Speaking in New York, where he was attending United Nations High-Level events, the Taoiseach said he believes "the hard work of reconciliation has to happen" before there can be a move to change the political institutions.
He added: "My view is reconciliation of people and unity of people that will have ultimately different political manifestations."
The Taoiseach criticised Sinn Féin for blowing "hot and cold" on a border poll without a blueprint for how it would happen.
Mr Martin said: "I’ve watched Sinn Féin over the last decade blow hot and cold on the border poll. They kind of invented it after Brexit, and I said at the time they were putting petrol on the fire – we had to deal with Brexit first and its implications for Ireland.
"Then when Assembly elections came along, they downgraded the border poll because they did their own opinion polls and focus groups and they said that it’s not travelling."
He claimed Sinn Féin dropped calls for a border poll during the Assembly elections as they knew it was not politically popular.

Sinn Féin leader Mary Lou McDonald.
Mr Martin added: "And if you notice, like during the Assembly elections, the border poll receded in language… and then once the election is over, back on the border poll."
He also said that "I think Sinn Féin condemned everybody, criticised us for not having a blueprint". The Taoiseach continued: "Like, where’s Sinn Féin’s blueprint? Why is Sinn Féin always saying somebody else has to write the blueprint?"
However, Mr Martin, who during his first term as Taoiseach established the Shared Island Unit, added: "I see an evolutionary approach whereby, first of all, the Assembly and the Executive have to work, politicians in the North need to demonstrate the capacity to work together."
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The Shared Island Unit is funding projects around the border areas such as Narrow Water Bridge that will connect Louth and Down across the Newry River.
Mr Martin also dismissed the suggestion that the Presidential election is about Irish unity, describing this as a "false narrative".
He said: "To me, the Presidency, the whole issue of border, that’s an executive function of government, not the President. So, it’s a false electoral narrative that Sinn Féin are peddling that it’s about unity. It’s not.
"But what the Presidency can do is it can facilitate reconciliation and can facilitate connecting people together on the island and so on in different communities."
The function of government, not the President. So, it’s a false electoral narrative that Sinn Féin are peddling that it’s about unity. It’s not.
"But what the Presidency can do is it can facilitate reconciliation and can facilitate connecting people together on the island and so on in different communities."
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The Taoiseach said the Good Friday Agreement "has to fulfil its potential" and that there was more work to be done. He pointed to the issue of legacy and the framework that was agreed with the British government earlier this month.
Mr Martin said: "I hope Sinn Féin get on board with this, because this is an opportunity with this British government that may not arise again with a future British government, who knows. My view is reconciliation of people and unity of people that will have ultimately different political manifestations."
The Taoiseach said he saw an ‘evolutionary approach’ whereby first the North’s Assembly, and the Executive and its politicians, have to show they can work together.
Sinn Féin leader Mary Lou McDonald hit back, saying our Government needs to "stop standing on the sidelines" on Irish unity.
She said: "The Irish Government must stop standing on the sidelines as history unfolds, convene an all-Ireland Citizens’ Assembly on Irish unity and establish a joint Oireachtas committee on reunification."
She added: "Micheál Martin wrongly and bizarrely stated that Sinn Féin 'invented' the border poll after Brexit. No such thing. That the leader of Fianna Fáil shows such ignorance is astonishing. The Good Friday Agreement, signed by Fianna Fáil Taoiseach Bertie Ahern, commits to the holding of a unity poll.
"Rather than rewriting history, Micheál Martin should acknowledge that the time to plan and prepare for constitutional change is now."
* This article was originally published on Extra.ie.
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