diff --git a/libp2p/protocols/connectivity/autonat/service.nim b/libp2p/protocols/connectivity/autonat/service.nim
index 327ec41..a06429c 100644
--- a/libp2p/protocols/connectivity/autonat/service.nim
+++ b/libp2p/protocols/connectivity/autonat/service.nim
@@ -82,11 +82,14 @@ proc hasEnoughIncomingSlots(switch: Switch): bool =
 proc doesPeerHaveIncomingConn(switch: Switch, peerId: PeerId): bool =
   return switch.connManager.selectMuxer(peerId, In) != nil
 
-proc handleAnswer(self: AutonatService, ans: NetworkReachability) {.async.} =
+proc handleAnswer(self: AutonatService, ans: NetworkReachability): Future[bool] {.async.} =
 
   if ans == Unknown:
     return
 
+  let oldNetworkReachability = self.networkReachability
+  let oldConfidence = self.confidence
+
   if self.answers.len == self.maxQueueSize:
     self.answers.popFirst()
   self.answers.addLast(ans)
@@ -103,6 +106,9 @@ proc handleAnswer(self: AutonatService, ans: NetworkReachability) {.async.} =
 
   debug "Current status", currentStats = $self.networkReachability, confidence = $self.confidence, answers = self.answers
 
+  # Return whether anything has changed
+  return self.networkReachability != oldNetworkReachability or self.confidence != oldConfidence
+
 proc askPeer(self: AutonatService, switch: Switch, peerId: PeerId): Future[NetworkReachability] {.async.} =
   logScope:
     peerId = $peerId
@@ -129,9 +135,9 @@ proc askPeer(self: AutonatService, switch: Switch, peerId: PeerId): Future[Netwo
     except CatchableError as error:
       debug "dialMe unexpected error", msg = error.msg
       Unknown
-  await self.handleAnswer(ans)
-  if not isNil(self.statusAndConfidenceHandler):
-    await self.statusAndConfidenceHandler(self.networkReachability, self.confidence)
+  let hasReachabilityOrConfidenceChanged = await self.handleAnswer(ans)
+  if hasReachabilityOrConfidenceChanged:
+    await self.callHandler()
   await switch.peerInfo.update()
   return ans
 
@@ -193,7 +199,6 @@ method setup*(self: AutonatService, switch: Switch): Future[bool] {.async.} =
 method run*(self: AutonatService, switch: Switch) {.async, public.} =
   trace "Running AutonatService"
   await askConnectedPeers(self, switch)
-  await self.callHandler()
 
 method stop*(self: AutonatService, switch: Switch): Future[bool] {.async, public.} =
   info "Stopping AutonatService"
diff --git a/libp2p/services/autorelayservice.nim b/libp2p/services/autorelayservice.nim
index c1b2c52..dc1c861 100644
--- a/libp2p/services/autorelayservice.nim
+++ b/libp2p/services/autorelayservice.nim
@@ -32,6 +32,9 @@ type
     addressMapper: AddressMapper
     rng: ref HmacDrbgContext
 
+proc isRunning*(self: AutoRelayService): bool =
+  return self.running
+
 proc addressMapper(
   self: AutoRelayService,
   listenAddrs: seq[MultiAddress]): Future[seq[MultiAddress]] {.gcsafe, async.} =
diff --git a/libp2p/services/hpservice.nim b/libp2p/services/hpservice.nim
index c88c865..60c9434 100644
--- a/libp2p/services/hpservice.nim
+++ b/libp2p/services/hpservice.nim
@@ -105,9 +105,9 @@ method setup*(self: HPService, switch: Switch): Future[bool] {.async.} =
     switch.connManager.addPeerEventHandler(self.newConnectedPeerHandler, PeerEventKind.Joined)
 
     self.onNewStatusHandler = proc (networkReachability: NetworkReachability, confidence: Option[float]) {.gcsafe, async.} =
-      if networkReachability == NetworkReachability.NotReachable:
+      if networkReachability == NetworkReachability.NotReachable and not self.autoRelayService.isRunning():
         discard await self.autoRelayService.setup(switch)
-      elif networkReachability == NetworkReachability.Reachable:
+      elif networkReachability == NetworkReachability.Reachable and self.autoRelayService.isRunning():
         discard await self.autoRelayService.stop(switch)
 
       # We do it here instead of in the AutonatService because this is useful only when hole punching.
diff --git a/tests/testautonatservice.nim b/tests/testautonatservice.nim
index 5f6289f..2767771 100644
--- a/tests/testautonatservice.nim
+++ b/tests/testautonatservice.nim
@@ -407,7 +407,8 @@ suite "Autonat Service":
     # switch1 is now full, should stick to last observation
     awaiter = newFuture[void]()
     await autonatService.run(switch1)
-    await awaiter
+
+    await sleepAsync(200.millis)
 
     check autonatService.networkReachability == NetworkReachability.Reachable
     check libp2p_autonat_reachability_confidence.value(["Reachable"]) == 1