diff --git a/src/ds/d400/d400-device.cpp b/src/ds/d400/d400-device.cpp
index fdc43d5983..6fbfeae585 100644
--- a/src/ds/d400/d400-device.cpp
+++ b/src/ds/d400/d400-device.cpp
@@ -810,13 +810,8 @@ namespace librealsense
                     { (float)RS2_DEPTH_AUTO_EXPOSURE_REGULAR, "Regular" },
                     { (float)RS2_DEPTH_AUTO_EXPOSURE_ACCELERATED, "Accelerated" } } , false);
 
-                std::vector< std::pair< std::shared_ptr< option >, std::string > > options_and_reasons
-                    = { std::make_pair( enable_auto_exposure,
-                                        "Depth auto exposure mode cannot be set when auto exposure is enabled" ) };
-
                 depth_sensor.register_option(
-                    RS2_OPTION_DEPTH_AUTO_EXPOSURE_MODE,
-                    std::make_shared< gated_option >( depth_auto_exposure_mode, options_and_reasons ) );
+                    RS2_OPTION_DEPTH_AUTO_EXPOSURE_MODE, depth_auto_exposure_mode );
             }
 
             //EXPOSURE
diff --git a/unit-tests/live/d400/test-depth_ae_mode.py b/unit-tests/live/d400/test-depth_ae_mode.py
index 72192f57b6..4e88434e9c 100644
--- a/unit-tests/live/d400/test-depth_ae_mode.py
+++ b/unit-tests/live/d400/test-depth_ae_mode.py
@@ -12,7 +12,7 @@
 depth_sensor = device.first_depth_sensor()
 fw_version = rsutils.version( device.get_info( rs.camera_info.firmware_version ))
 
-if fw_version <= rsutils.version(5,15,0,0):
+if fw_version < rsutils.version(5,15,0,0):
     log.i(f"FW version {fw_version} does not support DEPTH_AUTO_EXPOSURE_MODE option, skipping test...")
     test.print_results_and_exit()
 
@@ -26,10 +26,12 @@
 
 ################################################################################################
 
-test.start("Verify cannot set when auto exposure on")
+test.start("Verify can set when auto exposure on")
 depth_sensor.set_option(rs.option.enable_auto_exposure, True)
 test.check_equal(depth_sensor.get_option(rs.option.enable_auto_exposure), True)
 depth_sensor.set_option(rs.option.auto_exposure_mode, ACCELERATED)
+test.check_equal(depth_sensor.get_option(rs.option.auto_exposure_mode), ACCELERATED)
+depth_sensor.set_option(rs.option.auto_exposure_mode, REGULAR)
 test.check_equal(depth_sensor.get_option(rs.option.auto_exposure_mode), REGULAR)
 test.finish()