Shared sampled_route gives canonical 300 mm sampling with material solidity, the water-depth-3 policy, and NPC home/work blockers; route_words_centered adds dead-end-mouth recentering, which a 600 mm body genuinely needs. tinker_live now re-plans per leg from the durable position, since walkers leave posts and D4 holds chasing monsters, and its expectations are re-derived from a real run. wield_live asserts body-surface reach bands rather than exact-cell adjacency; transfers_live re-points its rejection case at a genuinely-rejecting out-of-range InspectBoard, because a blocked ordinary move is a recorded no-op. PTY drivers cue on decoded grid content with a settle window instead of counting writes to a cell the diff renderer rarely touches. No production code changed.