diff --git a/packages/@uppy/companion/src/companion.js b/packages/@uppy/companion/src/companion.js
index aeb642d91c..a3d6235de9 100644
--- a/packages/@uppy/companion/src/companion.js
+++ b/packages/@uppy/companion/src/companion.js
@@ -115,7 +115,7 @@ module.exports.app = (optionsArg = {}) => {
   // add uppy options to the request object so it can be accessed by subsequent handlers.
   app.use('*', middlewares.getCompanionMiddleware(options))
   app.use('/s3', s3(options.s3))
-  app.use('/url', url())
+  if (options.enableUrlEndpoint) app.use('/url', url())
 
   app.post('/:providerName/preauth', express.json(), express.urlencoded({ extended: false }), middlewares.hasSessionAndProvider, middlewares.hasBody, middlewares.hasOAuthProvider, controllers.preauth)
   app.get('/:providerName/connect', middlewares.hasSessionAndProvider, middlewares.hasOAuthProvider, controllers.connect)
diff --git a/packages/@uppy/companion/src/config/companion.js b/packages/@uppy/companion/src/config/companion.js
index c9eddb47cd..59c4f0c991 100644
--- a/packages/@uppy/companion/src/config/companion.js
+++ b/packages/@uppy/companion/src/config/companion.js
@@ -16,6 +16,7 @@ const defaultOptions = {
     getKey: defaultGetKey,
     expires: 800, // seconds
   },
+  enableUrlEndpoint: true, // todo next major make this default false
   allowLocalUrls: false,
   logClientVersion: true,
   periodicPingUrls: [],
diff --git a/packages/@uppy/companion/src/server/controllers/s3.js b/packages/@uppy/companion/src/server/controllers/s3.js
index 4d1c146b5b..9eaac4e91c 100644
--- a/packages/@uppy/companion/src/server/controllers/s3.js
+++ b/packages/@uppy/companion/src/server/controllers/s3.js
@@ -441,6 +441,10 @@ module.exports = function s3 (config) {
     }, next)
   }
 
+  if (config.bucket == null) {
+    return express.Router() // empty router because s3 is not enabled
+  }
+
   return express.Router()
     .get('/sts', getTemporarySecurityCredentials)
     .get('/params', getUploadParameters)
diff --git a/packages/@uppy/companion/src/standalone/helper.js b/packages/@uppy/companion/src/standalone/helper.js
index f1ce3dbfe7..5f84608266 100644
--- a/packages/@uppy/companion/src/standalone/helper.js
+++ b/packages/@uppy/companion/src/standalone/helper.js
@@ -136,6 +136,8 @@ const getConfigFromEnv = () => {
       oauthDomain: process.env.COMPANION_OAUTH_DOMAIN,
       validHosts,
     },
+    // todo next major make this default false
+    enableUrlEndpoint: process.env.COMPANION_ENABLE_URL_ENDPOINT == null || process.env.COMPANION_ENABLE_URL_ENDPOINT === 'true',
     periodicPingUrls: process.env.COMPANION_PERIODIC_PING_URLS ? process.env.COMPANION_PERIODIC_PING_URLS.split(',') : [],
     periodicPingInterval: process.env.COMPANION_PERIODIC_PING_INTERVAL
       ? parseInt(process.env.COMPANION_PERIODIC_PING_INTERVAL, 10) : undefined,