diff --git a/changelogs/fragments/command-warnings-deprecation-2.yml b/changelogs/fragments/command-warnings-deprecation-2.yml
new file mode 100644
index 00000000000..e81b24cf1fd
--- /dev/null
+++ b/changelogs/fragments/command-warnings-deprecation-2.yml
@@ -0,0 +1,2 @@
+bugfixes:
+  - Fix to previous deprecation change (#70504) which caused command warning deprecation to show in all cases, even when not specified by the user.
diff --git a/lib/ansible/plugins/action/command.py b/lib/ansible/plugins/action/command.py
index 79f1a7ff034..46fcc9b3120 100644
--- a/lib/ansible/plugins/action/command.py
+++ b/lib/ansible/plugins/action/command.py
@@ -17,7 +17,7 @@ class ActionModule(ActionBase):
         del tmp  # tmp no longer has any effect
 
         # Command module has a special config option to turn off the command nanny warnings
-        if 'warn' not in self._task.args:
+        if 'warn' not in self._task.args and C.COMMAND_WARNINGS:
             self._task.args['warn'] = C.COMMAND_WARNINGS
 
         wrap_async = self._task.async_val and not self._connection.has_native_async