diff --git a/.changeset/tall-trains-remain.md b/.changeset/tall-trains-remain.md
new file mode 100644
index 0000000000..9b3a44d037
--- /dev/null
+++ b/.changeset/tall-trains-remain.md
@@ -0,0 +1,5 @@
+---
+'@backstage/core-app-api': minor
+---
+
+Updated `FlatRoutes` to be compatible with `react-router` v6 stable.
diff --git a/packages/core-app-api/src/routing/FlatRoutes.tsx b/packages/core-app-api/src/routing/FlatRoutes.tsx
index 02dbc301fb..5688b2093e 100644
--- a/packages/core-app-api/src/routing/FlatRoutes.tsx
+++ b/packages/core-app-api/src/routing/FlatRoutes.tsx
@@ -18,6 +18,8 @@ import React, { ReactNode } from 'react';
 import { useRoutes } from 'react-router-dom';
 import { useApp, useElementFilter } from '@backstage/core-plugin-api';
 
+let warned = false;
+
 type RouteObject = {
   path: string;
   element: ReactNode;
@@ -49,7 +51,11 @@ export const FlatRoutes = (props: FlatRoutesProps): JSX.Element | null => {
   const { NotFoundErrorPage } = app.getComponents();
   const routes = useElementFilter(props.children, elements =>
     elements
-      .getElements<{ path?: string; children: ReactNode }>()
+      .getElements<{
+        path?: string;
+        element?: ReactNode;
+        children?: ReactNode;
+      }>()
       .flatMap<RouteObject>(child => {
         let path = child.props.path;
 
@@ -59,16 +65,30 @@ export const FlatRoutes = (props: FlatRoutesProps): JSX.Element | null => {
         }
         path = path?.replace(/\/\*$/, '') ?? '/';
 
+        let element = child.props.element;
+        if (!element) {
+          element = child;
+          if (!warned && process.env.NODE_ENV !== 'test') {
+            // eslint-disable-next-line no-console
+            console.warn(
+              'DEPRECATION WARNING: All elements within <FlatRoutes> must be of type <Route> with an element prop. ' +
+                'Existing usages of <Navigate key=[path] to=[to] /> should be replaced with <Route path=[path] element={<Navigate to=[to] />} />',
+            );
+            warned = true;
+          }
+        }
+
         return [
           {
+            // Each route matches any sub route, except for the explicit root path
             path,
-            element: child,
+            element,
             children: child.props.children
               ? [
                   // These are the children of each route, which we all add in under a catch-all
                   // subroute in order to make them available to `useOutlet`
                   {
-                    path: path === '/' ? '/' : '/*', // The root path must require an exact match
+                    path: path === '/' ? '/' : '*', // The root path must require an exact match
                     element: child.props.children,
                   },
                 ]
@@ -77,19 +97,19 @@ export const FlatRoutes = (props: FlatRoutesProps): JSX.Element | null => {
         ];
       })
       // Routes are sorted to work around a bug where prefixes are unexpectedly matched
+      // TODO(Rugvip): This can be removed once react-router v6 beta is no longer supported
       .sort((a, b) => b.path.localeCompare(a.path))
-      // We make sure all routes have '/*' appended, except '/'
-      .map(obj => {
-        obj.path = obj.path === '/' ? '/' : `${obj.path}/*`;
-        return obj;
-      }),
+      .map(obj => ({ ...obj, path: obj.path === '/' ? '/' : `${obj.path}/*` })),
   );
 
   // TODO(Rugvip): Possibly add a way to skip this, like a noNotFoundPage prop
-  routes.push({
-    element: <NotFoundErrorPage />,
-    path: '/*',
-  });
+  const withNotFound = [
+    ...routes,
+    {
+      path: '/*',
+      element: <NotFoundErrorPage />,
+    },
+  ];
 
-  return useRoutes(routes);
+  return useRoutes(withNotFound);
 };