diff --git a/tests/include/test/psa_crypto_helpers.h b/tests/include/test/psa_crypto_helpers.h
index 483c320..dc2f4eb 100644
--- a/tests/include/test/psa_crypto_helpers.h
+++ b/tests/include/test/psa_crypto_helpers.h
@@ -345,9 +345,19 @@
  * This is like #PSA_DONE except it does nothing under the same conditions as
  * #USE_PSA_INIT.
  */
-#if defined(MBEDTLS_USE_PSA_CRYPTO) || defined(MBEDTLS_SSL_PROTO_TLS1_3)
+#if defined(MBEDTLS_USE_PSA_CRYPTO) \
+    || (MBEDTLS_VERSION_MAJOR >= 4 && defined(MBEDTLS_SSL_PROTO_TLS1_3))
 #define USE_PSA_INIT() PSA_INIT()
 #define USE_PSA_DONE() PSA_DONE()
+#elif (MBEDTLS_VERSION_MAJOR < 4 && defined(MBEDTLS_SSL_PROTO_TLS1_3))
+/* TLS 1.3 must work without having called psa_crypto_init(), for backward
+ * compatibility with Mbed TLS <= 3.5 when connecting with a peer that
+ * supports both TLS 1.2 and TLS 1.3. See mbedtls_ssl_tls13_crypto_init()
+ * and https://github.com/Mbed-TLS/mbedtls/issues/9072 . */
+#define USE_PSA_INIT() ((void) 0)
+/* TLS 1.3 may have initialized the PSA subsystem. Shut it down cleanly,
+ * otherwise Asan and Valgrind would notice a resource leak. */
+#define USE_PSA_DONE() PSA_DONE()
 #else /* MBEDTLS_USE_PSA_CRYPTO || MBEDTLS_SSL_PROTO_TLS1_3 */
 /* Define empty macros so that we can use them in the preamble and teardown
  * of every test function that uses PSA conditionally based on