pull/28338))
 
 ### MAVLink
 
diff --git a/docs/en/ros2/multi_vehicle.md b/docs/en/ros2/multi_vehicle.md
index d35c4da995e..16d2fc66ee8 100644
--- a/docs/en/ros2/multi_vehicle.md
+++ b/docs/en/ros2/multi_vehicle.md
@@ -23,10 +23,10 @@ param set UXRCE_DDS_KEY $((px4_instance+1))
 By doing so, `UXRCE_DDS_KEY` will always coincide with [MAV_SYS_ID](../advanced_config/parameter_reference.md#MAV_SYS_ID).
 :::
 
-Moreover, when `px4_instance` is greater than zero, a unique ROS 2 [namespace prefix](../middleware/uxrce_dds.md#customizing-the-namespace) in the form `px4_$px4_instance` is added:
+Moreover, when `px4_instance` is greater than zero, a unique ROS 2 [namespace prefix](../middleware/uxrce_dds.md#customizing-the-namespace) in the form `uav_$px4_instance` is added:
 
 ```sh
-uxrce_dds_ns="-n px4_$px4_instance"
+uxrce_dds_ns="-n uav_$px4_instance"
 ```
 
 ::: info
@@ -42,7 +42,7 @@ The default client configuration in simulation is summarized as follows:
 | ------------------ | -------------- | ---------------- | --------------------- |
 | not provided       | 0              | `px4_instance+1` | none                  |
 | provided           | 0              | `px4_instance+1` | `PX4_UXRCE_DDS_NS`    |
-| not provided       | >0             | `px4_instance+1` | `px4_${px4_instance}` |
+| not provided       | >0             | `px4_instance+1` | `uav_${px4_instance}` |
 | provided           | >0             | `px4_instance+1` | `PX4_UXRCE_DDS_NS`    |
 
 ## Adjusting `VehicleCommand` routing fields