diff --git a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp
index a0b5fa66c23..21cf15beb95 100644
--- a/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp
+++ b/simulation/simple_sensor_simulator/src/vehicle_simulation/ego_entity_simulation.cpp
@@ -266,9 +266,19 @@ auto EgoEntitySimulation::overwrite(
     }();
 
     switch (auto state = Eigen::VectorXd(vehicle_model_ptr_->getDimX()); vehicle_model_type_) {
+      case VehicleModelType::DELAY_STEER_ACC_GEARED_WO_FALL_GUARD:
+        // state{X, Y, YAW, VX, STEER, PEDAL_ACCX, ACCX}
+        state(0) = world_relative_position_.x();
+        state(1) = world_relative_position_.y();
+        state(2) = yaw;
+        state(3) = status.action_status.twist.linear.x;
+        state(4) = 0;
+        state(5) = 0;
+        state(6) = status.action_status.accel.linear.x;
+        vehicle_model_ptr_->setState(state);
+        break;
       case VehicleModelType::DELAY_STEER_ACC:
       case VehicleModelType::DELAY_STEER_ACC_GEARED:
-      case VehicleModelType::DELAY_STEER_ACC_GEARED_WO_FALL_GUARD:
       case VehicleModelType::DELAY_STEER_MAP_ACC_GEARED:
         state(5) = status.action_status.accel.linear.x;
         [[fallthrough]];