Systems, methods, tangible non-transitory computer-readable media, and devices associated with testing, simulation, or operation of an autonomous device including an autonomous vehicle are provided. For example, a service entity computing system can perform operations including obtaining operating software data associated with operating software of the autonomous vehicle. Log data associated with one or more real-world scenarios can also be obtained. One or more first simulations of the operating software can be performed based on the one or more real-world scenarios. A latency distribution profile associated with the operating software can be generated based on the one or more first simulations. One or more second simulations of the operating software can be performed based on the latency distribution profile and one or more artificially generated scenarios. Furthermore, a real-world behavior of the autonomous vehicle can be predicted based on the one or more second simulations.