diff --git a/msg/ekf2_timestamps.msg b/msg/ekf2_timestamps.msg
index f8a7932532..0b4d1c0c87 100644
--- a/msg/ekf2_timestamps.msg
+++ b/msg/ekf2_timestamps.msg
@@ -15,7 +15,6 @@ int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative times
 
 int16 airspeed_timestamp_rel
 int16 distance_sensor_timestamp_rel
-int16 gps_timestamp_rel
 int16 optical_flow_timestamp_rel
 int16 vehicle_air_data_timestamp_rel
 int16 vehicle_magnetometer_timestamp_rel
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index fb29e7abe8..ac8cf7043d 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -804,7 +804,6 @@ void Ekf2::Run()
 
 		ekf2_timestamps.airspeed_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
 		ekf2_timestamps.distance_sensor_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
-		ekf2_timestamps.gps_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
 		ekf2_timestamps.optical_flow_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
 		ekf2_timestamps.vehicle_air_data_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
 		ekf2_timestamps.vehicle_magnetometer_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
@@ -928,8 +927,6 @@ void Ekf2::Run()
 			if (_gps_subs[0].copy(&gps)) {
 				fillGpsMsgWithVehicleGpsPosData(_gps_state[0], gps);
 				_gps_alttitude_ellipsoid[0] = gps.alt_ellipsoid;
-
-				ekf2_timestamps.gps_timestamp_rel = (int16_t)((int64_t)gps.timestamp / 100 - (int64_t)ekf2_timestamps.timestamp / 100);
 			}
 		}
 
diff --git a/src/modules/replay/ReplayEkf2.cpp b/src/modules/replay/ReplayEkf2.cpp
index 4922e56764..2bea63fd5e 100644
--- a/src/modules/replay/ReplayEkf2.cpp
+++ b/src/modules/replay/ReplayEkf2.cpp
@@ -115,11 +115,6 @@ ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
 	} else if (sub.orb_meta == ORB_ID(distance_sensor)) {
 		_distance_sensor_msg_id = msg_id;
 
-	} else if (sub.orb_meta == ORB_ID(vehicle_gps_position)) {
-		if (sub.multi_id == 0) {
-			_gps_msg_id = msg_id;
-		}
-
 	} else if (sub.orb_meta == ORB_ID(optical_flow)) {
 		_optical_flow_msg_id = msg_id;
 
@@ -135,9 +130,9 @@ ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
 
 	// the main loop should only handle publication of the following topics, the sensor topics are
 	// handled separately in publishEkf2Topics()
+	// Note: the GPS is not treated here since not missing data is more important than the accuracy of the timestamp
 	sub.ignored = sub.orb_meta != ORB_ID(ekf2_timestamps) && sub.orb_meta != ORB_ID(vehicle_status)
-		      && sub.orb_meta != ORB_ID(vehicle_land_detected) &&
-		      (sub.orb_meta != ORB_ID(vehicle_gps_position) || sub.multi_id == 0);
+		      && sub.orb_meta != ORB_ID(vehicle_land_detected) && sub.orb_meta != ORB_ID(vehicle_gps_position);
 }
 
 bool
@@ -153,7 +148,6 @@ ReplayEkf2::publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifs
 
 	handle_sensor_publication(ekf2_timestamps.airspeed_timestamp_rel, _airspeed_msg_id);
 	handle_sensor_publication(ekf2_timestamps.distance_sensor_timestamp_rel, _distance_sensor_msg_id);
-	handle_sensor_publication(ekf2_timestamps.gps_timestamp_rel, _gps_msg_id);
 	handle_sensor_publication(ekf2_timestamps.optical_flow_timestamp_rel, _optical_flow_msg_id);
 	handle_sensor_publication(ekf2_timestamps.vehicle_air_data_timestamp_rel, _vehicle_air_data_msg_id);
 	handle_sensor_publication(ekf2_timestamps.vehicle_magnetometer_timestamp_rel, _vehicle_magnetometer_msg_id);
@@ -234,7 +228,6 @@ ReplayEkf2::onExitMainLoop()
 
 	print_sensor_statistics(_airspeed_msg_id, "airspeed");
 	print_sensor_statistics(_distance_sensor_msg_id, "distance_sensor");
-	print_sensor_statistics(_gps_msg_id, "vehicle_gps_position");
 	print_sensor_statistics(_optical_flow_msg_id, "optical_flow");
 	print_sensor_statistics(_sensor_combined_msg_id, "sensor_combined");
 	print_sensor_statistics(_vehicle_air_data_msg_id, "vehicle_air_data");
diff --git a/src/modules/replay/ReplayEkf2.hpp b/src/modules/replay/ReplayEkf2.hpp
index bba1ca494c..7a29fe3dbf 100644
--- a/src/modules/replay/ReplayEkf2.hpp
+++ b/src/modules/replay/ReplayEkf2.hpp
@@ -82,7 +82,6 @@ private:
 
 	uint16_t _airspeed_msg_id = msg_id_invalid;
 	uint16_t _distance_sensor_msg_id = msg_id_invalid;
-	uint16_t _gps_msg_id = msg_id_invalid;
 	uint16_t _optical_flow_msg_id = msg_id_invalid;
 	uint16_t _sensor_combined_msg_id = msg_id_invalid;
 	uint16_t _vehicle_air_data_msg_id = msg_id_invalid;