diff --git a/src/__tests__/form-test.tsx b/src/__tests__/form-test.tsx
index bf5a72ba4..8500fbf37 100644
--- a/src/__tests__/form-test.tsx
+++ b/src/__tests__/form-test.tsx
@@ -1,7 +1,19 @@
 import * as React from 'react';
 import {render, screen, waitFor} from '@testing-library/react';
 import userEvent from '@testing-library/user-event';
-import {ButtonPrimary, Form, TextField, EmailField, PasswordField, Switch, PhoneNumberField} from '..';
+import {
+    ButtonPrimary,
+    Form,
+    TextField,
+    EmailField,
+    PasswordField,
+    Switch,
+    PhoneNumberField,
+    DateField,
+    DateTimeField,
+    Select,
+    MonthField,
+} from '..';
 import ThemeContextProvider from '../theme-context-provider';
 import {makeTheme} from './test-utils';
 
@@ -296,3 +308,43 @@ test('Disabling a field removes the error state and disabled fields are not subm
         {phone: '654 83 44 55', switch: false}
     );
 });
+
+test.each`
+    platform     | type                | expectedFocus
+    ${'ios'}     | ${'date'}           | ${false}
+    ${'ios'}     | ${'datetime-local'} | ${false}
+    ${'ios'}     | ${'month'}          | ${false}
+    ${'ios'}     | ${'select'}         | ${false}
+    ${'ios'}     | ${'text'}           | ${true}
+    ${'android'} | ${'date'}           | ${true}
+    ${'android'} | ${'datetime-local'} | ${true}
+    ${'android'} | ${'month'}          | ${true}
+    ${'android'} | ${'select'}         | ${true}
+    ${'android'} | ${'text'}           | ${true}
+`('autofocus on error - $platform $type $expectedFocus', async ({platform, type, expectedFocus}) => {
+    const FormComponent = () => {
+        return (
+            <ThemeContextProvider theme={makeTheme({platformOverrides: {platform}})}>
+                <Form onSubmit={() => {}}>
+                    {type === 'date' && <DateField label="Field" name="field" />}
+                    {type === 'datetime-local' && <DateTimeField label="Field" name="field" />}
+                    {type === 'month' && <MonthField label="Field" name="field" />}
+                    {type === 'select' && (
+                        <Select name="field" label="Field" options={[{value: '1', text: '1'}]} />
+                    )}
+                    {type === 'text' && <TextField label="Field" name="field" />}
+                    <ButtonPrimary submit>Submit</ButtonPrimary>
+                </Form>
+            </ThemeContextProvider>
+        );
+    };
+
+    render(<FormComponent />);
+
+    const submitButton = await screen.findByRole('button', {name: 'Submit'});
+    await userEvent.click(submitButton);
+
+    const input = await screen.findByLabelText('Field');
+    // eslint-disable-next-line testing-library/no-node-access
+    expect(document.activeElement === input).toBe(expectedFocus);
+});
diff --git a/src/form.tsx b/src/form.tsx
index 0fdfe9828..92c6aec09 100644
--- a/src/form.tsx
+++ b/src/form.tsx
@@ -6,6 +6,7 @@ import classnames from 'classnames';
 import * as styles from './form.css';
 import * as tokens from './text-tokens';
 import ScreenReaderOnly from './screen-reader-only';
+import {isIos} from './utils/platform';
 
 import type {FormStatus, FormErrors, FieldRegistration} from './form-context';
 
@@ -21,6 +22,8 @@ if (
 
 export type FormValues = {[name: string]: any};
 
+type HTMLFieldElement = HTMLSelectElement | HTMLInputElement;
+
 type FormProps = {
     id?: string;
     onSubmit: (values: FormValues, rawValues: FormValues) => Promise<void> | void;
@@ -49,7 +52,7 @@ const Form = ({
     const [formErrors, setFormErrors] = React.useState<FormErrors>({});
     const fieldRegistrations = React.useRef(new Map<string, FieldRegistration>());
     const formRef = React.useRef<HTMLFormElement | null>(null);
-    const {texts, t} = useTheme();
+    const {texts, t, platformOverrides} = useTheme();
     const reactId = React.useId();
     const id = idProp || reactId;
 
@@ -88,6 +91,26 @@ const Form = ({
         []
     );
 
+    /**
+     * In iOS the pickers/selects are automatically opened when the input is focused
+     * This is not what we want so, for some specific elements, we disable the autofocus on error
+     */
+    const shouldAutofocusFieldOnError = React.useCallback(
+        (element: HTMLFieldElement): boolean => {
+            if (!isIos(platformOverrides)) {
+                return true;
+            }
+            if (element.tagName === 'SELECT') {
+                return false;
+            }
+            if (['date', 'datetime-local', 'month'].includes(element.type)) {
+                return false;
+            }
+            return true;
+        },
+        [platformOverrides]
+    );
+
     /**
      * returns true if all fields are ok and focuses the first field with an error
      */
@@ -114,16 +137,19 @@ const Form = ({
                 const reg = fieldRegistrations.current.get(name);
                 return reg?.focusableElement || reg?.input;
             })
-            .filter(Boolean) as Array<HTMLSelectElement | HTMLDivElement>; // casted to remove inferred nulls/undefines
+            .filter(Boolean) as Array<HTMLFieldElement>; // casted to remove inferred nulls/undefines
 
         if (elementsWithErrors.length) {
             elementsWithErrors.sort((a, b) =>
                 a.compareDocumentPosition(b) & Node.DOCUMENT_POSITION_FOLLOWING ? -1 : 1
             );
-            elementsWithErrors[0].focus();
+            const firstElementWithError = elementsWithErrors[0];
+            if (shouldAutofocusFieldOnError(firstElementWithError)) {
+                firstElementWithError.focus();
+            }
             try {
                 // polyfilled, see import at the top of this file
-                elementsWithErrors[0].scrollIntoView({behavior: 'smooth', block: 'center', inline: 'center'});
+                firstElementWithError.scrollIntoView({behavior: 'smooth', block: 'center', inline: 'center'});
             } catch (e) {
                 // ignore errors
                 // element.scrollIntoView not available in unit test environment
@@ -135,7 +161,14 @@ const Form = ({
             onValidationErrors(errors);
         }
         return errors;
-    }, [onValidationErrors, rawValues, texts, values, t]);
+    }, [
+        onValidationErrors,
+        rawValues,
+        texts.formFieldErrorIsMandatory,
+        t,
+        values,
+        shouldAutofocusFieldOnError,
+    ]);
 
     const jumpToNext = React.useCallback(
         (currentName: string) => {
diff --git a/src/utils/platform.tsx b/src/utils/platform.tsx
index 68d1f94bf..564c997e8 100644
--- a/src/utils/platform.tsx
+++ b/src/utils/platform.tsx
@@ -21,10 +21,19 @@ export const isRunningAcceptanceTest = (platformOverrides: Theme['platformOverri
 
 const isEdgeOrIE = Boolean(typeof self !== 'undefined' && (self as any).MSStream);
 
-export const isAndroid = (platformOverrides: Theme['platformOverrides']): boolean =>
-    getUserAgent(platformOverrides).toLowerCase().includes('android') && !isEdgeOrIE;
+export const isAndroid = (platformOverrides: Theme['platformOverrides']): boolean => {
+    if (platformOverrides.platform === 'android') {
+        return true;
+    }
+
+    return getUserAgent(platformOverrides).toLowerCase().includes('android') && !isEdgeOrIE;
+};
 
 export const isIos = (platformOverrides: Theme['platformOverrides']): boolean => {
+    if (platformOverrides.platform === 'ios') {
+        return true;
+    }
+
     // IE and Edge mobile browsers includes Android and iPhone in the user agent
     if (/iPad|iPhone|iPod/.test(getUserAgent(platformOverrides)) && !isEdgeOrIE) {
         return true;