An example counterbalance valve includes: a first port, a second port, and a pilot port configured to receive a pilot pressure fluid signal; a poppet configured to move axially to allow fluid flow from the first port to the second port via a main flow region, wherein the poppet comprises a sensing port that is exposed to fluid at a sensing flow region, wherein the sensing flow region is fluidly coupled to the second port and is shifted axially from the main flow region such that the sensing flow region is separated from turbulent flow in the main flow region; and a pressure setting spring disposed in a spring chamber and applying a biasing force on the poppet in a distal direction.