diff --git a/examples/twr_aloha/control.c b/examples/twr_aloha/control.c
index 822dbe4669..2553cb613c 100644
--- a/examples/twr_aloha/control.c
+++ b/examples/twr_aloha/control.c
@@ -289,3 +289,9 @@ void uwb_core_rng_init(void)
     uwb_sleep_config(_udev);
     uwb_enter_sleep(_udev);
 }
+
+uint32_t uwb_core_rng_req_remaining(void)
+{
+    /* doesn't matter if its not atomic */
+    return _rng_request_event.periodic.count;
+}
diff --git a/examples/twr_aloha/control.h b/examples/twr_aloha/control.h
index 50859f3880..f533b23f15 100644
--- a/examples/twr_aloha/control.h
+++ b/examples/twr_aloha/control.h
@@ -100,6 +100,11 @@ void uwb_core_rng_listen_disable(void);
 void uwb_core_rng_start(uint16_t addr, twr_protocol_t proto, uint32_t interval,
                         uint32_t count);
 
+/**
+ * @brief   Returns remaining rng requests
+ */
+uint32_t uwb_core_rng_req_remaining(void);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/examples/twr_aloha/twr_shell.c b/examples/twr_aloha/twr_shell.c
index edceb07caf..438fbd3e52 100644
--- a/examples/twr_aloha/twr_shell.c
+++ b/examples/twr_aloha/twr_shell.c
@@ -181,7 +181,11 @@ int _twr_handler(int argc, char **argv)
         puts("[twr]: start ranging");
         uwb_core_rng_start(short_addr, proto, interval_ms, count);
         if (IS_ACTIVE(CONFIG_TWR_SHELL_BLOCKING)) {
-            ztimer_sleep(ZTIMER_MSEC, interval_ms * (count + 1));
+            while (uwb_core_rng_req_remaining()) {
+                ztimer_sleep(ZTIMER_MSEC, interval_ms);
+            }
+            /* some time to finish up */
+            ztimer_sleep(ZTIMER_MSEC, 100 + interval_ms);
         }
         return 0;
     }