diff --git a/tests/servers/test_navigation_server_3d.h b/tests/servers/test_navigation_server_3d.h
index 1b2a5e0db29..46a57168207 100644
--- a/tests/servers/test_navigation_server_3d.h
+++ b/tests/servers/test_navigation_server_3d.h
@@ -816,6 +816,21 @@ TEST_SUITE("[Navigation]") {
 	}
 	*/
 
+	TEST_CASE("[NavigationServer3D] Server should simplify path properly") {
+		real_t simplify_epsilon = 0.2;
+		Vector<Vector3> source_path;
+		source_path.resize(7);
+		source_path.write[0] = Vector3(0.0, 0.0, 0.0);
+		source_path.write[1] = Vector3(0.0, 0.0, 1.0); // This point needs to go.
+		source_path.write[2] = Vector3(0.0, 0.0, 2.0); // This point needs to go.
+		source_path.write[3] = Vector3(0.0, 0.0, 2.0);
+		source_path.write[4] = Vector3(2.0, 1.0, 3.0);
+		source_path.write[5] = Vector3(2.0, 1.5, 4.0); // This point needs to go.
+		source_path.write[6] = Vector3(2.0, 2.0, 5.0);
+		Vector<Vector3> simplified_path = NavigationServer3D::get_singleton()->simplify_path(source_path, simplify_epsilon);
+		CHECK_EQ(simplified_path.size(), 4);
+	}
+
 	TEST_CASE("[Heap] size") {
 		gd::Heap<int> heap;