  We show that the $t_{2g}^2$ perovskite LaVO$_3$, in its orthorhombic phase,
is a rare case of a system hosting an orbital-ordering Kugel-Khomskii phase
transition, rather than being controlled by the Coulomb-enhanced crystal-field
splitting. We find that, as a consequence of this, the magnetic transition is
close to (and even above) the super-exchange driven orbital-ordering
transition, whereas typically magnetism arises at much lower temperatures than
orbital ordering. Our results support the experimental scenario of
orbital-ordering and G-type spin correlations just above the
monoclinic-to-orthorhombic structural change. To explore the effects of
crystal-field splitting and filling, we compare to YVO$_3$ and $t_{2g}^1$
titanates. In all these materials the crystal-field is sufficiently large to
suppress the Kugel-Khomskii phase transition.
