diff --git a/e2e/react-router/basic-scroll-restoration/src/main.tsx b/e2e/react-router/basic-scroll-restoration/src/main.tsx
index 8bc4c54c1c5..62bd1c18553 100644
--- a/e2e/react-router/basic-scroll-restoration/src/main.tsx
+++ b/e2e/react-router/basic-scroll-restoration/src/main.tsx
@@ -20,21 +20,42 @@ const rootRoute = createRootRoute({
 function RootComponent() {
   return (
     <>
-      <div className="p-2 flex gap-2 sticky top-0 border-b bg-gray-100 dark:bg-gray-900">
-        <Link to="/" className="[&.active]:font-bold">
-          Home
-        </Link>{' '}
-        <Link to="/about" className="[&.active]:font-bold">
-          About
-        </Link>
-        <Link to="/about" resetScroll={false}>
-          About (No Reset)
-        </Link>
-        <Link to="/by-element" className="[&.active]:font-bold">
-          By-Element
-        </Link>
+      <div
+        id="sidebar"
+        className="fixed left-0 top-0 w-48 h-screen overflow-auto border-r bg-gray-50 dark:bg-gray-800 z-10"
+      >
+        <div className="p-2 space-y-2">
+          {Array.from({ length: 30 }).map((_, i) => (
+            <div
+              key={i}
+              className="h-[50px] p-2 rounded bg-gray-200 dark:bg-gray-700 text-sm"
+            >
+              Sidebar Item {i + 1}
+            </div>
+          ))}
+        </div>
+      </div>
+      <div className="ml-48">
+        <div className="p-2 flex gap-2 sticky top-0 border-b bg-gray-100 dark:bg-gray-900">
+          <Link to="/" className="[&.active]:font-bold">
+            Home
+          </Link>{' '}
+          <Link to="/about" className="[&.active]:font-bold">
+            About
+          </Link>
+          <Link to="/about" resetScroll={false}>
+            About (No Reset)
+          </Link>
+          <Link to="/bar" resetScroll={false}>
+            Bar (No Reset)
+          </Link>
+          <Link to="/by-element" className="[&.active]:font-bold">
+            By-Element
+          </Link>
+        </div>
+        <Outlet />
+
       </div>
-      <Outlet />
       <TanStackRouterDevtools />
     </>
   )
@@ -267,7 +288,7 @@ const router = createRouter({
   routeTree,
   defaultPreload: 'intent',
   scrollRestoration: true,
-  getScrollRestorationKey: (location) => location.pathname,
+  scrollToTopSelectors: ['#sidebar'],
 })
 
 declare global {
diff --git a/e2e/react-router/basic-scroll-restoration/tests/app.spec.ts b/e2e/react-router/basic-scroll-restoration/tests/app.spec.ts
index c7360ce8a4a..7280c6dd021 100644
--- a/e2e/react-router/basic-scroll-restoration/tests/app.spec.ts
+++ b/e2e/react-router/basic-scroll-restoration/tests/app.spec.ts
@@ -115,3 +115,61 @@ test('scroll to top when not scrolled, regression test for #4782', async ({
   const restoredScrollPosition = await page.evaluate(() => window.scrollY)
   expect(restoredScrollPosition).toBe(0)
 })
+
+test('resetScroll=false saves scroll position for back navigation without scroll event, regression test for #6595', async ({
+  page,
+}) => {
+  const targetScrollPosition = 1500
+  const elementTargetScrollPosition = 600
+
+  await page.goto('/')
+  await page.waitForURL('/')
+  await expect(page.locator('#greeting')).toContainText('Welcome Home!');
+
+  await page.evaluate(
+    (scrollPos: number) => window.scrollTo(0, scrollPos),
+    targetScrollPosition,
+  );
+  await page.evaluate(
+    (scrollPos: number) => document.querySelector('#sidebar')?.scrollTo(0, scrollPos),
+    elementTargetScrollPosition,
+  );
+  await page.waitForTimeout(1000);
+
+  await checkScrollPositions();
+
+  async function checkScrollPositions() {
+    const scrollPosition = await page.evaluate(() => window.scrollY)
+    expect(scrollPosition).toBe(targetScrollPosition);
+
+    const sidebarScrollPosition = await page.evaluate(() => document.querySelector('#sidebar')?.scrollTop)
+    expect(sidebarScrollPosition).toBe(elementTargetScrollPosition);
+  }
+  await page.getByRole('link', { name: 'About (No Reset)', exact: true }).click()
+  await page.waitForURL('/about');
+  await expect(page.locator('#greeting')).toContainText('Hello from About!')
+
+  await checkScrollPositions();
+
+  await page.getByRole('link', { name: 'Bar (No Reset)', exact: true }).click()
+  await page.waitForURL('/bar');
+  await expect(page.locator('#greeting')).toContainText('Hello from Bar!')
+
+  await checkScrollPositions();
+
+  await page.goBack();
+  await page.waitForTimeout(1000)
+
+  await page.waitForURL('/about');
+  await expect(page.locator('#greeting')).toContainText('Hello from About!')
+
+  await checkScrollPositions();
+
+  await page.goBack();
+  await page.waitForTimeout(1000)
+
+  await page.waitForURL('/');
+  await expect(page.locator('#greeting')).toContainText('Welcome Home!');
+
+  await checkScrollPositions();
+});
\ No newline at end of file
diff --git a/packages/router-core/src/scroll-restoration.ts b/packages/router-core/src/scroll-restoration.ts
index ec1925c137e..599530184ed 100644
--- a/packages/router-core/src/scroll-restoration.ts
+++ b/packages/router-core/src/scroll-restoration.ts
@@ -110,6 +110,19 @@ export function getCssSelector(el: any): string {
   return `${path.reverse().join(' > ')}`.toLowerCase()
 }
 
+/**
+ * Finds the first matching string selector for a given element from a list of selectors.
+ * Ignores function selectors, see https://github.com/TanStack/router/pull/6632
+ */
+function findMatchingSelector(el: Element, selectors: Array<string | (() => Element | null | undefined)>): string | undefined {
+  for (const selector of selectors) {
+    if (typeof selector === 'string' && el.matches(selector)) {
+      return selector;
+    }
+  }
+  return undefined;
+}
+
 let ignoreScroll = false
 
 // NOTE: This function must remain pure and not use any outside variables
@@ -302,7 +315,8 @@ export function setupScrollRestoration(router: AnyRouter, force?: boolean) {
       if (attrId) {
         elementSelector = `[data-scroll-restoration-id="${attrId}"]`
       } else {
-        elementSelector = getCssSelector(event.target)
+        elementSelector = findMatchingSelector(event.target as Element, router.options.scrollToTopSelectors ?? [])
+          ?? getCssSelector(event.target)
       }
     }
 
@@ -341,7 +355,45 @@ export function setupScrollRestoration(router: AnyRouter, force?: boolean) {
 
     // If the user doesn't want to restore the scroll position,
     // we don't need to do anything.
+    //
+    // Remember the current scroll position of window and scroll to top selectors,
+    // in order to restore them if the user goes back without scrolling.
     if (!router.resetNextScroll) {
+      scrollRestorationCache.set((state) => {
+        if (event.fromLocation) {
+          const fromKey = getKey(event.fromLocation);
+          const newState = {} as ScrollRestorationByElement;
+
+          const windowState = state[fromKey]?.['window'];
+
+          if (windowState) {
+            newState['window'] = {
+              scrollX: windowState.scrollX,
+              scrollY: windowState.scrollY,
+            };
+          }
+          
+          if (router.options.scrollToTopSelectors) {
+            for (const selector of router.options.scrollToTopSelectors) {
+              if (typeof selector === 'string') {
+                const oldElement = state[fromKey]?.[selector];
+
+                if (oldElement) {
+                  newState[selector] = {
+                    scrollX: oldElement.scrollX,
+                    scrollY: oldElement.scrollY,
+                  }
+                }
+              }
+            }
+          }
+
+          state[cacheKey] ||= {} as ScrollRestorationByElement
+          state[cacheKey] = { ...state[cacheKey], ...newState };
+        }
+  
+        return state
+      });
       router.resetNextScroll = true
       return
     }