diff --git a/dev/manual_tests/lib/menu_anchor.dart b/dev/manual_tests/lib/menu_anchor.dart
index b6f98d3..11a5ebd 100644
--- a/dev/manual_tests/lib/menu_anchor.dart
+++ b/dev/manual_tests/lib/menu_anchor.dart
@@ -706,6 +706,12 @@
       TestMenu.mainMenu3,
       menuChildren: <Widget>[
         menuItemButton(TestMenu.subMenu8),
+        MenuItemButton(
+          onPressed: () {
+            debugPrint('Focused Item: $primaryFocus');
+          },
+          child: const Text('Print Focused Item'),
+        )
       ],
     ),
     submenuButton(
@@ -734,7 +740,11 @@
               submenuButton(
                 TestMenu.subSubMenu3,
                 menuChildren: <Widget>[
-                  menuItemButton(TestMenu.subSubSubMenu1),
+                  for (int i=0; i < 100; ++i)
+                    MenuItemButton(
+                      onPressed: () {},
+                      child: Text('Menu Item $i'),
+                    ),
                 ],
               ),
           ],
diff --git a/examples/api/test/material/menu_anchor/checkbox_menu_button.0_test.dart b/examples/api/test/material/menu_anchor/checkbox_menu_button.0_test.dart
index 278d19a..76d27b5 100644
--- a/examples/api/test/material/menu_anchor/checkbox_menu_button.0_test.dart
+++ b/examples/api/test/material/menu_anchor/checkbox_menu_button.0_test.dart
@@ -13,13 +13,13 @@
     );
 
     await tester.tap(find.byType(TextButton));
-    await tester.pump();
+    await tester.pumpAndSettle();
 
     expect(find.text('Show Message'), findsOneWidget);
     expect(find.text(example.MenuApp.kMessage), findsNothing);
 
     await tester.tap(find.text('Show Message'));
-    await tester.pump();
+    await tester.pumpAndSettle();
 
     expect(find.text('Show Message'), findsNothing);
     expect(find.text(example.MenuApp.kMessage), findsOneWidget);
diff --git a/examples/api/test/material/menu_anchor/menu_anchor.0_test.dart b/examples/api/test/material/menu_anchor/menu_anchor.0_test.dart
index 54016dc..dcbabb2 100644
--- a/examples/api/test/material/menu_anchor/menu_anchor.0_test.dart
+++ b/examples/api/test/material/menu_anchor/menu_anchor.0_test.dart
@@ -41,7 +41,7 @@
 
     await tester.sendKeyEvent(LogicalKeyboardKey.arrowUp);
     await tester.sendKeyEvent(LogicalKeyboardKey.enter);
-    await tester.pump();
+    await tester.pumpAndSettle();
 
     expect(find.text(example.MenuApp.kMessage), findsOneWidget);
     expect(find.text('Last Selected: ${example.MenuEntry.showMessage.label}'), findsOneWidget);
diff --git a/examples/api/test/material/menu_anchor/menu_anchor.1_test.dart b/examples/api/test/material/menu_anchor/menu_anchor.1_test.dart
index b9dc670..0ac0e43 100644
--- a/examples/api/test/material/menu_anchor/menu_anchor.1_test.dart
+++ b/examples/api/test/material/menu_anchor/menu_anchor.1_test.dart
@@ -20,7 +20,7 @@
     await tester.pumpWidget(const example.ContextMenuApp());
 
     await tester.tapAt(const Offset(100, 200), buttons: kSecondaryButton);
-    await tester.pump();
+    await tester.pumpAndSettle();
     expect(tester.getRect(findMenu()), equals(const Rect.fromLTRB(100.0, 200.0, 433.0, 360.0)));
 
     // Make sure tapping in a different place causes the menu to move.
@@ -46,7 +46,7 @@
     expect(find.text('Background Color'), findsOneWidget);
 
     await tester.tap(find.text('Background Color'));
-    await tester.pump();
+    await tester.pumpAndSettle();
 
     expect(find.text(example.MenuEntry.colorRed.label), findsOneWidget);
     expect(find.text(example.MenuEntry.colorGreen.label), findsOneWidget);
@@ -54,7 +54,7 @@
 
     await tester.sendKeyEvent(LogicalKeyboardKey.arrowUp);
     await tester.sendKeyEvent(LogicalKeyboardKey.enter);
-    await tester.pump();
+    await tester.pumpAndSettle();
 
     expect(find.text(example.ContextMenuApp.kMessage), findsOneWidget);
     expect(find.text('Last Selected: ${example.MenuEntry.showMessage.label}'), findsOneWidget);
diff --git a/examples/api/test/material/menu_anchor/menu_bar.0_test.dart b/examples/api/test/material/menu_anchor/menu_bar.0_test.dart
index b508ba4..ccfe4c9 100644
--- a/examples/api/test/material/menu_anchor/menu_bar.0_test.dart
+++ b/examples/api/test/material/menu_anchor/menu_bar.0_test.dart
@@ -20,7 +20,7 @@
 
     final Finder menuButtonFinder = find.byType(SubmenuButton).first;
     await tester.tap(menuButtonFinder);
-    await tester.pump();
+    await tester.pumpAndSettle();
 
     expect(find.text('About'), findsOneWidget);
     expect(find.text('Show Message'), findsOneWidget);
@@ -34,7 +34,7 @@
     await tester.sendKeyEvent(LogicalKeyboardKey.arrowDown);
     await tester.sendKeyEvent(LogicalKeyboardKey.arrowDown);
     await tester.sendKeyEvent(LogicalKeyboardKey.arrowDown);
-    await tester.pump();
+    await tester.pumpAndSettle();
 
     expect(find.text('About'), findsOneWidget);
     expect(find.text('Show Message'), findsOneWidget);
@@ -46,7 +46,7 @@
 
     await tester.sendKeyEvent(LogicalKeyboardKey.arrowUp);
     await tester.sendKeyEvent(LogicalKeyboardKey.enter);
-    await tester.pump();
+    await tester.pumpAndSettle();
 
     expect(find.text(example.MenuBarApp.kMessage), findsOneWidget);
     expect(find.text('Last Selected: Show Message'), findsOneWidget);
diff --git a/examples/api/test/material/menu_anchor/radio_menu_button.0_test.dart b/examples/api/test/material/menu_anchor/radio_menu_button.0_test.dart
index ee33556..2b88a77 100644
--- a/examples/api/test/material/menu_anchor/radio_menu_button.0_test.dart
+++ b/examples/api/test/material/menu_anchor/radio_menu_button.0_test.dart
@@ -24,7 +24,7 @@
     expect(tester.widget<Container>(find.byType(Container)).color, equals(Colors.red));
 
     await tester.tap(find.text('Green Background'));
-    await tester.pump();
+    await tester.pumpAndSettle();
 
     expect(tester.widget<Container>(find.byType(Container)).color, equals(Colors.green));
   });
diff --git a/packages/flutter/lib/src/material/menu_anchor.dart b/packages/flutter/lib/src/material/menu_anchor.dart
index 7980783..37aca52 100644
--- a/packages/flutter/lib/src/material/menu_anchor.dart
+++ b/packages/flutter/lib/src/material/menu_anchor.dart
@@ -1099,10 +1099,16 @@
 
   void _handleSelect() {
     assert(_debugMenuInfo('Selected ${widget.child} menu'));
-    widget.onPressed?.call();
     if (widget.closeOnActivate) {
       _MenuAnchorState._maybeOf(context)?._root._close();
     }
+    // Delay the call to onPressed until post-frame so that the focus is
+    // restored to what it was before the menu was opened before the action is
+    // executed.
+    SchedulerBinding.instance.addPostFrameCallback((Duration _) {
+      FocusManager.instance.applyFocusChangesIfNeeded();
+      widget.onPressed?.call();
+    });
   }
 
   void _createInternalFocusNodeIfNeeded() {
diff --git a/packages/flutter/lib/src/widgets/focus_manager.dart b/packages/flutter/lib/src/widgets/focus_manager.dart
index b167ed1..f534b99 100644
--- a/packages/flutter/lib/src/widgets/focus_manager.dart
+++ b/packages/flutter/lib/src/widgets/focus_manager.dart
@@ -8,6 +8,7 @@
 import 'package:flutter/foundation.dart';
 import 'package:flutter/gestures.dart';
 import 'package:flutter/painting.dart';
+import 'package:flutter/scheduler.dart';
 import 'package:flutter/services.dart';
 
 import 'binding.dart';
@@ -1601,10 +1602,32 @@
       return;
     }
     _haveScheduledUpdate = true;
-    scheduleMicrotask(_applyFocusChange);
+    scheduleMicrotask(applyFocusChangesIfNeeded);
   }
 
-  void _applyFocusChange() {
+  /// Applies any pending focus changes and notifies listeners that the focus
+  /// has changed.
+  ///
+  /// Must not be called during the build phase. This method is meant to be
+  /// called in a post-frame callback or microtask when the pending focus
+  /// changes need to be resolved before something else occurs.
+  ///
+  /// It can't be called during the build phase because not all listeners are
+  /// safe to be called with an update during a build.
+  ///
+  /// Typically, this is called automatically by the [FocusManager], but
+  /// sometimes it is necessary to ensure that no focus changes are pending
+  /// before executing an action. For example, the [MenuAnchor] class uses this
+  /// to make sure that the previous focus has been restored before executing a
+  /// menu callback when a menu item is selected.
+  ///
+  /// It is safe to call this if no focus changes are pending.
+  void applyFocusChangesIfNeeded() {
+    assert(
+      SchedulerBinding.instance.schedulerPhase != SchedulerPhase.persistentCallbacks,
+      'applyFocusChangesIfNeeded() should not be called during the build phase.'
+    );
+
     _haveScheduledUpdate = false;
     final FocusNode? previousFocus = _primaryFocus;
 
diff --git a/packages/flutter/test/material/menu_anchor_test.dart b/packages/flutter/test/material/menu_anchor_test.dart
index e48e855..6de3e26 100644
--- a/packages/flutter/test/material/menu_anchor_test.dart
+++ b/packages/flutter/test/material/menu_anchor_test.dart
@@ -486,6 +486,53 @@
     );
   }, variant: TargetPlatformVariant.desktop());
 
+  testWidgets('focus is returned to previous focus before invoking onPressed', (WidgetTester tester) async {
+    final FocusNode buttonFocus = FocusNode(debugLabel: 'Button Focus');
+    FocusNode? focusInOnPressed;
+
+    void onMenuSelected(TestMenu item) {
+      focusInOnPressed = FocusManager.instance.primaryFocus;
+    }
+
+    await tester.pumpWidget(
+      MaterialApp(
+        home: Material(
+          child: Column(
+            children: <Widget>[
+              MenuBar(
+                controller: controller,
+                children: createTestMenus(
+                  onPressed: onMenuSelected,
+                ),
+              ),
+              ElevatedButton(
+                autofocus: true,
+                onPressed: () {},
+                focusNode: buttonFocus,
+                child: const Text('Press Me'),
+              ),
+            ],
+          ),
+        ),
+      ),
+    );
+
+    await tester.pump();
+    expect(FocusManager.instance.primaryFocus, equals(buttonFocus));
+
+    await tester.tap(find.text(TestMenu.mainMenu1.label));
+    await tester.pump();
+
+    await tester.tap(find.text(TestMenu.subMenu11.label));
+    await tester.pump();
+
+    await tester.tap(find.text(TestMenu.subSubMenu110.label));
+    await tester.pump();
+
+    expect(focusInOnPressed, equals(buttonFocus));
+    expect(FocusManager.instance.primaryFocus, equals(buttonFocus));
+  });
+
   group('Menu functions', () {
     testWidgets('basic menu structure', (WidgetTester tester) async {
       await tester.pumpWidget(
@@ -3064,7 +3111,7 @@
           child: Center(
             child: MenuItemButton(
               style: MenuItemButton.styleFrom(fixedSize: const Size(88.0, 36.0)),
-              onPressed: () { },
+              onPressed: () {},
               child: const Text('ABC'),
             ),
           ),
@@ -3072,27 +3119,30 @@
       );
 
       // The flags should not have SemanticsFlag.isButton
-      expect(semantics, hasSemantics(
-        TestSemantics.root(
-          children: <TestSemantics>[
-            TestSemantics.rootChild(
-              actions: <SemanticsAction>[
-                SemanticsAction.tap,
-              ],
-              label: 'ABC',
-              rect: const Rect.fromLTRB(0.0, 0.0, 88.0, 48.0),
-              transform: Matrix4.translationValues(356.0, 276.0, 0.0),
-              flags: <SemanticsFlag>[
-                SemanticsFlag.hasEnabledState,
-                SemanticsFlag.isEnabled,
-                SemanticsFlag.isFocusable,
-              ],
-              textDirection: TextDirection.ltr,
-            ),
-          ],
+      expect(
+        semantics,
+        hasSemantics(
+          TestSemantics.root(
+            children: <TestSemantics>[
+              TestSemantics.rootChild(
+                actions: <SemanticsAction>[
+                  SemanticsAction.tap,
+                ],
+                label: 'ABC',
+                rect: const Rect.fromLTRB(0.0, 0.0, 88.0, 48.0),
+                transform: Matrix4.translationValues(356.0, 276.0, 0.0),
+                flags: <SemanticsFlag>[
+                  SemanticsFlag.hasEnabledState,
+                  SemanticsFlag.isEnabled,
+                  SemanticsFlag.isFocusable,
+                ],
+                textDirection: TextDirection.ltr,
+              ),
+            ],
+          ),
+          ignoreId: true,
         ),
-        ignoreId: true,
-      ));
+      );
 
       semantics.dispose();
     });
@@ -3114,22 +3164,23 @@
       );
 
       // The flags should not have SemanticsFlag.isButton
-      expect(semantics, hasSemantics(
-        TestSemantics.root(
-          children: <TestSemantics>[
-            TestSemantics.rootChild(
-              label: 'ABC',
-              rect: const Rect.fromLTRB(0.0, 0.0, 88.0, 48.0),
-              transform: Matrix4.translationValues(356.0, 276.0, 0.0),
-              flags: <SemanticsFlag>[
-                SemanticsFlag.hasEnabledState,
-              ],
-              textDirection: TextDirection.ltr,
-            ),
-          ],
+      expect(
+        semantics,
+        hasSemantics(
+          TestSemantics.root(
+            children: <TestSemantics>[
+              TestSemantics(
+                rect: const Rect.fromLTRB(0.0, 0.0, 88.0, 48.0),
+                flags: <SemanticsFlag>[SemanticsFlag.hasEnabledState],
+                label: 'ABC',
+                textDirection: TextDirection.ltr,
+              ),
+            ],
+          ),
+          ignoreTransform: true,
+          ignoreId: true,
         ),
-        ignoreId: true,
-      ));
+      );
 
       semantics.dispose();
     });