diff --git a/ci-scripts/scripts/set-and-verify-distance-prs.sh b/ci-scripts/scripts/set-and-verify-distance-prs.sh
new file mode 100755
index 0000000000..e54c8897a2
--- /dev/null
+++ b/ci-scripts/scripts/set-and-verify-distance-prs.sh
@@ -0,0 +1,39 @@
+#!/bin/bash
+
+die() { echo -e "$@"; exit 1; }
+
+[[ -z "$1" ]] && die "Usage: $0 <distance_in_meters>"
+
+IP=192.168.71.150
+PORT=8091
+distance=$1
+
+set_and_verify_distance() {
+  local distance=$1
+  echo "Testing PRS ToA estimation for distance: $distance m"
+
+  # it sems that grep returns immediately with this syntax, but not echo | ncat | grep
+  # so prefer this to receive new distance immediately. We use --idle to keep
+  # ncat open for some additional time
+  local setdist_resp="$(grep --max-count 1 new_offset <(echo rfsimu setdistance rfsimu_channel_enB0 $distance | ncat --idle 1 ${IP} ${PORT}))"
+  echo "> response: ${setdist_resp}"
+  local gettoa_resp="$(echo ciUE get_max_dl_toa | ncat ${IP} ${PORT} | grep "UE max PRS DL ToA")"
+  echo "> response: ${gettoa_resp}"
+
+  [[ "$setdist_resp" =~ new_offset\ ([0-9]+) ]] || die "Set ToA extraction failed for distance: $distance m\nLOG: $setdist_resp"
+  local set_toa="${BASH_REMATCH[1]}"
+  
+  [[ "$gettoa_resp" =~ UE\ max\ PRS\ DL\ ToA\ ([0-9]+) ]] || die "Estimated ToA extraction failed for distance: $distance m\nLOG: $gettoa_resp"
+  local est_toa="${BASH_REMATCH[1]}"
+  
+  [[ $set_toa == $est_toa ]] || die "PRS FAILURE for distance: $distance m\nActual ToA = $set_toa, Estimated ToA = $est_toa"
+  
+  echo "PRS SUCCESS for distance: $distance m"
+}
+
+# Set distance to 0 initially and then set the actual distance
+sleep 4
+set_and_verify_distance 0
+
+sleep 4
+set_and_verify_distance $distance