gz-physics dartsim assertion failed during px4 simulation

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Hello! When starting a simulation through px4 like shown below, gazebo stops and prints a stacktrace to the console. There seems to be an assertion error - not sure why? Is this a bug in the gz-physics software or more like an issue with my setup? I'm running gazebo garden (7.4.0) on ArchLinux.

[Dbg] [SystemManager.cc:74] Loaded system [gz::sim::systems::MulticopterMotorModel] for entity [10]
[Dbg] [UserCommands.cc:1263] Created entity [10] named [x500_0]
/usr/include/c++/12.2.1/bits/stl_vector.h:1123: std::vector<_Tp, _Alloc>::reference std::vector<_Tp, _Alloc>::operator[](size_type) [with _Tp = dart::dynamics::Skeleton::DataCache; _Alloc = Eigen::aligned_allocator<dart::dynamics::Skeleton::DataCache>; reference = dart::dynamics::Skeleton::DataCache&; size_type = long unsigned int]: Assertion '__n < this->size()' failed.
Stack trace (most recent call last):
#31   Object "/usr/lib/libruby.so.3.0", at 0x7f631584760e, in
#30   Object "/usr/lib/libruby.so.3.0", at 0x7f6315844829, in
#29   Object "/usr/lib/libruby.so.3.0", at 0x7f631583b57c, in
#28   Object "/usr/lib/ruby/3.0.0/x86_64-linux/fiddle.so", at 0x7f6315b96acc, in
#27   Object "/usr/lib/libruby.so.3.0", at 0x7f631580e0f5, in rb_nogvl
#26   Object "/usr/lib/ruby/3.0.0/x86_64-linux/fiddle.so", at 0x7f6315b963bc, in
#25   Object "/usr/lib/libffi.so.8", at 0x7f631537cb72, in ffi_call
#24   Object "/usr/lib/libffi.so.8", at 0x7f6315379f5d, in
#23   Object "/usr/lib/libffi.so.8", at 0x7f631537d4f5, in
#22   Object "/usr/lib/libgz-sim7-gz.so.7.4.0", at 0x7f6311a70940, in runServer
#21   Object "/usr/lib/libgz-sim7.so.7", at 0x7f63109f09c2, in
#20   Object "/usr/lib/libgz-sim7.so.7", at 0x7f6310a0438b, in gz::sim::v7::SimulationRunner::Run(unsigned long)
#19   Object "/usr/lib/libgz-sim7.so.7", at 0x7f6310a03a28, in gz::sim::v7::SimulationRunner::Step(gz::sim::v7::UpdateInfo const&)
#18   Object "/usr/lib/libgz-sim7.so.7", at 0x7f63109f8d91, in gz::sim::v7::SimulationRunner::UpdateSystems()
#17   Object "/usr/lib/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7f62fc520a6b, in gz::sim::v7::systems::Physics::Update(gz::sim::v7::UpdateInfo const&, gz::sim::v7::EntityComponentManager&)
#16   Object "/usr/lib/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7f62fc50cce6, in gz::sim::v7::systems::PhysicsPrivate::CreatePhysicsEntities(gz::sim::v7::EntityComponentManager const&, bool)
#15   Object "/usr/lib/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7f62fc50bd0e, in gz::sim::v7::systems::PhysicsPrivate::CreateModelEntities(gz::sim::v7::EntityComponentManager const&, bool)
#14   Object "/usr/lib/gz-sim-7/plugins/libgz-sim-physics-system.so", at 0x7f62fc597f10, in void gz::sim::v7::EntityComponentManager::EachNew<gz::sim::v7::components::Component<std::add_lvalue_reference<void>, gz::sim::v7::components::ModelTag, gz::sim::v7::serializers::DefaultSerializer<std::add_lvalue_reference<void> > >, gz::sim::v7::components::Component<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, gz::sim::v7::components::NameTag, gz::sim::v7::serializers::StringSerializer>, gz::sim::v7::components::Component<gz::math::v7::Pose3<double>, gz::sim::v7::components::PoseTag, gz::sim::v7::serializers::DefaultSerializer<gz::math::v7::Pose3<double> > >, gz::sim::v7::components::Component<unsigned long, gz::sim::v7::components::ParentEntityTag, gz::sim::v7::serializers::DefaultSerializer<unsigned long> > >(gz::sim::v7::EntityComponentManager::identity<std::function<bool (unsigned long const ...