diff --git a/pymc_extras/statespace/models/structural/core.py b/pymc_extras/statespace/models/structural/core.py
index 35ef8939..e6f981ce 100644
--- a/pymc_extras/statespace/models/structural/core.py
+++ b/pymc_extras/statespace/models/structural/core.py
@@ -310,16 +310,20 @@ def _hidden_states_from_data(self, data):
 
         for i, (name, s) in enumerate(zip(names, state_slices)):
             obs_idx = info[name]["obs_state_idx"]
+
             if obs_idx is None:
                 continue
 
             X = data[..., s]
+
             if info[name]["combine_hidden_states"]:
-                sum_idx = np.flatnonzero(obs_idx)
-                result.append(X[..., sum_idx].sum(axis=-1)[..., None])
+                sum_idx_joined = np.flatnonzero(obs_idx)
+                sum_idx_split = np.split(sum_idx_joined, info[name]["k_endog"])
+                for sum_idx in sum_idx_split:
+                    result.append(X[..., sum_idx].sum(axis=-1)[..., None])
             else:
-                comp_names = self.state_names[s]
-                for j, state_name in enumerate(comp_names):
+                n_components = len(self.state_names[s])
+                for j in range(n_components):
                     result.append(X[..., j, None])
 
         return np.concatenate(result, axis=-1)
@@ -332,7 +336,15 @@ def _get_subcomponent_names(self):
 
         for i, (name, s) in enumerate(zip(names, state_slices)):
             if info[name]["combine_hidden_states"]:
-                result.append(name)
+                if self.k_endog == 1:
+                    result.append(name)
+                else:
+                    # If there are multiple observed states, we will combine per hidden state, preserving the
+                    # observed state names. Note this happens even if this *component* has only 1 state for consistency,
+                    # as long as the statespace model has multiple observed states.
+                    result.extend(
+                        [f"{name}[{obs_name}]" for obs_name in info[name]["observed_state_names"]]
+                    )
             else:
                 comp_names = self.state_names[s]
                 result.extend([f"{name}[{comp_name}]" for comp_name in comp_names])
@@ -540,7 +552,7 @@ def __init__(
         self._component_info = {
             self.name: {
                 "k_states": self.k_states,
-                "k_enodg": self.k_endog,
+                "k_endog": self.k_endog,
                 "k_posdef": self.k_posdef,
                 "observed_state_names": self.observed_state_names,
                 "combine_hidden_states": combine_hidden_states,
diff --git a/tests/statespace/models/structural/test_core.py b/tests/statespace/models/structural/test_core.py
index 43ee7af3..bd9dcb03 100644
--- a/tests/statespace/models/structural/test_core.py
+++ b/tests/statespace/models/structural/test_core.py
@@ -128,8 +128,9 @@ def test_extract_multiple_observed(rng):
     reg = st.RegressionComponent(
         state_names=["a", "b"], name="exog", observed_state_names=["data_2", "data_3"]
     )
+    ar = st.AutoregressiveComponent(observed_state_names=["data_1", "data_2"], order=3)
     me = st.MeasurementError("obs", observed_state_names=["data_1", "data_3"])
-    mod = (ll + season + reg + me).build(verbose=True)
+    mod = (ll + season + reg + ar + me).build(verbose=True)
 
     with pm.Model(coords=mod.coords) as m:
         data_exog = pm.Data("data_exog", data.values)
@@ -137,6 +138,10 @@ def test_extract_multiple_observed(rng):
         x0 = pm.Normal("x0", dims=["state"])
         P0 = pm.Deterministic("P0", pt.eye(mod.k_states), dims=["state", "state_aux"])
         beta_exog = pm.Normal("beta_exog", dims=["endog_exog", "state_exog"])
+        params_auto_regressive = pm.Normal(
+            "params_auto_regressive", dims=["endog_auto_regressive", "lag_auto_regressive"]
+        )
+        sigma_auto_regressive = pm.Normal("sigma_auto_regressive", dims=["endog_auto_regressive"])
         initial_trend = pm.Normal("initial_trend", dims=["endog_trend", "state_trend"])
         sigma_trend = pm.Exponential("sigma_trend", 1, dims=["endog_trend", "shock_trend"])
         seasonal_coefs = pm.Normal("seasonal", dims=["state_seasonal"])
@@ -155,11 +160,13 @@ def test_extract_multiple_observed(rng):
         "trend[trend[data_1]]",
         "trend[level[data_2]]",
         "trend[trend[data_2]]",
-        "seasonal",
+        "seasonal[data_1]",
         "exog[a[data_2]]",
         "exog[b[data_2]]",
         "exog[a[data_3]]",
         "exog[b[data_3]]",
+        "auto_regressive[data_1]",
+        "auto_regressive[data_2]",
     ]
 
     missing = set(comp_states) - set(expected_states)