diff --git a/docs/changes/newsfragments/6723.improved_driver b/docs/changes/newsfragments/6723.improved_driver
new file mode 100644
index 000000000000..0f2b86f36ce5
--- /dev/null
+++ b/docs/changes/newsfragments/6723.improved_driver
@@ -0,0 +1,2 @@
+The Keysight 344xxA drivers have been updated to ensure that ``NPLC``, ``autorange``, ``autozero``, ``apature_time`` and ```apature_mode``
+parameters use the correct instrument commends for the sense mode selected by the ``sense_function`` parameter.
diff --git a/src/qcodes/instrument/sims/Keysight_34465A.yaml b/src/qcodes/instrument/sims/Keysight_34465A.yaml
index 1d5170dca554..8caf02abe68d 100644
--- a/src/qcodes/instrument/sims/Keysight_34465A.yaml
+++ b/src/qcodes/instrument/sims/Keysight_34465A.yaml
@@ -108,17 +108,7 @@ devices:
           r: "{}"
         setter:
           q: "SAMPle:TIMer {}"
-      dc_autorange:
-        default: 0
-        getter:
-          q: "SENSe:VOLTage:DC:RANGe:AUTO?"
-          r: "{}"
-        setter:
-          q: "SENSe:VOLTage:DC:RANGe:AUTO {}"
-        specs:
-          valid: [0, 1]
-          type: int
-      dc_range:
+      voltage_dc_range:
         default: 1
         getter:
           q: "SENSe:VOLTage:DC:RANGe?"
@@ -131,44 +121,260 @@ devices:
                   10000, 100000, 1000000,
                   10000000, 100000000, 1000000000]
           type: float
-      NPLC:
+      voltage_dc_resolution:
+        default: +3.00000000E-05
+        getter:
+          q: "SENSe:VOLTage:DC:RESolution?"
+          r: "{}"
+        setter:
+          q: "SENSe:VOLTage:DC:RESolution {}"
+      current_ac_autorange:
+        default: 0
+        getter:
+          q: "SENSe:CURR:AC:RANGe:AUTO?"
+          r: "{}"
+        setter:
+          q: "SENSe:CURR:AC:RANGe:AUTO {}"
+        specs:
+          valid: [0, 1]
+          type: int
+      current_dc_autorange:
+        default: 0
+        getter:
+          q: "SENSe:CURR:RANGe:AUTO?"
+          r: "{}"
+        setter:
+          q: "SENSe:CURR:RANGe:AUTO {}"
+        specs:
+          valid: [0, 1]
+          type: int
+      fresistance_autorange:
+        default: 0
+        getter:
+          q: "SENSe:FRES:RANGe:AUTO?"
+          r: "{}"
+        setter:
+          q: "SENSe:FRES:RANGe:AUTO {}"
+        specs:
+          valid: [0, 1]
+          type: int
+      resistance_autorange:
+        default: 0
+        getter:
+          q: "SENSe:RES:RANGe:AUTO?"
+          r: "{}"
+        setter:
+          q: "SENSe:RES:RANGe:AUTO {}"
+        specs:
+          valid: [0, 1]
+          type: int
+      voltage_ac_autorange:
+        default: 0
+        getter:
+          q: "SENSe:VOLT:AC:RANGe:AUTO?"
+          r: "{}"
+        setter:
+          q: "SENSe:VOLT:AC:RANGe:AUTO {}"
+        specs:
+          valid: [0, 1]
+          type: int
+      voltage_dc_autorange:
+        default: 0
+        getter:
+          q: "SENSe:VOLT:RANGe:AUTO?"
+          r: "{}"
+        setter:
+          q: "SENSe:VOLT:RANGe:AUTO {}"
+        specs:
+          valid: [0, 1]
+          type: int
+      current_ac_autozero:
+        default: 0
+        getter:
+          q: "SENSe:CURR:AC:ZERO:AUTO?"
+          r: "{}"
+        setter:
+          q: "SENSe:CURR:AC:ZERO:AUTO {}"
+      current_dc_autozero:
+        default: 0
+        getter:
+          q: "SENSe:CURR:ZERO:AUTO?"
+          r: "{}"
+        setter:
+          q: "SENSe:CURR:ZERO:AUTO {}"
+      fresistance_autozero:
+        default: 0
+        getter:
+          q: "SENSe:FRES:ZERO:AUTO?"
+          r: "{}"
+        setter:
+          q: "SENSe:FRES:ZERO:AUTO {}"
+      resistance_autozero:
+        default: 0
+        getter:
+          q: "SENSe:RES:ZERO:AUTO?"
+          r: "{}"
+        setter:
+          q: "SENSe:RES:ZERO:AUTO {}"
+      voltage_ac_autozero:
+        default: 0
+        getter:
+          q: "SENSe:VOLT:AC:ZERO:AUTO?"
+          r: "{}"
+        setter:
+          q: "SENSe:VOLT:AC:ZERO:AUTO {}"
+      voltage_dc_autozero:
+        default: 0
+        getter:
+          q: "SENSe:VOLT:ZERO:AUTO?"
+          r: "{}"
+        setter:
+          q: "SENSe:VOLT:ZERO:AUTO {}"
+      current_ac_NPLC:
+        default: 10.0
+        getter:
+          q: "SENSe:CURR:AC:NPLC?"
+          r: "{}"
+        setter:
+          q: "SENSe:CURR:AC:NPLC {}"
+        specs:
+          valid: [0.001, 0.002, 0.006, 0.02, 0.06, 0.2, 1, 10, 100]
+          type: float
+      current_dc_NPLC:
         default: 10.0
         getter:
-          q: "SENSe:VOLTage:DC:NPLC?"
+          q: "SENSe:CURR:NPLC?"
           r: "{}"
         setter:
-          q: "SENSe:VOLTage:DC:NPLC {}"
+          q: "SENSe:CURR:NPLC {}"
         specs:
-          valid: [0.001, 0.002, 0.006, 0.02, 0.06, .2, 1, 10, 100]
+          valid: [0.001, 0.002, 0.006, 0.02, 0.06, 0.2, 1, 10, 100]
           type: float
-      resolution:
-        default: +3.00000000E-05
+      fresistance_NPLC:
+        default: 10.0
         getter:
-          q: "SENSe:VOLTage:DC:RESolution?"
+          q: "SENSe:FRES:NPLC?"
           r: "{}"
         setter:
-          q: "SENSe:VOLTage:DC:RESolution {}"
-      apterture_enabled:
+          q: "SENSe:FRES:NPLC {}"
+        specs:
+          valid: [0.001, 0.002, 0.006, 0.02, 0.06, 0.2, 1, 10, 100]
+          type: float
+      resistance_NPLC:
+        default: 10.0
+        getter:
+          q: "SENSe:RES:NPLC?"
+          r: "{}"
+        setter:
+          q: "SENSe:RES:NPLC {}"
+        specs:
+          valid: [0.001, 0.002, 0.006, 0.02, 0.06, 0.2, 1, 10, 100]
+          type: float
+      voltage_ac_NPLC:
+        default: 10.0
+        getter:
+          q: "SENSe:VOLT:AC:NPLC?"
+          r: "{}"
+        setter:
+          q: "SENSe:VOLT:AC:NPLC {}"
+        specs:
+          valid: [0.001, 0.002, 0.006, 0.02, 0.06, 0.2, 1, 10, 100]
+          type: float
+      voltage_dc_NPLC:
+        default: 10.0
+        getter:
+          q: "SENSe:VOLT:NPLC?"
+          r: "{}"
+        setter:
+          q: "SENSe:VOLT:NPLC {}"
+        specs:
+          valid: [0.001, 0.002, 0.006, 0.02, 0.06, 0.2, 1, 10, 100]
+          type: float
+      current_ac_aperture_enabled:
+        default: 0
+        getter:
+          q: "SENSe:CURR:AC:APERture:ENABled?"
+          r: "{}"
+        setter:
+          q: "SENSe:CURR:AC:APERture:ENABled {}"
+      current_dc_aperture_enabled:
+        default: 0
+        getter:
+          q: "SENSe:CURR:APERture:ENABled?"
+          r: "{}"
+        setter:
+          q: "SENSe:CURR:APERture:ENABled {}"
+      fresistance_aperture_enabled:
+        default: 0
+        getter:
+          q: "SENSe:FRES:APERture:ENABled?"
+          r: "{}"
+        setter:
+          q: "SENSe:FRES:APERture:ENABled {}"
+      resistance_aperture_enabled:
+        default: 0
+        getter:
+          q: "SENSe:RES:APERture:ENABled?"
+          r: "{}"
+        setter:
+          q: "SENSe:RES:APERture:ENABled {}"
+      voltage_ac_aperture_enabled:
+        default: 0
+        getter:
+          q: "SENSe:VOLT:AC:APERture:ENABled?"
+          r: "{}"
+        setter:
+          q: "SENSe:VOLT:AC:APERture:ENABled {}"
+      voltage_dc_aperture_enabled:
+        default: 0
+        getter:
+          q: "SENSe:VOLT:APERture:ENABled?"
+          r: "{}"
+        setter:
+          q: "SENSe:VOLT:APERture:ENABled {}"
+
+      current_ac_aperture_time:
+        default: 0
+        getter:
+          q: "SENSe:CURR:AC:APERture?"
+          r: "{}"
+        setter:
+          q: "SENSe:CURR:AC:APERture {}"
+      current_dc_aperture_time:
+        default: 0
+        getter:
+          q: "SENSe:CURR:APERture?"
+          r: "{}"
+        setter:
+          q: "SENSe:CURR:APERture {}"
+      fresistance_aperture_time:
+        default: 0
+        getter:
+          q: "SENSe:FRES:APERture?"
+          r: "{}"
+        setter:
+          q: "SENSe:FRES:APERture {}"
+      resistance_aperture_time:
         default: 0
         getter:
-          q: "SENSe:VOLTage:DC:APERture:ENABled?"
+          q: "SENSe:RES:APERture?"
           r: "{}"
         setter:
-          q: "SENSe:VOLTage:DC:APERture:ENABled {}"
-      apterture_time:
+          q: "SENSe:RES:APERture {}"
+      voltage_ac_aperture_time:
         default: 0
         getter:
-          q: "SENSe:VOLTage:DC:APERture?"
+          q: "SENSe:VOLT:AC:APERture?"
           r: "{}"
         setter:
-          q: "SENSe:VOLTage:DC:APERture {}"
-      autozero:
+          q: "SENSe:VOLT:AC:APERture {}"
+      voltage_dc_aperture_time:
         default: 0
         getter:
-          q: "SENSe:VOLTage:DC:ZERO:AUTO?"
+          q: "SENSe:VOLT:APERture?"
           r: "{}"
         setter:
-          q: "SENSe:VOLTage:DC:ZERO:AUTO {}"
+          q: "SENSe:VOLT:APERture {}"
       licenses:
         default: "DIG"
         getter:
diff --git a/src/qcodes/instrument_drivers/Keysight/private/Keysight_344xxA_submodules.py b/src/qcodes/instrument_drivers/Keysight/private/Keysight_344xxA_submodules.py
index 2a2f53d35266..e2b672c39c57 100644
--- a/src/qcodes/instrument_drivers/Keysight/private/Keysight_344xxA_submodules.py
+++ b/src/qcodes/instrument_drivers/Keysight/private/Keysight_344xxA_submodules.py
@@ -26,7 +26,7 @@
 )
 
 if TYPE_CHECKING:
-    from collections.abc import Sequence
+    from collections.abc import Callable, Sequence
 
     from typing_extensions import Unpack
 
@@ -748,7 +748,7 @@ def __init__(
 
         self.NPLC: Parameter = self.add_parameter(
             "NPLC",
-            get_cmd="SENSe:VOLTage:DC:NPLC?",
+            get_cmd=self._get_with_sense_function("NPLC"),
             get_parser=float,
             set_cmd=self._set_NPLC,
             vals=vals.Enum(*self.NPLC_list),
@@ -836,8 +836,8 @@ def __init__(
         self.autorange: Parameter = self.add_parameter(
             "autorange",
             label="Autorange",
-            set_cmd="SENSe:VOLTage:DC:RANGe:AUTO {}",
-            get_cmd="SENSe:VOLTage:DC:RANGe:AUTO?",
+            set_cmd=self._set_with_sense_function("RANGe:AUTO"),
+            get_cmd=self._get_with_sense_function("RANGe:AUTO"),
             val_mapping={"ON": 1, "OFF": 0},
             vals=vals.Enum("ON", "OFF"),
         )
@@ -846,8 +846,8 @@ def __init__(
         self.autozero: Parameter = self.add_parameter(
             "autozero",
             label="Autozero",
-            set_cmd="SENSe:VOLTage:DC:ZERO:AUTO {}",
-            get_cmd="SENSe:VOLTage:DC:ZERO:AUTO?",
+            set_cmd=self._set_with_sense_function("ZERO:AUTO"),
+            get_cmd=self._get_with_sense_function("ZERO:AUTO"),
             val_mapping={"ON": 1, "OFF": 0, "ONCE": "ONCE"},
             vals=vals.Enum("ON", "OFF", "ONCE"),
             docstring=textwrap.dedent(
@@ -932,8 +932,8 @@ def __init__(
             self.aperture_mode: Parameter = self.add_parameter(
                 "aperture_mode",
                 label="Aperture mode",
-                set_cmd="SENSe:VOLTage:DC:APERture:ENABled {}",
-                get_cmd="SENSe:VOLTage:DC:APERture:ENABled?",
+                set_cmd=self._set_with_sense_function("APERture:ENABled"),
+                get_cmd=self._get_with_sense_function("APERture:ENABled"),
                 val_mapping={"ON": 1, "OFF": 0},
                 vals=vals.Enum("ON", "OFF"),
                 docstring=textwrap.dedent(
@@ -953,7 +953,7 @@ def __init__(
                 "aperture_time",
                 label="Aperture time",
                 set_cmd=self._set_apt_time,
-                get_cmd="SENSe:VOLTage:DC:APERture?",
+                get_cmd=self._get_with_sense_function("APERture"),
                 get_parser=float,
                 vals=vals.Numbers(*apt_times[self.model]),
                 docstring=textwrap.dedent(
@@ -1212,14 +1212,42 @@ def read(self) -> np.ndarray:
         raw_vals: str = self.ask("READ?")
         return _raw_vals_to_array(raw_vals)
 
+    def _ask_with_sense_function(self, cmd: str) -> str:
+        # cache.raw_value currently lacks a way to trigger an update
+        # force this by calling get on the cache first which will trigger
+        # the update if required
+        self.sense_function.cache.get(get_if_invalid=True)
+        function = self.sense_function.cache.raw_value.strip('"')
+        return self.ask(f"SENSe:{function}:{cmd}?")
+
+    def _write_with_sense_function(self, cmd: str, value: str) -> None:
+        # cache.raw_value currently lacks a way to trigger an update
+        # force this by calling get on the cache first which will trigger
+        # the update if required
+        self.sense_function.cache.get(get_if_invalid=True)
+        function = self.sense_function.cache.raw_value.strip('"')
+        self.write(f"SENSe:{function}:{cmd} {value}")
+
+    def _get_with_sense_function(self, cmd: str) -> "Callable[[], str]":
+        def func() -> str:
+            return self._ask_with_sense_function(cmd)
+
+        return func
+
+    def _set_with_sense_function(self, cmd: str) -> "Callable[[str], None]":
+        def func(value: str) -> None:
+            self._write_with_sense_function(cmd, value)
+
+        return func
+
     def _set_apt_time(self, value: float) -> None:
-        self.write(f"SENSe:VOLTage:DC:APERture {value:f}")
+        self._write_with_sense_function("APERture", f"{value:f}")
 
         # setting aperture time switches aperture mode ON
         self.aperture_mode.get()
 
     def _set_NPLC(self, value: float) -> None:
-        self.write(f"SENSe:VOLTage:DC:NPLC {value:f}")
+        self._write_with_sense_function("NPLC", f"{value:f}")
 
         # resolution settings change with NPLC
         self.resolution.get()