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This study examined age-related differences in motor estimation ability among middle-aged and older adults through physical fitness and mobility assessments. Participants performed two motor tasks: the functional reach (FR) test and the two-step test. Each task included an actual task in which participants executed the movement with maximum effort and a perceptual task in which they estimated the reached distance. Motor estimation ability was evaluated as the difference between the actual and perceived stability limits (DAP). Participants were categorized into age groups by decade (30s, 40s, 50s, 60s, 70s, and 80s). Group differences were examined using a two-way analysis of variance with age group and sex as factors. Actual reach distances were significantly greater in participants in their 30–60 s than in those in their 70s. In both tests, a significant positive correlation was observed between the maximal performance and DAP. In the FR test, DAP was significantly greater in participants in their 30s and 40s than in those in their 70s. In the two-step test, participants in their 50s exhibited a greater DAP tendency than those in their 70s and 80s. Hierarchical multiple regression analyses showed that age remained a significant predictor of motor estimation error both tests after controlling for sex, body mass index, handgrip strength, and physical activity level. Motor estimation ability declines in the 60s and is influenced by sex and motor function capacity. Preventive practices should be promoted among individuals under 60 before significant declines in motor estimation ability occur.