diff --git a/test/mavsdk_tests/mavsdk_test_runner.py b/test/mavsdk_tests/mavsdk_test_runner.py
index 3562c60b9d..a9def26950 100755
--- a/test/mavsdk_tests/mavsdk_test_runner.py
+++ b/test/mavsdk_tests/mavsdk_test_runner.py
@@ -9,6 +9,7 @@ import psutil  # type: ignore
 import signal
 import subprocess
 import sys
+import time
 from logger_helper import color, colorize
 import process_helper as ph
 from typing import Any, Dict, List, NoReturn, TextIO, Optional
@@ -382,14 +383,6 @@ class Tester:
                     self.verbose)
                 self.active_runners.append(gzserver_runner)
 
-                waitforgz_runner = ph.WaitforgzRunner(
-                    os.getcwd(),
-                    log_dir,
-                    test['model'],
-                    case,
-                    self.verbose)
-                self.active_runners.append(waitforgz_runner)
-
                 gzmodelspawn_runner = ph.GzmodelspawnRunner(
                     os.getcwd(),
                     log_dir,
@@ -428,6 +421,11 @@ class Tester:
                       .format(runner.name))
                 break
 
+            # Workaround to prevent gz not being able to communicate
+            # with gzserver
+            if runner.name == "gzserver":
+                time.sleep(10)
+
         if abort:
             self.stop_runners()
             sys.exit(1)
diff --git a/test/mavsdk_tests/process_helper.py b/test/mavsdk_tests/process_helper.py
index c8420a5ea4..703add84cd 100644
--- a/test/mavsdk_tests/process_helper.py
+++ b/test/mavsdk_tests/process_helper.py
@@ -6,7 +6,6 @@ import os
 import atexit
 import subprocess
 import threading
-import pathlib
 import errno
 from typing import Any, Dict, List, TextIO, Optional
 
@@ -31,7 +30,6 @@ class Runner:
         self.start_time = time.time()
         self.log_dir = log_dir
         self.log_filename = ""
-        self.wait_until_complete = False
         self.stop_thread: Any[threading.Event] = None
 
     def set_log_filename(self, log_filename: str) -> None:
@@ -62,11 +60,6 @@ class Runner:
         self.stop_thread = threading.Event()
         self.thread = threading.Thread(target=self.process_output)
         self.thread.start()
-        if self.wait_until_complete:
-            timeout_s = 10.0
-            if self.wait(timeout_s) != 0:
-                raise TimeoutError("Command '{}' not completed within {}"
-                                   .format(self.cmd, timeout_s))
 
     def process_output(self) -> None:
         assert self.process.stdout is not None
@@ -211,24 +204,6 @@ class GzserverRunner(Runner):
             self.env[var] = os.environ[var]
 
 
-class WaitforgzRunner(Runner):
-    def __init__(self,
-                 workspace_dir: str,
-                 log_dir: str,
-                 model: str,
-                 case: str,
-                 verbose: bool):
-        super().__init__(log_dir, model, case, verbose)
-        self.name = "waitforgz"
-        self.cwd = workspace_dir
-        self.env = {"PATH": os.environ['PATH'],
-                    "HOME": os.environ['HOME']}
-        script_dir = pathlib.Path(__file__).parent.absolute()
-        self.cmd = os.path.join(script_dir, "waitforgz.sh")
-        self.args = []
-        self.wait_until_complete = True
-
-
 class GzmodelspawnRunner(Runner):
     def __init__(self,
                  workspace_dir: str,
@@ -252,7 +227,6 @@ class GzmodelspawnRunner(Runner):
                      self.model + "/" + self.model + ".sdf",
                      "--model-name", self.model,
                      "-x", "1.01", "-y", "0.98", "-z", "0.83"]
-        self.wait_until_complete = True
 
 
 class GzclientRunner(Runner):
diff --git a/test/mavsdk_tests/waitforgz.sh b/test/mavsdk_tests/waitforgz.sh
deleted file mode 100755
index 5a06b072e7..0000000000
--- a/test/mavsdk_tests/waitforgz.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/usr/bin/env bash
-
-while gz stats -d 0 2>&1 | grep -q "An instance of Gazebo is not running."; do
-    echo "Gazebo not running yet ..."
-done