The vector-valued extension of the famous Witsenhausen counterexample setup is studied where the encoder, i.e. the first decision maker, non-causally knows and encodes the i.i.d. state sequence and the decoder, i.e. the second decision maker, causally estimates the interim state. The coding scheme is transferred from the finite alphabet coordination problem, for which it is proved to be optimal. The extension to the Gaussian setup is based on a non-standard weak typicality approach and requires a careful average estimation error analysis since the interim state is estimated by the decoder. We provide a single-letter expression that characterizes the optimal trade-off between the Witsenhausen power cost and estimation cost. The two auxiliary random variables improve the communication with the decoder, while performing the dual role of the channel input, which also controls the state of the system. Interestingly, we show that a pair of discrete and continuous auxiliary random variables, outperforms both Witsenhausen two-point strategy and the best affine policies. The optimal choice of random variables remains unknown.