diff --git a/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
index a8c5f41646..3eeb4ef49a 100644
--- a/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp
@@ -64,8 +64,10 @@ TEST(DifferentialDriveSim, Convergence) {
         groundTruthX, voltages, 20_ms);
   }
 
-  EXPECT_NEAR(groundTruthX(0, 0), sim.GetPose().X().to<double>(), 0.01);
-  EXPECT_NEAR(groundTruthX(1, 0), sim.GetPose().Y().to<double>(), 0.01);
+  // 2 inch tolerance is OK since our ground truth is an approximation of the
+  // ODE solution using RK4 anyway
+  EXPECT_NEAR(groundTruthX(0, 0), sim.GetPose().X().to<double>(), 0.05);
+  EXPECT_NEAR(groundTruthX(1, 0), sim.GetPose().Y().to<double>(), 0.05);
   EXPECT_NEAR(groundTruthX(2, 0), sim.GetHeading().Radians().to<double>(),
               0.01);
 }
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 246236ae0d..62fdcc965b 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
@@ -79,15 +79,20 @@ class DifferentialDrivetrainSimTest {
       groundTruthX = NumericalIntegration.rk4(sim::getDynamics, groundTruthX, voltages, 0.020);
     }
 
+    // 2 inch tolerance is OK since our ground truth is an approximation of the
+    // ODE solution using RK4 anyway
     assertEquals(
         groundTruthX.get(DifferentialDrivetrainSim.State.kX.value, 0),
-        sim.getState(DifferentialDrivetrainSim.State.kX));
+        sim.getState(DifferentialDrivetrainSim.State.kX),
+        0.05);
     assertEquals(
         groundTruthX.get(DifferentialDrivetrainSim.State.kY.value, 0),
-        sim.getState(DifferentialDrivetrainSim.State.kY));
+        sim.getState(DifferentialDrivetrainSim.State.kY),
+        0.05);
     assertEquals(
         groundTruthX.get(DifferentialDrivetrainSim.State.kHeading.value, 0),
-        sim.getState(DifferentialDrivetrainSim.State.kHeading));
+        sim.getState(DifferentialDrivetrainSim.State.kHeading),
+        0.01);
   }
 
   @Test