diff --git a/cli/schema/cypress.schema.json b/cli/schema/cypress.schema.json
index 0d21f27285cc..ca8253d11f72 100644
--- a/cli/schema/cypress.schema.json
+++ b/cli/schema/cypress.schema.json
@@ -234,11 +234,6 @@
       "default": false,
       "description": "Enables AST-based JS/HTML rewriting. This may fix issues caused by the existing regex-based JS/HTML replacement algorithm."
     },
-    "experimentalNetworkStubbing": {
-      "type": "boolean",
-      "default": false,
-      "description": "Enables `cy.http()`, which can be used to dynamically intercept/stub/await any HTTP request or response (XHRs, fetch, beacons, etc.)"
-    },
     "experimentalFetchPolyfill": {
       "type": "boolean",
       "default": false,
diff --git a/cli/types/cypress.d.ts b/cli/types/cypress.d.ts
index 3462eb0dbf19..e7dab01e3a82 100644
--- a/cli/types/cypress.d.ts
+++ b/cli/types/cypress.d.ts
@@ -2576,11 +2576,6 @@ declare namespace Cypress {
      * @default false
      */
     experimentalSourceRewriting: boolean
-    /**
-     * Enables `cy.http()`, which can be used to dynamically intercept/stub/await any HTTP request or response (XHRs, fetch, beacons, etc.)
-     * @default false
-     */
-    experimentalNetworkStubbing: boolean
     /**
      * Number of times to retry a failed test.
      * If a number is set, tests will retry in both runMode and openMode.
diff --git a/packages/desktop-gui/cypress.json b/packages/desktop-gui/cypress.json
index 7e0f4fa4d945..6940475ea6b1 100644
--- a/packages/desktop-gui/cypress.json
+++ b/packages/desktop-gui/cypress.json
@@ -10,7 +10,6 @@
   "nodeVersion": "system",
   "testFiles": "**/*_spec.{js,jsx}",
   "experimentalComponentTesting": true,
-  "experimentalNetworkStubbing": true,
   "componentFolder": "src",
   "reporter": "../../node_modules/cypress-multi-reporters/index.js",
   "reporterOptions": {
diff --git a/packages/driver/cypress.json b/packages/driver/cypress.json
index 7d63ba98810c..8a0a973e1beb 100644
--- a/packages/driver/cypress.json
+++ b/packages/driver/cypress.json
@@ -7,6 +7,5 @@
   "reporter": "cypress-multi-reporters",
   "reporterOptions": {
     "configFile": "../../mocha-reporter-config.json"
-  },
-  "experimentalNetworkStubbing": true
+  }
 }
diff --git a/packages/driver/cypress/integration/commands/net_stubbing_spec.ts b/packages/driver/cypress/integration/commands/net_stubbing_spec.ts
index 78d09b2aa533..b52b79c8a94f 100644
--- a/packages/driver/cypress/integration/commands/net_stubbing_spec.ts
+++ b/packages/driver/cypress/integration/commands/net_stubbing_spec.ts
@@ -309,20 +309,6 @@ describe('network stubbing', { retries: 2 }, function () {
         })
       })
 
-      it('if experimentalNetworkStubbing is falsy', function (done) {
-        sinon.stub(Cypress, 'config').callThrough()
-        // @ts-ignore
-        .withArgs('experimentalNetworkStubbing').returns(false)
-
-        cy.on('fail', (err) => {
-          expect(err.message).to.contain('`cy.http()` requires experimental network mocking to be enabled.')
-          sinon.restore()
-          done()
-        })
-
-        cy.http('', '')
-      })
-
       it('url must be a string or regexp', function (done) {
         cy.on('fail', function (err) {
           expect(err.message).to.include('`url` must be a string or a regular expression')
diff --git a/packages/driver/cypress/integration/commands/xhr_spec.js b/packages/driver/cypress/integration/commands/xhr_spec.js
index 8fc7816d9f11..76238f293f84 100644
--- a/packages/driver/cypress/integration/commands/xhr_spec.js
+++ b/packages/driver/cypress/integration/commands/xhr_spec.js
@@ -1081,6 +1081,15 @@ describe('src/cy/commands/xhr', () => {
   })
 
   context('#server', () => {
+    it('logs deprecation warning', () => {
+      cy.stub(Cypress.utils, 'warning')
+
+      cy.server()
+      .then(function () {
+        expect(Cypress.utils.warning).to.be.calledWithMatch(/^`cy\.server\(\)` has been deprecated and will be moved to a plugin in a future release\. Consider migrating to using `cy\.http\(\)` instead\./)
+      })
+    })
+
     it('sets serverIsStubbed', () => {
       cy.server().then(() => {
         expect(cy.state('serverIsStubbed')).to.be.true
@@ -1261,6 +1270,15 @@ describe('src/cy/commands/xhr', () => {
       })
     })
 
+    it('logs deprecation warning', () => {
+      cy.stub(Cypress.utils, 'warning')
+
+      cy.route('*')
+      .then(function () {
+        expect(Cypress.utils.warning).to.be.calledWithMatch(/^`cy\.route\(\)` has been deprecated and will be moved to a plugin in a future release\. Consider migrating to using `cy\.http\(\)` instead\./)
+      })
+    })
+
     it('accepts url, response', () => {
       cy.route('/foo', {}).then(function () {
         this.expectOptionsToBe({
@@ -1642,7 +1660,7 @@ describe('src/cy/commands/xhr', () => {
 
       cy.route('GET', 'http://example.com/%E0%A4%A')
       .then(() => {
-        expect(Cypress.utils.warning).to.not.be.called
+        expect(Cypress.utils.warning).to.not.be.calledWithMatch(/percent\-encoded characters/)
       })
     })
 
@@ -1654,19 +1672,6 @@ describe('src/cy/commands/xhr', () => {
       })
     })
 
-    describe('deprecations', () => {
-      beforeEach(function () {
-        this.warn = cy.spy(window.top.console, 'warn')
-      })
-
-      it('does not log on {force404: true}', () => {
-        cy.server({ force404: true })
-        .then(function () {
-          expect(this.warn).not.to.be.called
-        })
-      })
-    })
-
     describe('request response alias', () => {
       it('matches xhrs with lowercase methods', () => {
         cy
diff --git a/packages/driver/src/cy/commands/navigation.js b/packages/driver/src/cy/commands/navigation.js
index f2bf0c46f78d..15f67911e3ec 100644
--- a/packages/driver/src/cy/commands/navigation.js
+++ b/packages/driver/src/cy/commands/navigation.js
@@ -17,7 +17,7 @@ let hasVisitedAboutBlank = null
 let currentlyVisitingAboutBlank = null
 let knownCommandCausedInstability = null
 
-const REQUEST_URL_OPTS = 'auth failOnStatusCode retryOnNetworkFailure retryOnStatusCodeFailure method body headers selfProxy'
+const REQUEST_URL_OPTS = 'auth failOnStatusCode retryOnNetworkFailure retryOnStatusCodeFailure method body headers'
 .split(' ')
 
 const VISIT_OPTS = 'url log onBeforeLoad onLoad timeout requestTimeout'
@@ -877,11 +877,6 @@ module.exports = (Commands, Cypress, cy, state, config) => {
           url = url.replace(`${existingAuth}@`, '')
         }
 
-        // hack to make cy.visits interceptable by network stubbing
-        if (Cypress.config('experimentalNetworkStubbing')) {
-          options.selfProxy = true
-        }
-
         return requestUrl(url, options)
         .then((resp = {}) => {
           let { url, originalUrl, cookies, redirects, filePath } = resp
diff --git a/packages/driver/src/cy/commands/waiting.js b/packages/driver/src/cy/commands/waiting.js
index 785f507cf099..f284983a1b0c 100644
--- a/packages/driver/src/cy/commands/waiting.js
+++ b/packages/driver/src/cy/commands/waiting.js
@@ -25,8 +25,8 @@ const throwErr = (arg) => {
 
 module.exports = (Commands, Cypress, cy, state) => {
   const isDynamicAliasingPossible = () => {
-    // dynamic aliasing is possible if cy.http is enabled and a route with dynamic interception has been defined
-    return Cypress.config('experimentalNetworkStubbing') && _.find(state('routes'), (route) => {
+    // dynamic aliasing is possible if a route with dynamic interception has been defined
+    return _.find(state('routes'), (route) => {
       return _.isFunction(route.handler)
     })
   }
@@ -75,12 +75,11 @@ module.exports = (Commands, Cypress, cy, state) => {
 
       options.type = type
 
-      if (Cypress.config('experimentalNetworkStubbing')) {
-        const req = waitForRoute(alias, state, type)
+      // check cy.http routes
+      const req = waitForRoute(alias, state, type)
 
-        if (req) {
-          return req
-        }
+      if (req) {
+        return req
       }
 
       // append .type to the alias
diff --git a/packages/driver/src/cy/commands/xhr.js b/packages/driver/src/cy/commands/xhr.js
index e15d0721308f..4fb8d4c34ea1 100644
--- a/packages/driver/src/cy/commands/xhr.js
+++ b/packages/driver/src/cy/commands/xhr.js
@@ -329,6 +329,8 @@ module.exports = (Commands, Cypress, cy, state, config) => {
 
   return Commands.addAll({
     server (options) {
+      $errUtils.warnByPath('server.deprecated')
+
       let userOptions = options
 
       if (arguments.length === 0) {
@@ -351,6 +353,8 @@ module.exports = (Commands, Cypress, cy, state, config) => {
     },
 
     route (...args) {
+      $errUtils.warnByPath('route.deprecated')
+
       // TODO:
       // if we return a function which returns a promise
       // then we should be handling potential timeout issues
diff --git a/packages/driver/src/cy/net-stubbing/add-command.ts b/packages/driver/src/cy/net-stubbing/add-command.ts
index a7ec2a207658..6394efcf433d 100644
--- a/packages/driver/src/cy/net-stubbing/add-command.ts
+++ b/packages/driver/src/cy/net-stubbing/add-command.ts
@@ -271,10 +271,6 @@ export function addCommand (Commands, Cypress: Cypress.Cypress, cy: Cypress.cy,
   }
 
   function http (matcher: RouteMatcher, handler?: RouteHandler | StringMatcher, arg2?: RouteHandler) {
-    if (!Cypress.config('experimentalNetworkStubbing')) {
-      return $errUtils.throwErrByPath('net_stubbing.http.needs_experimental')
-    }
-
     function getMatcherOptions (): RouteMatcherOptions {
       if (_.isString(matcher) && $utils.isValidHttpMethod(matcher) && isStringMatcher(handler)) {
         // method, url, handler
diff --git a/packages/driver/src/cypress/error_messages.js b/packages/driver/src/cypress/error_messages.js
index 8311650ee357..6e79f01677ea 100644
--- a/packages/driver/src/cypress/error_messages.js
+++ b/packages/driver/src/cypress/error_messages.js
@@ -917,12 +917,6 @@ module.exports = {
         You passed: ${format(staticResponse)}`, 8)
     },
     http: {
-      needs_experimental: stripIndent`\
-        ${cmd('http')} requires experimental network mocking to be enabled.
-
-        Set the \`experimentalNetworkStubbing\` config value to \`true\` to access this command.
-
-        Read more: https://on.cypress.io/experiments`,
       invalid_handler: ({ handler }) => {
         return stripIndent`\
           ${cmd('http')}'s \`handler\` argument must be a String, StaticResponse, or HttpController function.
@@ -1200,6 +1194,10 @@ module.exports = {
   },
 
   route: {
+    deprecated: {
+      message: `${cmd('route')} has been deprecated and will be moved to a plugin in a future release. Consider migrating to using ${cmd('http')} instead.`,
+      docsUrl: 'https://on.cypress.io/http',
+    },
     failed_prerequisites: {
       message: `${cmd('route')} cannot be invoked before starting the ${cmd('server')}`,
       docsUrl: 'https://on.cypress.io/server',
@@ -1391,6 +1389,10 @@ module.exports = {
   },
 
   server: {
+    deprecated: {
+      message: `${cmd('server')} has been deprecated and will be moved to a plugin in a future release. Consider migrating to using ${cmd('http')} instead.`,
+      docsUrl: 'https://on.cypress.io/http',
+    },
     invalid_argument: {
       message: `${cmd('server')} accepts only an object literal as its argument.`,
       docsUrl: 'https://on.cypress.io/server',
diff --git a/packages/net-stubbing/lib/external-types.ts b/packages/net-stubbing/lib/external-types.ts
index b039d9940c2e..05dfe74899bf 100644
--- a/packages/net-stubbing/lib/external-types.ts
+++ b/packages/net-stubbing/lib/external-types.ts
@@ -334,9 +334,6 @@ declare global {
       /**
        * Use `cy.http()` to stub and intercept HTTP requests and responses.
        *
-       * Note: this command is only available if you have set the `experimentalNetworkStubbing`
-       * configuration option to `true`.
-       *
        * @see https://on.cypress.io/http
        * @example
        *    cy.http('https://localhost:7777/users', [{id: 1, name: 'Pat'}])
@@ -355,9 +352,6 @@ declare global {
       /**
        * Use `cy.http()` to stub and intercept HTTP requests and responses.
        *
-       * Note: this command is only available if you have set the `experimentalNetworkStubbing`
-       * configuration option to `true`.
-       *
        * @see https://on.cypress.io/http
        * @example
        *    cy.http('GET', 'http://foo.com/fruits', ['apple', 'banana', 'cherry'])
diff --git a/packages/net-stubbing/lib/server/index.ts b/packages/net-stubbing/lib/server/index.ts
index ec0f054dc8f0..b62564c27745 100644
--- a/packages/net-stubbing/lib/server/index.ts
+++ b/packages/net-stubbing/lib/server/index.ts
@@ -8,6 +8,8 @@ export { InterceptResponse } from './intercept-response'
 
 export { NetStubbingState } from './types'
 
+export { getRouteForRequest } from './route-matching'
+
 import { state } from './state'
 
 export const netStubbingState = state
diff --git a/packages/net-stubbing/lib/server/intercept-request.ts b/packages/net-stubbing/lib/server/intercept-request.ts
index ac12cb471138..ab443f769b77 100644
--- a/packages/net-stubbing/lib/server/intercept-request.ts
+++ b/packages/net-stubbing/lib/server/intercept-request.ts
@@ -1,7 +1,6 @@
 import _ from 'lodash'
 import concatStream from 'concat-stream'
 import Debug from 'debug'
-import minimatch from 'minimatch'
 import url from 'url'
 
 import {
@@ -14,124 +13,16 @@ import {
   NetStubbingState,
 } from './types'
 import {
-  RouteMatcherOptions,
   CyHttpMessages,
   NetEventFrames,
   SERIALIZABLE_REQ_PROPS,
 } from '../types'
-import { getAllStringMatcherFields, sendStaticResponse, emit, setResponseFromFixture } from './util'
+import { getRouteForRequest } from './route-matching'
+import { sendStaticResponse, emit, setResponseFromFixture } from './util'
 import CyServer from '@packages/server'
 
 const debug = Debug('cypress:net-stubbing:server:intercept-request')
 
-/**
- * Returns `true` if `req` matches all supplied properties on `routeMatcher`, `false` otherwise.
- */
-export function _doesRouteMatch (routeMatcher: RouteMatcherOptions, req: CypressIncomingRequest) {
-  const matchable = _getMatchableForRequest(req)
-
-  // get a list of all the fields which exist where a rule needs to be succeed
-  const stringMatcherFields = getAllStringMatcherFields(routeMatcher)
-  const booleanFields = _.filter(_.keys(routeMatcher), _.partial(_.includes, ['https', 'webSocket']))
-  const numberFields = _.filter(_.keys(routeMatcher), _.partial(_.includes, ['port']))
-
-  for (let i = 0; i < stringMatcherFields.length; i++) {
-    const field = stringMatcherFields[i]
-    const matcher = _.get(routeMatcher, field)
-    let value = _.get(matchable, field, '')
-
-    if (typeof value !== 'string') {
-      value = String(value)
-    }
-
-    if (matcher.test) {
-      if (!matcher.test(value)) {
-        return false
-      }
-
-      continue
-    }
-
-    if (field === 'url') {
-      if (value.includes(matcher)) {
-        continue
-      }
-    }
-
-    if (!minimatch(value, matcher, { matchBase: true })) {
-      return false
-    }
-  }
-
-  for (let i = 0; i < booleanFields.length; i++) {
-    const field = booleanFields[i]
-    const matcher = _.get(routeMatcher, field)
-    const value = _.get(matchable, field)
-
-    if (matcher !== value) {
-      return false
-    }
-  }
-
-  for (let i = 0; i < numberFields.length; i++) {
-    const field = numberFields[i]
-    const matcher = _.get(routeMatcher, field)
-    const value = _.get(matchable, field)
-
-    if (matcher.length) {
-      if (!matcher.includes(value)) {
-        return false
-      }
-
-      continue
-    }
-
-    if (matcher !== value) {
-      return false
-    }
-  }
-
-  return true
-}
-
-export function _getMatchableForRequest (req: CypressIncomingRequest) {
-  let matchable: any = _.pick(req, ['headers', 'method', 'webSocket'])
-
-  const authorization = req.headers['authorization']
-
-  if (authorization) {
-    const [mechanism, credentials] = authorization.split(' ', 2)
-
-    if (mechanism && credentials && mechanism.toLowerCase() === 'basic') {
-      const [username, password] = Buffer.from(credentials, 'base64').toString().split(':', 2)
-
-      matchable.auth = { username, password }
-    }
-  }
-
-  const proxiedUrl = url.parse(req.proxiedUrl, true)
-
-  _.assign(matchable, _.pick(proxiedUrl, ['hostname', 'path', 'pathname', 'port', 'query']))
-
-  matchable.url = req.proxiedUrl
-
-  matchable.https = proxiedUrl.protocol && (proxiedUrl.protocol.indexOf('https') === 0)
-
-  if (!matchable.port) {
-    matchable.port = matchable.https ? 443 : 80
-  }
-
-  return matchable
-}
-
-function _getRouteForRequest (routes: BackendRoute[], req: CypressIncomingRequest, prevRoute?: BackendRoute) {
-  const possibleRoutes = prevRoute ? routes.slice(_.findIndex(routes, prevRoute) + 1) : routes
-
-  return _.find(possibleRoutes, (route) => {
-    return _doesRouteMatch(route.routeMatcher, req)
-  })
-}
-
 /**
  * Called when a new request is received in the proxy layer.
  * @param project
@@ -140,7 +31,7 @@ function _getRouteForRequest (routes: BackendRoute[], req: CypressIncomingReques
  * @param cb Can be called to resume the proxy's normal behavior. If `res` is not handled and this is not called, the request will hang.
  */
 export const InterceptRequest: RequestMiddleware = function () {
-  const route = _getRouteForRequest(this.netStubbingState.routes, this.req)
+  const route = getRouteForRequest(this.netStubbingState.routes, this.req)
 
   if (!route) {
     // not intercepted, carry on normally...
@@ -241,7 +132,7 @@ function getNextRoute (state: NetStubbingState, req: CypressIncomingRequest, pre
     return
   }
 
-  return _getRouteForRequest(state.routes, req, prevRoute)
+  return getRouteForRequest(state.routes, req, prevRoute)
 }
 
 export async function onRequestContinue (state: NetStubbingState, frame: NetEventFrames.HttpRequestContinue, socket: CyServer.Socket) {
diff --git a/packages/net-stubbing/lib/server/route-matching.ts b/packages/net-stubbing/lib/server/route-matching.ts
new file mode 100644
index 000000000000..c6a612448c2d
--- /dev/null
+++ b/packages/net-stubbing/lib/server/route-matching.ts
@@ -0,0 +1,116 @@
+import _ from 'lodash'
+import minimatch from 'minimatch'
+import url from 'url'
+
+import { CypressIncomingRequest } from '@packages/proxy'
+import { BackendRoute } from './types'
+import { RouteMatcherOptions } from '../types'
+import { getAllStringMatcherFields } from './util'
+
+/**
+ * Returns `true` if `req` matches all supplied properties on `routeMatcher`, `false` otherwise.
+ */
+export function _doesRouteMatch (routeMatcher: RouteMatcherOptions, req: CypressIncomingRequest) {
+  const matchable = _getMatchableForRequest(req)
+
+  // get a list of all the fields which exist where a rule needs to be succeed
+  const stringMatcherFields = getAllStringMatcherFields(routeMatcher)
+  const booleanFields = _.filter(_.keys(routeMatcher), _.partial(_.includes, ['https']))
+  const numberFields = _.filter(_.keys(routeMatcher), _.partial(_.includes, ['port']))
+
+  for (let i = 0; i < stringMatcherFields.length; i++) {
+    const field = stringMatcherFields[i]
+    const matcher = _.get(routeMatcher, field)
+    let value = _.get(matchable, field, '')
+
+    if (typeof value !== 'string') {
+      value = String(value)
+    }
+
+    if (matcher.test) {
+      if (!matcher.test(value)) {
+        return false
+      }
+
+      continue
+    }
+
+    if (field === 'url') {
+      if (value.includes(matcher)) {
+        continue
+      }
+    }
+
+    if (!minimatch(value, matcher, { matchBase: true })) {
+      return false
+    }
+  }
+
+  for (let i = 0; i < booleanFields.length; i++) {
+    const field = booleanFields[i]
+    const matcher = _.get(routeMatcher, field)
+    const value = _.get(matchable, field)
+
+    if (matcher !== value) {
+      return false
+    }
+  }
+
+  for (let i = 0; i < numberFields.length; i++) {
+    const field = numberFields[i]
+    const matcher = _.get(routeMatcher, field)
+    const value = _.get(matchable, field)
+
+    if (matcher.length) {
+      if (!matcher.includes(value)) {
+        return false
+      }
+
+      continue
+    }
+
+    if (matcher !== value) {
+      return false
+    }
+  }
+
+  return true
+}
+
+export function _getMatchableForRequest (req: CypressIncomingRequest) {
+  let matchable: any = _.pick(req, ['headers', 'method'])
+
+  const authorization = req.headers['authorization']
+
+  if (authorization) {
+    const [mechanism, credentials] = authorization.split(' ', 2)
+
+    if (mechanism && credentials && mechanism.toLowerCase() === 'basic') {
+      const [username, password] = Buffer.from(credentials, 'base64').toString().split(':', 2)
+
+      matchable.auth = { username, password }
+    }
+  }
+
+  const proxiedUrl = url.parse(req.proxiedUrl, true)
+
+  _.assign(matchable, _.pick(proxiedUrl, ['hostname', 'path', 'pathname', 'port', 'query']))
+
+  matchable.url = req.proxiedUrl
+
+  matchable.https = proxiedUrl.protocol && (proxiedUrl.protocol.indexOf('https') === 0)
+
+  if (!matchable.port) {
+    matchable.port = matchable.https ? 443 : 80
+  }
+
+  return matchable
+}
+
+export function getRouteForRequest (routes: BackendRoute[], req: CypressIncomingRequest, prevRoute?: BackendRoute) {
+  const possibleRoutes = prevRoute ? routes.slice(_.findIndex(routes, prevRoute) + 1) : routes
+
+  return _.find(possibleRoutes, (route) => {
+    return _doesRouteMatch(route.routeMatcher, req)
+  })
+}
diff --git a/packages/net-stubbing/test/unit/intercept-request-spec.ts b/packages/net-stubbing/test/unit/route-matching-spec.ts
similarity index 98%
rename from packages/net-stubbing/test/unit/intercept-request-spec.ts
rename to packages/net-stubbing/test/unit/route-matching-spec.ts
index 4190d294208c..2ec032a795b9 100644
--- a/packages/net-stubbing/test/unit/intercept-request-spec.ts
+++ b/packages/net-stubbing/test/unit/route-matching-spec.ts
@@ -1,7 +1,7 @@
 import {
   _doesRouteMatch,
   _getMatchableForRequest,
-} from '../../lib/server/intercept-request'
+} from '../../lib/server/route-matching'
 import { expect } from 'chai'
 import { CypressIncomingRequest } from '@packages/proxy'
 
diff --git a/packages/server/lib/config_options.ts b/packages/server/lib/config_options.ts
index 4887a4095821..d58e3eb664e5 100644
--- a/packages/server/lib/config_options.ts
+++ b/packages/server/lib/config_options.ts
@@ -74,11 +74,6 @@ export const options = [
     defaultValue: false,
     validation: v.isBoolean,
     isExperimental: true,
-  }, {
-    name: 'experimentalNetworkStubbing',
-    defaultValue: false,
-    validation: v.isBoolean,
-    isExperimental: true,
   }, {
     name: 'fileServerFolder',
     defaultValue: '',
@@ -289,5 +284,9 @@ export const breakingOptions = [
     name: 'experimentalShadowDomSupport',
     errorKey: 'EXPERIMENTAL_SHADOW_DOM_REMOVED',
     isWarning: true,
+  }, {
+    name: 'experimentalNetworkStubbing',
+    errorKey: 'EXPERIMENTAL_NETWORK_STUBBING_REMOVED',
+    isWarning: true,
   },
 ]
diff --git a/packages/server/lib/errors.js b/packages/server/lib/errors.js
index 8aee69e7a0cf..77a22117f72e 100644
--- a/packages/server/lib/errors.js
+++ b/packages/server/lib/errors.js
@@ -900,6 +900,12 @@ const getMsgByType = function (type, arg1 = {}, arg2, arg3) {
       return stripIndent`\
         The \`experimentalShadowDomSupport\` configuration option was removed in Cypress version \`5.2.0\`. It is no longer necessary when utilizing the \`includeShadowDom\` option.
 
+        You can safely remove this option from your config.`
+    case 'EXPERIMENTAL_NETWORK_STUBBING_REMOVED':
+      return stripIndent`\
+        The \`experimentalNetworkStubbing\` configuration option was removed in Cypress version \`6.0.0\`. 
+        It is no longer necessary for using \`cy.http()\` (formerly \`cy.route2()\`).
+
         You can safely remove this option from your config.`
     case 'INCOMPATIBLE_PLUGIN_RETRIES':
       return stripIndent`\
diff --git a/packages/server/lib/experiments.ts b/packages/server/lib/experiments.ts
index 26a65fd2e045..3fd64d5895a9 100644
--- a/packages/server/lib/experiments.ts
+++ b/packages/server/lib/experiments.ts
@@ -52,7 +52,6 @@ interface StringValues {
 */
 const _summaries: StringValues = {
   experimentalComponentTesting: 'Framework-specific component testing, uses `componentFolder` to load component specs',
-  experimentalNetworkStubbing: 'Enables `cy.http()`, which can be used to dynamically intercept/stub/await any HTTP request or response (XHRs, fetch, beacons, etc.)',
   experimentalSourceRewriting: 'Enables AST-based JS/HTML rewriting. This may fix issues caused by the existing regex-based JS/HTML replacement algorithm.',
   experimentalFetchPolyfill: 'Polyfills `window.fetch` to enable Network spying and stubbing',
 }
@@ -69,7 +68,6 @@ const _summaries: StringValues = {
 */
 const _names: StringValues = {
   experimentalComponentTesting: 'Component Testing',
-  experimentalNetworkStubbing: 'Experimental network mocking',
   experimentalSourceRewriting: 'Improved source rewriting',
   experimentalFetchPolyfill: 'Fetch polyfill',
 }
diff --git a/packages/server/lib/server.js b/packages/server/lib/server.js
index f2a9f0f63b99..ce021bd582b7 100644
--- a/packages/server/lib/server.js
+++ b/packages/server/lib/server.js
@@ -20,7 +20,10 @@ const {
   uri,
 } = require('@packages/network')
 const { NetworkProxy } = require('@packages/proxy')
-const { netStubbingState } = require('@packages/net-stubbing')
+const {
+  netStubbingState,
+  getRouteForRequest,
+} = require('@packages/net-stubbing')
 const { createInitialWorkers } = require('@packages/rewriter')
 const origin = require('./util/origin')
 const ensureUrl = require('./util/ensure-url')
@@ -453,6 +456,16 @@ class Server {
       return currentPromisePhase = fn()
     }
 
+    const matchesNetStubbingRoute = (requestOptions) => {
+      const proxiedReq = {
+        proxiedUrl: requestOptions.url,
+        ..._.pick(requestOptions, ['headers', 'method']),
+        // TODO: add `body` here once bodies can be statically matched
+      }
+
+      return !!getRouteForRequest(this._netStubbingState.routes, proxiedReq)
+    }
+
     return this._urlResolver = (p = new Promise((resolve, reject, onCancel) => {
       let urlFile
 
@@ -642,7 +655,7 @@ class Server {
         },
       })
 
-      if (options.selfProxy) {
+      if (matchesNetStubbingRoute(options)) {
         // TODO: this is being used to force cy.visits to be interceptable by network stubbing
         // however, network errors will be obsfucated by the proxying so this is not an ideal solution
         _.assign(options, {
diff --git a/packages/server/test/unit/config_spec.js b/packages/server/test/unit/config_spec.js
index a8f782b8ab90..45fa622c9b16 100644
--- a/packages/server/test/unit/config_spec.js
+++ b/packages/server/test/unit/config_spec.js
@@ -1142,6 +1142,17 @@ describe('lib/config', () => {
       expect(warning).to.be.calledWith('EXPERIMENTAL_SHADOW_DOM_REMOVED')
     })
 
+    // @see https://github.com/cypress-io/cypress/pull/9185
+    it('warns if experimentalNetworkStubbing is passed', async function () {
+      const warning = sinon.spy(errors, 'warning')
+
+      await this.defaults('experimentalNetworkStubbing', true, {
+        experimentalNetworkStubbing: true,
+      })
+
+      expect(warning).to.be.calledWith('EXPERIMENTAL_NETWORK_STUBBING_REMOVED')
+    })
+
     describe('.resolved', () => {
       it('sets reporter and port to cli', () => {
         const obj = {
@@ -1167,7 +1178,6 @@ describe('lib/config', () => {
             execTimeout: { value: 60000, from: 'default' },
             experimentalComponentTesting: { value: false, from: 'default' },
             experimentalFetchPolyfill: { value: false, from: 'default' },
-            experimentalNetworkStubbing: { value: false, from: 'default' },
             experimentalSourceRewriting: { value: false, from: 'default' },
             fileServerFolder: { value: '', from: 'default' },
             firefoxGcInterval: { value: { openMode: null, runMode: 1 }, from: 'default' },
@@ -1245,7 +1255,6 @@ describe('lib/config', () => {
             execTimeout: { value: 60000, from: 'default' },
             experimentalComponentTesting: { value: false, from: 'default' },
             experimentalFetchPolyfill: { value: false, from: 'default' },
-            experimentalNetworkStubbing: { value: false, from: 'default' },
             experimentalSourceRewriting: { value: false, from: 'default' },
             env: {
               foo: {