Call a (finite and connected) graph $k$-distance-transitive if its symmetry group acts transitively on the pairs in each one of the sets
$$D_\delta:=\{(i,j)\in V\times V\mid \mathrm d(i,j)=\delta\},\qquad\text{for all $\delta\in\{0,...,k\}$}.$$
For $k=\mathrm{diam}(G)$ (the diameter of $G$), these are the distance-transitive graphs.
Question: Is it known that if $k$ is just large enough (e.g. relative to $\mathrm{diam}(G)$, or in an absolute sense), that every $k$-distance-transitive graph is already distance-transitive?
Or are there examples of $k$-distance-transitive graphs of arbitrary large diameter, that are not distance-transitive even if $k=\mathrm{diam}(G)-1$?