diff --git a/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
index af7cf8946b..b4aff7aa0e 100644
--- a/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
@@ -6,6 +6,7 @@
 /*----------------------------------------------------------------------------*/
 
 #include <units/current.h>
+#include <units/math.h>
 #include <units/moment_of_inertia.h>
 
 #include "frc/controller/LinearPlantInversionFeedforward.h"
@@ -105,9 +106,11 @@ TEST(DifferentialDriveSim, ModelStability) {
 
   sim.SetInputs(2_V, 4_V);
 
-  for (int i = 0; i < 10000; ++i) {
+  // 10 seconds should be enough time to verify stability
+  for (int i = 0; i < 500; ++i) {
     sim.Update(20_ms);
   }
 
-  EXPECT_TRUE(std::abs(sim.GetEstimatedPosition().X().to<double>()) < 10000);
+  EXPECT_LT(units::math::abs(sim.GetEstimatedPosition().Translation().Norm()),
+            100_m);
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
index eafa398308..7ac5521101 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSimTest.java
@@ -136,10 +136,11 @@ class DifferentialDrivetrainSimTest {
 
     sim.setInputs(2, 4);
 
-    for (int i = 0; i < 10000; i++) {
+    // 10 seconds should be enough time to verify stability
+    for (int i = 0; i < 500; i++) {
       sim.update(0.020);
     }
 
-    assertTrue(Math.abs(sim.getEstimatedPosition().getX()) < 10000);
+    assertTrue(Math.abs(sim.getEstimatedPosition().getTranslation().getNorm()) < 100);
   }
 }