diff --git a/simulations/response/mbd/four_post/four_post_eval_sim.py b/simulations/response/mbd/four_post/four_post_eval_sim.py
index 73862685..c070e5a8 100644
--- a/simulations/response/mbd/four_post/four_post_eval_sim.py
+++ b/simulations/response/mbd/four_post/four_post_eval_sim.py
@@ -906,12 +906,11 @@ def build_model_setup_overrides(self) -> dict[str, float]:
         overrides: dict[str, float] = {
             "pVehicle.pFrAxleDW.springFreeLength": float(setup["front_spring_free_length"]),
             "pVehicle.pRrAxleDW.springFreeLength": float(setup["rear_spring_free_length"]),
-            "pVehicle.pFrStabar.barRate": front_stabar_rate,
-            "pVehicle.pRrStabar.barRate": rear_stabar_rate,
-            # Templates zero the bars for pure K&C. Set them for the load-transfer pass.
-            "pFrStabar.barRate": front_stabar_rate,
-            "pRrStabar.barRate": rear_stabar_rate,
         }
+        # The rig binds p{Fr,Rr}Stabar, not pVehicle.p{Fr,Rr}Stabar. Its templates zero the bars for pure K&C.
+        for tag, axle_name, bar_rate in (("Fr", "front", front_stabar_rate), ("Rr", "rear", rear_stabar_rate)):
+            if _side_has_stabar(setup[f"{axle_name}_side"]):
+                overrides[f"p{tag}Stabar.barRate"] = bar_rate
         overrides.update(
             _indexed_table_overrides(
                 "pVehicle.pFrAxleDW.springTable",
diff --git a/tests/test_kinematics.py b/tests/test_kinematics.py
index 8b4b9476..afdc8a29 100644
--- a/tests/test_kinematics.py
+++ b/tests/test_kinematics.py
@@ -1146,3 +1146,20 @@ def test_four_post_preserves_vehicle_spring_curves_without_rate_overrides(
     })
     np.testing.assert_array_equal(overridden["front_spring_table"][:, 1], np.asarray(tables["front"])[:, 0] * 10000.0)
     np.testing.assert_array_equal(overridden["rear_spring_table"], tables["rear"])
+
+
+def test_four_post_sends_bar_rates_only_to_the_rig_bars_that_exist(
+    tmp_path: Path,
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    vehicle = _four_post_unit_vehicle()
+    front = vehicle["front"]
+    assert isinstance(front, dict)
+    front["actuation"].pop("stabar")
+    monkeypatch.setattr(four_post_eval, "_load_active_vehicle_yaml", lambda: vehicle)
+
+    overrides = four_post_eval.FourPostEvalSim(_four_post_unit_config(tmp_path)).build_model_setup_overrides()
+
+    assert not [key for key in overrides if key.startswith("pVehicle.") and "Stabar" in key]
+    assert "pFrStabar.barRate" not in overrides
+    assert overrides["pRrStabar.barRate"] == 0.0