diff --git a/common/src/comp/agent.rs b/common/src/comp/agent.rs
index 3bbd4f15e5..4653b7fb4a 100644
--- a/common/src/comp/agent.rs
+++ b/common/src/comp/agent.rs
@@ -282,7 +282,7 @@ impl<'a> From<&'a Body> for Psyche {
                 },
             },
             sight_dist: 40.0,
-            listen_dist: 5.0,
+            listen_dist: 30.0,
             aggro_dist: match body {
                 Body::Humanoid(_) => Some(20.0),
                 _ => None, // Always aggressive if detected
diff --git a/server/src/sys/agent.rs b/server/src/sys/agent.rs
index 05e7f1b98d..fe3908161f 100644
--- a/server/src/sys/agent.rs
+++ b/server/src/sys/agent.rs
@@ -1576,18 +1576,13 @@ impl<'a> AgentData<'a> {
             })
         };
 
-        // TODO: This is a temporary hack. Remove this once footsteps are emitted and
-        // agents are capable of detecting when someone is directly behind them.
-        let within_listen_dist = |e_pos: &Pos| {
-            let listen_dist = agent.psyche.listen_dist;
-
-            e_pos.0.distance_squared(self.pos.0) < listen_dist.powi(2)
-        };
+        let can_sense_directly_near =
+            { |e_pos: &Pos| e_pos.0.distance_squared(self.pos.0) < 5_f32.powi(2) };
 
         let is_detected = |entity: EcsEntity, e_pos: &Pos| {
             let chance = thread_rng().gen_bool(0.3);
 
-            (within_listen_dist(e_pos) && chance)
+            (can_sense_directly_near(e_pos) && chance)
                 || self.can_see_entity(agent, controller, entity, e_pos, read_data)
         };