diff --git a/hal/src/main/java/org/wpilib/hardware/hal/simulation/SimulatorJNI.java b/hal/src/main/java/org/wpilib/hardware/hal/simulation/SimulatorJNI.java
index 08c5d56a12..dd9e74ce2e 100644
--- a/hal/src/main/java/org/wpilib/hardware/hal/simulation/SimulatorJNI.java
+++ b/hal/src/main/java/org/wpilib/hardware/hal/simulation/SimulatorJNI.java
@@ -12,7 +12,7 @@ public class SimulatorJNI extends JNIWrapper {
 
   public static native void waitForProgramStart();
 
-  public static native void setProgramStarted();
+  public static native void setProgramStarted(boolean started);
 
   public static native boolean getProgramStarted();
 
diff --git a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
index a1fef9f40a..58a57b2fe1 100644
--- a/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
+++ b/hal/src/main/native/cpp/jni/simulation/SimulatorJNI.cpp
@@ -138,13 +138,13 @@ Java_org_wpilib_hardware_hal_simulation_SimulatorJNI_waitForProgramStart
 /*
  * Class:     org_wpilib_hardware_hal_simulation_SimulatorJNI
  * Method:    setProgramStarted
- * Signature: ()V
+ * Signature: (Z)V
  */
 JNIEXPORT void JNICALL
 Java_org_wpilib_hardware_hal_simulation_SimulatorJNI_setProgramStarted
-  (JNIEnv*, jclass)
+  (JNIEnv*, jclass, jboolean started)
 {
-  HALSIM_SetProgramStarted();
+  HALSIM_SetProgramStarted(started);
 }
 
 /*
diff --git a/hal/src/main/native/include/wpi/hal/simulation/MockHooks.h b/hal/src/main/native/include/wpi/hal/simulation/MockHooks.h
index 18372dfa53..852435572f 100644
--- a/hal/src/main/native/include/wpi/hal/simulation/MockHooks.h
+++ b/hal/src/main/native/include/wpi/hal/simulation/MockHooks.h
@@ -10,7 +10,7 @@
 extern "C" {
 void HALSIM_SetRuntimeType(HAL_RuntimeType type);
 void HALSIM_WaitForProgramStart(void);
-void HALSIM_SetProgramStarted(void);
+void HALSIM_SetProgramStarted(HAL_Bool started);
 HAL_Bool HALSIM_GetProgramStarted(void);
 void HALSIM_RestartTiming(void);
 void HALSIM_PauseTiming(void);
diff --git a/hal/src/main/native/sim/DriverStation.cpp b/hal/src/main/native/sim/DriverStation.cpp
index 30dd8530fd..4aa53a30e2 100644
--- a/hal/src/main/native/sim/DriverStation.cpp
+++ b/hal/src/main/native/sim/DriverStation.cpp
@@ -22,7 +22,6 @@
 #include "wpi/hal/cpp/fpga_clock.h"
 #include "wpi/hal/simulation/MockHooks.h"
 #include "wpi/util/EventVector.hpp"
-#include "wpi/util/condition_variable.hpp"
 #include "wpi/util/mutex.hpp"
 
 static wpi::util::mutex msgMutex;
@@ -368,7 +367,7 @@ int32_t HAL_GetMatchInfo(HAL_MatchInfo* info) {
 }
 
 void HAL_ObserveUserProgramStarting(void) {
-  HALSIM_SetProgramStarted();
+  HALSIM_SetProgramStarted(true);
 }
 
 void HAL_ObserveUserProgramDisabled(void) {
diff --git a/hal/src/main/native/sim/MockHooks.cpp b/hal/src/main/native/sim/MockHooks.cpp
index 5637866135..7699d67ed8 100644
--- a/hal/src/main/native/sim/MockHooks.cpp
+++ b/hal/src/main/native/sim/MockHooks.cpp
@@ -68,8 +68,8 @@ double GetFPGATimestamp() {
   return GetFPGATime() * 1.0e-6;
 }
 
-void SetProgramStarted() {
-  programStarted = true;
+void SetProgramStarted(bool started) {
+  programStarted = started;
 }
 bool GetProgramStarted() {
   return programStarted;
@@ -83,13 +83,15 @@ void HALSIM_WaitForProgramStart(void) {
   int count = 0;
   while (!programStarted) {
     count++;
-    wpi::util::print("Waiting for program start signal: {}\n", count);
-    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    if (count % 10 == 0) {
+      wpi::util::print("Waiting for program start signal: {}\n", count);
+    }
+    std::this_thread::sleep_for(std::chrono::milliseconds(1));
   }
 }
 
-void HALSIM_SetProgramStarted(void) {
-  SetProgramStarted();
+void HALSIM_SetProgramStarted(HAL_Bool started) {
+  SetProgramStarted(started);
 }
 
 HAL_Bool HALSIM_GetProgramStarted(void) {
diff --git a/hal/src/main/native/systemcore/mockdata/MockHooks.cpp b/hal/src/main/native/systemcore/mockdata/MockHooks.cpp
index 6b3d722daa..c09a67ca40 100644
--- a/hal/src/main/native/systemcore/mockdata/MockHooks.cpp
+++ b/hal/src/main/native/systemcore/mockdata/MockHooks.cpp
@@ -10,7 +10,7 @@ void HALSIM_SetRuntimeType(HAL_RuntimeType type) {}
 
 void HALSIM_WaitForProgramStart(void) {}
 
-void HALSIM_SetProgramStarted(void) {}
+void HALSIM_SetProgramStarted(HAL_Bool started) {}
 
 HAL_Bool HALSIM_GetProgramStarted(void) {
   return false;
diff --git a/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp b/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp
index 03cf15e2b8..d4b5b614cf 100644
--- a/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SimHooks.cpp
@@ -16,8 +16,8 @@ void WaitForProgramStart() {
   HALSIM_WaitForProgramStart();
 }
 
-void SetProgramStarted() {
-  HALSIM_SetProgramStarted();
+void SetProgramStarted(bool started) {
+  HALSIM_SetProgramStarted(started);
 }
 
 bool GetProgramStarted() {
diff --git a/wpilibc/src/main/native/include/wpi/simulation/SimHooks.hpp b/wpilibc/src/main/native/include/wpi/simulation/SimHooks.hpp
index 994d28635b..680bd1fbbc 100644
--- a/wpilibc/src/main/native/include/wpi/simulation/SimHooks.hpp
+++ b/wpilibc/src/main/native/include/wpi/simulation/SimHooks.hpp
@@ -18,10 +18,23 @@ namespace wpi::sim {
  */
 void SetRuntimeType(HAL_RuntimeType type);
 
+/**
+ * Waits until the user program has started.
+ */
 void WaitForProgramStart();
 
-void SetProgramStarted();
+/**
+ * Sets flag that indicates if the user program has started.
+ *
+ * @param started true if started
+ */
+void SetProgramStarted(bool started);
 
+/**
+ * Returns true if the user program has started.
+ *
+ * @return True if the user program has started.
+ */
 bool GetProgramStarted();
 
 /**
diff --git a/wpilibc/src/test/native/cpp/TimedRobotTest.cpp b/wpilibc/src/test/native/cpp/TimedRobotTest.cpp
index d21adf1692..b06c250f1f 100644
--- a/wpilibc/src/test/native/cpp/TimedRobotTest.cpp
+++ b/wpilibc/src/test/native/cpp/TimedRobotTest.cpp
@@ -21,7 +21,10 @@ inline constexpr auto kPeriod = 20_ms;
 namespace {
 class TimedRobotTest : public ::testing::Test {
  protected:
-  void SetUp() override { wpi::sim::PauseTiming(); }
+  void SetUp() override {
+    wpi::sim::PauseTiming();
+    wpi::sim::SetProgramStarted(false);
+  }
 
   void TearDown() override { wpi::sim::ResumeTiming(); }
 };
@@ -84,10 +87,10 @@ TEST_F(TimedRobotTest, DisabledMode) {
   MockRobot robot;
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
+  wpi::sim::WaitForProgramStart();
 
   wpi::sim::DriverStationSim::SetEnabled(false);
   wpi::sim::DriverStationSim::NotifyNewData();
-  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -155,12 +158,12 @@ TEST_F(TimedRobotTest, AutonomousMode) {
   MockRobot robot;
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
+  wpi::sim::WaitForProgramStart();
 
   wpi::sim::DriverStationSim::SetEnabled(true);
   wpi::sim::DriverStationSim::SetAutonomous(true);
   wpi::sim::DriverStationSim::SetTest(false);
   wpi::sim::DriverStationSim::NotifyNewData();
-  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -228,12 +231,12 @@ TEST_F(TimedRobotTest, TeleopMode) {
   MockRobot robot;
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
+  wpi::sim::WaitForProgramStart();
 
   wpi::sim::DriverStationSim::SetEnabled(true);
   wpi::sim::DriverStationSim::SetAutonomous(false);
   wpi::sim::DriverStationSim::SetTest(false);
   wpi::sim::DriverStationSim::NotifyNewData();
-  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -300,12 +303,12 @@ TEST_F(TimedRobotTest, TeleopMode) {
 TEST_F(TimedRobotTest, TestMode) {
   MockRobot robot;
   std::thread robotThread{[&] { robot.StartCompetition(); }};
+  wpi::sim::WaitForProgramStart();
 
   wpi::sim::DriverStationSim::SetEnabled(true);
   wpi::sim::DriverStationSim::SetAutonomous(false);
   wpi::sim::DriverStationSim::SetTest(true);
   wpi::sim::DriverStationSim::NotifyNewData();
-  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
   EXPECT_EQ(0u, robot.m_disabledInitCount);
@@ -397,13 +400,13 @@ TEST_F(TimedRobotTest, ModeChange) {
   MockRobot robot;
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
+  wpi::sim::WaitForProgramStart();
 
   // Start in disabled
   wpi::sim::DriverStationSim::SetEnabled(false);
   wpi::sim::DriverStationSim::SetAutonomous(false);
   wpi::sim::DriverStationSim::SetTest(false);
   wpi::sim::DriverStationSim::NotifyNewData();
-  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_autonomousInitCount);
@@ -510,10 +513,10 @@ TEST_F(TimedRobotTest, AddPeriodic) {
   robot.AddPeriodic([&] { callbackCount++; }, kPeriod / 2.0);
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
+  wpi::sim::WaitForProgramStart();
 
   wpi::sim::DriverStationSim::SetEnabled(false);
   wpi::sim::DriverStationSim::NotifyNewData();
-  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
@@ -549,10 +552,10 @@ TEST_F(TimedRobotTest, AddPeriodicWithOffset) {
   //    2p |    1.25p
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
+  wpi::sim::WaitForProgramStart();
 
   wpi::sim::DriverStationSim::SetEnabled(false);
   wpi::sim::DriverStationSim::NotifyNewData();
-  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   EXPECT_EQ(0u, robot.m_disabledInitCount);
   EXPECT_EQ(0u, robot.m_disabledPeriodicCount);
diff --git a/wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp b/wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp
index a8c6b43590..73c817d260 100644
--- a/wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp
+++ b/wpilibc/src/test/native/cpp/TimesliceRobotTest.cpp
@@ -19,7 +19,10 @@ using namespace wpi;
 namespace {
 class TimesliceRobotTest : public ::testing::Test {
  protected:
-  void SetUp() override { wpi::sim::PauseTiming(); }
+  void SetUp() override {
+    wpi::sim::PauseTiming();
+    wpi::sim::SetProgramStarted(false);
+  }
 
   void TearDown() override { wpi::sim::ResumeTiming(); }
 };
@@ -51,10 +54,10 @@ TEST_F(TimesliceRobotTest, Schedule) {
   robot.Schedule([&] { callbackCount2++; }, 1_ms);
 
   std::thread robotThread{[&] { robot.StartCompetition(); }};
+  wpi::sim::WaitForProgramStart();
 
   wpi::sim::DriverStationSim::SetEnabled(false);
   wpi::sim::DriverStationSim::NotifyNewData();
-  wpi::sim::StepTiming(0_ms);  // Wait for Notifiers
 
   // Functions scheduled with addPeriodic() are delayed by one period before
   // their first run (5 ms for this test's callbacks here and 20 ms for
diff --git a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
index c91804658b..f9d8a69481 100644
--- a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
@@ -31,9 +31,10 @@ class ArmSimulationTest : public testing::TestWithParam<wpi::units::degree_t> {
  public:
   void SetUp() override {
     wpi::sim::PauseTiming();
+    wpi::sim::SetProgramStarted(false);
 
     m_thread = std::thread([&] { m_robot.StartCompetition(); });
-    wpi::sim::StepTiming(0.0_ms);  // Wait for Notifiers
+    wpi::sim::WaitForProgramStart();
   }
 
   void TearDown() override {
diff --git a/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp b/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp
index 03d891c82c..4c70132530 100644
--- a/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp
@@ -25,11 +25,11 @@ class DigitalCommunicationTest : public testing::TestWithParam<T> {
 
   void SetUp() override {
     wpi::sim::PauseTiming();
+    wpi::sim::SetProgramStarted(false);
     wpi::sim::DriverStationSim::ResetData();
 
     m_thread = std::thread([&] { m_robot.StartCompetition(); });
-    wpi::sim::StepTiming(0.0_ms);
-    // SimHooks.stepTiming(0.0); // Wait for Notifiers
+    wpi::sim::WaitForProgramStart();
   }
 
   void TearDown() override {
diff --git a/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp b/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
index a9bf78b100..ae2b08bd3d 100644
--- a/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
@@ -33,9 +33,10 @@ class ElevatorSimulationTest : public testing::Test {
  public:
   void SetUp() override {
     wpi::sim::PauseTiming();
+    wpi::sim::SetProgramStarted(false);
 
     m_thread = std::thread([&] { m_robot.StartCompetition(); });
-    wpi::sim::StepTiming(0.0_ms);  // Wait for Notifiers
+    wpi::sim::WaitForProgramStart();
   }
 
   void TearDown() override {
diff --git a/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp b/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp
index 0a06f47e24..8e9b0df455 100644
--- a/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp
@@ -32,13 +32,14 @@ class I2CCommunicationTest : public testing::TestWithParam<T> {
   void SetUp() override {
     gString = std::string();
     wpi::sim::PauseTiming();
+    wpi::sim::SetProgramStarted(false);
     wpi::sim::DriverStationSim::ResetData();
     m_port = static_cast<int32_t>(Robot::kPort);
 
     m_callback = HALSIM_RegisterI2CWriteCallback(m_port, &callback, nullptr);
 
     m_thread = std::thread([&] { m_robot.StartCompetition(); });
-    wpi::sim::StepTiming(0.0_ms);  // Wait for Notifiers
+    wpi::sim::WaitForProgramStart();
   }
 
   void TearDown() override {
diff --git a/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp b/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
index 10d802a69c..3fd85ee750 100644
--- a/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
@@ -68,6 +68,7 @@ class PotentiometerPIDTest : public testing::Test {
 
   void SetUp() override {
     wpi::sim::PauseTiming();
+    wpi::sim::SetProgramStarted(false);
     wpi::sim::DriverStationSim::ResetData();
 
     m_joystickSim.SetButtonsMaximumIndex(12);
@@ -76,7 +77,7 @@ class PotentiometerPIDTest : public testing::Test {
         HALSIM_RegisterSimPeriodicBeforeCallback(CallSimPeriodicBefore, this);
 
     m_thread = std::thread([&] { m_robot.StartCompetition(); });
-    wpi::sim::StepTiming(0.0_ms);  // Wait for Notifiers
+    wpi::sim::WaitForProgramStart();
   }
 
   void TearDown() override {
diff --git a/wpilibj/src/main/java/org/wpilib/simulation/SimHooks.java b/wpilibj/src/main/java/org/wpilib/simulation/SimHooks.java
index 842f7a6d1c..5ebcccbe1f 100644
--- a/wpilibj/src/main/java/org/wpilib/simulation/SimHooks.java
+++ b/wpilibj/src/main/java/org/wpilib/simulation/SimHooks.java
@@ -24,9 +24,13 @@ public final class SimHooks {
     SimulatorJNI.waitForProgramStart();
   }
 
-  /** Sets that the user program has started. */
-  public static void setProgramStarted() {
-    SimulatorJNI.setProgramStarted();
+  /**
+   * Sets flag that indicates if the user program has started.
+   *
+   * @param started true if started
+   */
+  public static void setProgramStarted(boolean started) {
+    SimulatorJNI.setProgramStarted(started);
   }
 
   /**
diff --git a/wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java b/wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java
index 70dda4736d..e5daa21d62 100644
--- a/wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java
+++ b/wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java
@@ -119,6 +119,7 @@ class TimedRobotTest {
   @BeforeEach
   void setup() {
     SimHooks.pauseTiming();
+    SimHooks.setProgramStarted(false);
     DriverStationSim.resetData();
   }
 
@@ -134,10 +135,10 @@ class TimedRobotTest {
 
     Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
+    SimHooks.waitForProgramStart();
 
     DriverStationSim.setEnabled(false);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
@@ -214,12 +215,12 @@ class TimedRobotTest {
 
     Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
+    SimHooks.waitForProgramStart();
 
     DriverStationSim.setEnabled(true);
     DriverStationSim.setAutonomous(true);
     DriverStationSim.setTest(false);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
@@ -296,12 +297,12 @@ class TimedRobotTest {
 
     Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
+    SimHooks.waitForProgramStart();
 
     DriverStationSim.setEnabled(true);
     DriverStationSim.setAutonomous(false);
     DriverStationSim.setTest(false);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
@@ -378,12 +379,12 @@ class TimedRobotTest {
 
     Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
+    SimHooks.waitForProgramStart();
 
     DriverStationSim.setEnabled(true);
     DriverStationSim.setAutonomous(false);
     DriverStationSim.setTest(true);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     assertEquals(1, robot.m_simulationInitCount.get());
     assertEquals(0, robot.m_disabledInitCount.get());
@@ -485,13 +486,13 @@ class TimedRobotTest {
 
     Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
+    SimHooks.waitForProgramStart();
 
     // Start in disabled
     DriverStationSim.setEnabled(false);
     DriverStationSim.setAutonomous(false);
     DriverStationSim.setTest(false);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_autonomousInitCount.get());
@@ -607,10 +608,10 @@ class TimedRobotTest {
 
     Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
+    SimHooks.waitForProgramStart();
 
     DriverStationSim.setEnabled(false);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
@@ -657,10 +658,10 @@ class TimedRobotTest {
 
     Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
+    SimHooks.waitForProgramStart();
 
     DriverStationSim.setEnabled(false);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     assertEquals(0, robot.m_disabledInitCount.get());
     assertEquals(0, robot.m_disabledPeriodicCount.get());
diff --git a/wpilibj/src/test/java/org/wpilib/framework/TimesliceRobotTest.java b/wpilibj/src/test/java/org/wpilib/framework/TimesliceRobotTest.java
index 2d4abf8a6d..17fcdbafde 100644
--- a/wpilibj/src/test/java/org/wpilib/framework/TimesliceRobotTest.java
+++ b/wpilibj/src/test/java/org/wpilib/framework/TimesliceRobotTest.java
@@ -32,6 +32,7 @@ class TimesliceRobotTest {
   @BeforeEach
   void setup() {
     SimHooks.pauseTiming();
+    SimHooks.setProgramStarted(false);
   }
 
   @AfterEach
@@ -59,10 +60,10 @@ class TimesliceRobotTest {
 
     Thread robotThread = new Thread(robot::startCompetition);
     robotThread.start();
+    SimHooks.waitForProgramStart();
 
     DriverStationSim.setEnabled(false);
     DriverStationSim.notifyNewData();
-    SimHooks.stepTiming(0.0); // Wait for Notifiers
 
     // Functions scheduled with addPeriodic() are delayed by one period before
     // their first run (5 ms for this test's callbacks here and 20 ms for
diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/armsimulation/ArmSimulationTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/armsimulation/ArmSimulationTest.java
index f2461a2cd0..d21204b316 100644
--- a/wpilibjExamples/src/test/java/org/wpilib/examples/armsimulation/ArmSimulationTest.java
+++ b/wpilibjExamples/src/test/java/org/wpilib/examples/armsimulation/ArmSimulationTest.java
@@ -35,6 +35,7 @@ class ArmSimulationTest {
   void startThread() {
     HAL.initialize(500, 0);
     SimHooks.pauseTiming();
+    SimHooks.setProgramStarted(false);
     DriverStationSim.resetData();
     m_robot = new Robot();
     m_thread = new Thread(m_robot::startCompetition);
@@ -43,7 +44,7 @@ class ArmSimulationTest {
     m_joystickSim = new JoystickSim(Constants.kJoystickPort);
 
     m_thread.start();
-    SimHooks.stepTiming(0.0); // Wait for Notifiers
+    SimHooks.waitForProgramStart();
   }
 
   @AfterEach
diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/digitalcommunication/DigitalCommunicationTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/digitalcommunication/DigitalCommunicationTest.java
index 1d1dab3966..ec49d2877b 100644
--- a/wpilibjExamples/src/test/java/org/wpilib/examples/digitalcommunication/DigitalCommunicationTest.java
+++ b/wpilibjExamples/src/test/java/org/wpilib/examples/digitalcommunication/DigitalCommunicationTest.java
@@ -33,11 +33,12 @@ class DigitalCommunicationTest {
   void startThread() {
     HAL.initialize(500, 0);
     SimHooks.pauseTiming();
+    SimHooks.setProgramStarted(false);
     DriverStationSim.resetData();
     m_robot = new Robot();
     m_thread = new Thread(m_robot::startCompetition);
     m_thread.start();
-    SimHooks.stepTiming(0.0); // Wait for Notifiers
+    SimHooks.waitForProgramStart();
   }
 
   @AfterEach
diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/elevatorsimulation/ElevatorSimulationTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/elevatorsimulation/ElevatorSimulationTest.java
index ea3be1f8c7..1eb97a86f2 100644
--- a/wpilibjExamples/src/test/java/org/wpilib/examples/elevatorsimulation/ElevatorSimulationTest.java
+++ b/wpilibjExamples/src/test/java/org/wpilib/examples/elevatorsimulation/ElevatorSimulationTest.java
@@ -32,6 +32,7 @@ class ElevatorSimulationTest {
   void startThread() {
     HAL.initialize(500, 0);
     SimHooks.pauseTiming();
+    SimHooks.setProgramStarted(false);
     DriverStationSim.resetData();
     m_robot = new Robot();
     m_thread = new Thread(m_robot::startCompetition);
@@ -40,7 +41,7 @@ class ElevatorSimulationTest {
     m_joystickSim = new JoystickSim(Constants.kJoystickPort);
 
     m_thread.start();
-    SimHooks.stepTiming(0.0); // Wait for Notifiers
+    SimHooks.waitForProgramStart();
   }
 
   @AfterEach
diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/i2ccommunication/I2CCommunicationTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/i2ccommunication/I2CCommunicationTest.java
index 457471ecff..2581cc1b82 100644
--- a/wpilibjExamples/src/test/java/org/wpilib/examples/i2ccommunication/I2CCommunicationTest.java
+++ b/wpilibjExamples/src/test/java/org/wpilib/examples/i2ccommunication/I2CCommunicationTest.java
@@ -36,6 +36,7 @@ class I2CCommunicationTest {
   void startThread() {
     HAL.initialize(500, 0);
     SimHooks.pauseTiming();
+    SimHooks.setProgramStarted(false);
     DriverStationSim.resetData();
     m_future = new CompletableFuture<>();
     m_callback =
@@ -44,7 +45,7 @@ class I2CCommunicationTest {
     m_robot = new Robot();
     m_thread = new Thread(m_robot::startCompetition);
     m_thread.start();
-    SimHooks.stepTiming(0.0); // Wait for Notifiers
+    SimHooks.waitForProgramStart();
   }
 
   @AfterEach
diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/potentiometerpid/PotentiometerPIDTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/potentiometerpid/PotentiometerPIDTest.java
index 150c38365c..1d362fc1f1 100644
--- a/wpilibjExamples/src/test/java/org/wpilib/examples/potentiometerpid/PotentiometerPIDTest.java
+++ b/wpilibjExamples/src/test/java/org/wpilib/examples/potentiometerpid/PotentiometerPIDTest.java
@@ -43,6 +43,7 @@ class PotentiometerPIDTest {
   void startThread() {
     HAL.initialize(500, 0);
     SimHooks.pauseTiming();
+    SimHooks.setProgramStarted(false);
     DriverStationSim.resetData();
     m_robot = new Robot();
     m_thread = new Thread(m_robot::startCompetition);
@@ -78,7 +79,7 @@ class PotentiometerPIDTest {
             });
 
     m_thread.start();
-    SimHooks.stepTiming(0.0); // Wait for Notifiers
+    SimHooks.waitForProgramStart();
   }
 
   @AfterEach