diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim b/ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
index 49effc7617..f610c19af0 100644
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim
@@ -28,7 +28,7 @@ else
 	exit 1
 fi
 
-# If not standalone
+# If not standalone launch the world
 if [ -z "${PX4_GZ_STANDALONE}" ]; then
 
 	# Look for an already running world
diff --git a/docs/en/sim_gazebo_gz/multi_vehicle_simulation.md b/docs/en/sim_gazebo_gz/multi_vehicle_simulation.md
index c67caf2402..22c6465a89 100644
--- a/docs/en/sim_gazebo_gz/multi_vehicle_simulation.md
+++ b/docs/en/sim_gazebo_gz/multi_vehicle_simulation.md
@@ -37,18 +37,23 @@ This allows for greater flexibility and customization.
 - First follow the installation instructions for [Gazebo](../sim_gazebo_gz/index.md).
 - Then configure your system for [ROS 2 / PX4 operations](../ros2/user_guide.md#installation-setup).
 - In different terminals manually start a multi vehicle simulation.
-  This example spawns 2 X500 Quadrotors and aFPX fixed-wing:
+  This example spawns 2 X500 Quadrotors and aFPX fixed-wing.
 
+::: info
+Note that in the first terminal you **do not** specify standalone mode. The first terminal will start the gz-server and the other two
+instances will connect to it.
+**Terminal 1**
+:::
   ```sh
   PX4_SYS_AUTOSTART=4001 PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 1
   ```
-
+**Terminal 2**
   ```sh
-  PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2
+  PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4001 PX4_GZ_MODEL_POSE="0,1" PX4_SIM_MODEL=gz_x500 ./build/px4_sitl_default/bin/px4 -i 2
   ```
-
+**Terminal 3**
   ```sh
-  PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3
+  PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4003 PX4_GZ_MODEL_POSE="0,2" PX4_SIM_MODEL=gz_rc_cessna ./build/px4_sitl_default/bin/px4 -i 3
   ```
 
 - Start the agent: