diff --git a/arch/sim/Kconfig b/arch/sim/Kconfig
index e0213cc5807..52222891223 100644
--- a/arch/sim/Kconfig
+++ b/arch/sim/Kconfig
@@ -105,11 +105,6 @@ config SIM_X8664_MICROSOFT
 
 endchoice
 
-config SIM_WALLTIME
-	bool "Run the simulation at a fixed cadence in near real-time"
-	default y
-
-if SIM_WALLTIME
 choice
 	prompt "Simulation at a fixed cadence in near real-time"
 	default SIM_WALLTIME_SLEEP
@@ -117,12 +112,7 @@ choice
 config SIM_WALLTIME_SLEEP
 	bool "Execution the simulation in near real-time using host sleep"
 	---help---
-		NOTE:  In order to facility fast testing, the sim target's IDLE loop, by default,
-		calls the system timer "interrupt handler" as fast as possible.  As a result, there
-		really are no noticeable delays when a task sleeps.  However, the task really does
-		sleep -- but the time scale is wrong.  If you want behavior that is closer to
-		normal timing, then you can define SIM_WALLTIME=y in your configuration
-		file.  This configuration setting will cause the sim target's IDLE loop to delay
+		NOTE: This configuration setting will cause the sim target's IDLE loop to delay
 		on each call so that the system "timer interrupt" is called at a rate approximately
 		correct for the system timer tick rate.  With this definition in the configuration,
 		sleep() behavior is more or less normal.
@@ -137,14 +127,12 @@ config SIM_WALLTIME_SIGNAL
 
 endchoice
 
-endif
-
 config SIM_NETDEV
 	bool "Simulated Network Device"
 	default y
 	select ARCH_HAVE_NETDEV_STATISTICS
 	select SCHED_LPWORK
-	depends on (NET_ETHERNET && SIM_WALLTIME)
+	depends on NET_ETHERNET
 	---help---
 		Build in support for a simulated network device.
 
@@ -537,7 +525,7 @@ config SIM_QSPIFLASH_PAGESIZE
 config SIM_HCISOCKET
 	bool "Attach Host Bluetooth"
 	default false
-	depends on (WIRELESS_BLUETOOTH && HOST_LINUX && SIM_WALLTIME)
+	depends on (WIRELESS_BLUETOOTH && HOST_LINUX)
 	---help---
 		Attached the local bluetooth device to the simulation
 		target via HCI_CHANNEL_USER. This gives NuttX full
diff --git a/arch/sim/src/Makefile b/arch/sim/src/Makefile
index 56e574164b0..bd669e86782 100644
--- a/arch/sim/src/Makefile
+++ b/arch/sim/src/Makefile
@@ -98,9 +98,6 @@ ifeq ($(CONFIG_SMP),y)
   CSRCS += up_smpsignal.c up_cpuidlestack.c
   REQUIREDOBJS += up_smpsignal$(OBJEXT)
   HOSTCFLAGS += -DCONFIG_SMP=1 -DCONFIG_SMP_NCPUS=$(CONFIG_SMP_NCPUS)
-ifeq ($(CONFIG_SIM_WALLTIME),y)
-  HOSTCFLAGS += -DCONFIG_SIM_WALLTIME=1
-endif
 ifeq ($(CONFIG_SCHED_INSTRUMENTATION),y)
   HOSTCFLAGS += -DCONFIG_SCHED_INSTRUMENTATION=1
 endif
diff --git a/arch/sim/src/sim/up_simsmp.c b/arch/sim/src/sim/up_simsmp.c
index dcf8501b62c..fd7305c8fb8 100644
--- a/arch/sim/src/sim/up_simsmp.c
+++ b/arch/sim/src/sim/up_simsmp.c
@@ -94,9 +94,7 @@ extern uint8_t g_nx_initstate;
 static void *sim_idle_trampoline(void *arg)
 {
   struct sim_cpuinfo_s *cpuinfo = (struct sim_cpuinfo_s *)arg;
-#ifdef CONFIG_SIM_WALLTIME
   uint64_t now = 0;
-#endif
   int ret;
 
   /* Set the CPU number for the CPU thread */
@@ -131,16 +129,10 @@ static void *sim_idle_trampoline(void *arg)
 
   for (; ; )
     {
-#ifdef CONFIG_SIM_WALLTIME
       /* Wait a bit so that the timing is close to the correct rate. */
 
       now += 1000 * CONFIG_USEC_PER_TICK;
       host_sleepuntil(now);
-#else
-      /* Give other pthreads/CPUs a shot */
-
-      sched_yield();
-#endif
     }
 
   return NULL;
diff --git a/boards/sim/sim/sim/README.txt b/boards/sim/sim/sim/README.txt
index 51520cb55c0..8cfca8ed857 100644
--- a/boards/sim/sim/sim/README.txt
+++ b/boards/sim/sim/sim/README.txt
@@ -49,13 +49,7 @@ application that I know of.
 
 Timing Fidelity
 ---------------
-NOTE:  In order to facility fast testing, the sim target's IDLE loop, by
-default, calls the system "interrupt handler" as fast as possible.  As a
-result, there really are no noticeable delays when a task sleeps.  However,
-the task really does sleep -- but the time scale is wrong.  If you want
-behavior that is closer to normal timing, then you can define
-CONFIG_SIM_WALLTIME=y in your configuration file.  This configuration setting
-will cause the sim target's IDLE loop to delay on each call so that the system
+NOTE: The sim target's IDLE loop to delay on each call so that the system
 "timer interrupt" is called at a rate approximately correct for the system
 timer tick rate.  This option can be enabled with CONFIG_SIM_WALLTIME_SIGNAL
 which will drive the entire simulation by using a host timer that ticks at
@@ -316,12 +310,6 @@ SMP
     +CONFIG_SMP=y
     +CONFIG_SMP_NCPUS=2
 
-  You also must enable near-realtime-performance otherwise even long timeouts
-  will expire before a CPU thread even has a chance to execute.
-
-    -# CONFIG_SIM_WALLTIME is not set
-    +CONFIG_SIM_WALLTIME=y
-
   And you can enable some additional debug output with:
 
     -# CONFIG_DEBUG_SCHED is not set