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Interpupillary distance (IPD) is the most important parameter for creating a user-specific stereo parallax, which in turn is crucial for correct depth perception. This is why contemporary Head-Mounted Displays (HMDs) offer adjustable lenses to adapt to users’ individual IPDs. However, today’s Video See-Through Augmented Reality (VST AR) HMDs use fixed camera placements to reconstruct the stereoscopic view of a user’s environment. This leads to a potential mismatch between individual IPD settings and the fixed Inter-Camera Distances (ICD), which can lead to perceptual incongruencies, limiting the usability and, potentially, the applicability of VST AR in depth-sensitive use cases. To investigate this incongruency between IPD and ICD, we conducted a 2 × 3 mixed-factor design user study using a near-field, open-loop reaching task comparing distance judgments of Virtual Reality (VR) and VST AR. We also investigated changes in reaching performance via perceptual calibration by incorporating a feedback phase between pre- and post-phase conditions, with a particular focus on the influence of IPD-ICD differences. Our Linear Mixed Model (LMM) analysis showed a significant difference between VR and VST AR, an effect of IPD-ICD mismatch, and a combined effect of both factors. However, subjective measures showed no effect underlining the subconscious nature of the perception of VST AR. This novel insight and its consequences are discussed specifically for depth perception tasks in AR, eXtended Reality (XR), and potential use cases.