diff --git a/joint_limits/test/test_joint_saturation_limiter.cpp b/joint_limits/test/test_joint_saturation_limiter.cpp
index f778e81507c..e9705a66622 100644
--- a/joint_limits/test/test_joint_saturation_limiter.cpp
+++ b/joint_limits/test/test_joint_saturation_limiter.cpp
@@ -88,14 +88,10 @@ TEST_F(JointSaturationLimiterTest, when_no_posstate_expect_enforce_false)
     // test no position interface
     current_joint_states_.positions.clear();
     ASSERT_FALSE(joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period));
-
-    // also fail if out of limits
-    desired_joint_states_.positions[0] = 20.0;
-    ASSERT_FALSE(joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period));
   }
 }
 
-TEST_F(JointSaturationLimiterTest, when_no_velstate_expect_limiting)
+TEST_F(SimpleJointLimiterTest, when_no_velstate_expect_enforce_succeed)
 {
   SetupNode("joint_saturation_limiter");
   Load();
@@ -108,9 +104,6 @@ TEST_F(JointSaturationLimiterTest, when_no_velstate_expect_limiting)
     rclcpp::Duration period(1, 0);  // 1 second
     // test no vel interface
     current_joint_states_.velocities.clear();
-    ASSERT_FALSE(joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period));
-    // also fail if out of limits
-    desired_joint_states_.positions[0] = 20.0;
     ASSERT_TRUE(joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period));
   }
 }
@@ -131,7 +124,7 @@ TEST_F(JointSaturationLimiterTest, when_within_limits_expect_no_limits_applied)
     // within limits
     desired_joint_states_.positions[0] = 1.0;
     desired_joint_states_.velocities[0] = 1.0;  // valid pos derivatite as well
-    ASSERT_FALSE(joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period));
+    ASSERT_TRUE(joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period));
 
     // check if no limits applied
     CHECK_STATE_SINGLE_JOINT(
@@ -320,14 +313,10 @@ TEST_F(JointSaturationLimiterTest, when_position_close_to_pos_limit_expect_decel
     desired_joint_states_.velocities[0] = 1.5;
 
     // this setup requires 0.15 distance to stop, and 0.2 seconds (so 4 cycles at 0.05)
-    std::vector expected_ret = {true, true, true, false};
     for (auto i = 0u; i < 4; ++i)
     {
       auto previous_vel_request = desired_joint_states_.velocities[0];
-      // expect limits applied until the end stop
-      ASSERT_EQ(
-        joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period),
-        expected_ret[i]);
+      ASSERT_TRUE(joint_limiter_->enforce(current_joint_states_, desired_joint_states_, period));
 
       ASSERT_LE(
         desired_joint_states_.velocities[0],