diff --git a/game/reconstructed/mech4.cpp b/game/reconstructed/mech4.cpp
index 560bb82..c6082d6 100644
--- a/game/reconstructed/mech4.cpp
+++ b/game/reconstructed/mech4.cpp
@@ -1984,21 +1984,28 @@ void
 			MechControlsMapper *replMppr = MappingMapper();	// roster slot 0 (task #7)
 			if (!IsMechDestroyed() && replMppr != 0)
 			{
-				// Feed the leg SM the REPLICATED COMMANDED speed (bodyTargetSpeed):
-				// the master's OWN mppr->speedDemand, carried in every pose (type-0)
-				// and speed (type-2) record (mech.cpp:1833/1841).  This is the
-				// IDENTICAL input the master's own leg SM consumes, so the replicant
-				// selects the same gait state and RAMPS its cadence through accel /
-				// decel exactly as the master does -- the legs stay in sync with the
-				// motion.  The earlier feed derived the ACTUAL velocity from
-				// updateVelocity, but a mech's forward walk velocity (~walkStrideLength)
-				// sits BELOW standSpeed, so it never cleared the stand->walk gate; the
-				// floor hack that fixed THAT then pinned the cadence flat during
-				// accel/decel -- the reported stutter/skip glitch.  bodyTargetSpeed is
-				// signed (negative == reverse), so reverse needs no special case.
-				// (BT_REPL_VEL forces the old derived-velocity feed for A/B compare.)
-				static const int s_useCmd = getenv("BT_REPL_CMD") ? 1 : 0;
-				if (!s_useCmd)		// default: derive from replicated velocity (bodyTargetSpeed is 0 -- master walks thr=0)
+				// AUTHENTIC LEG-CHANNEL DEMAND (decomp-verified, workflow wv1km7lvc D3):
+				// the leg channel FUN_004a5028 reads its speed demand from
+				// mapper->speedDemand == **(mech+0x128)+0x128 (part_012.c:11947/11975/
+				// 12028) and slews cadence + selects the stand->walk gate from it.  On a
+				// peer this MUST be the REPLICATED COMMANDED speed bodyTargetSpeed@0x6b4 --
+				// the master's own throttle-commanded speedDemand (mechmppr.cpp:749),
+				// stamped into every record (mech.cpp:2036, record->speedDemand) and read
+				// back on the peer (mech.cpp type-0 @1833, type-2 @1841/1848, type-3 @1871).
+				// It is the IDENTICAL value the master's leg channel consumes, so the peer
+				// clears the stand->walk gate exactly when the master does (the commanded
+				// speed is what makes the master walk, so it clears standSpeed by
+				// construction) and ramps cadence CONTINUOUSLY through accel/decel --
+				// cadence tracks travel like the master.  bodyTargetSpeed is signed
+				// (negative == reverse); it is 0 only while COASTING (thr=0), which
+				// authentically winds the gait down to stand, matching the master.
+				//
+				// The prior default DERIVED a noisy speed from the dead-reckoned velocity
+				// and PINNED it flat with a standSpeed*1.05 floor across the walk threshold
+				// -- the CONFIRMED leg-stutter/skip + cadence-vs-travel desync.  Retained
+				// behind BT_REPL_VEL for A/B comparison only.
+				static const int s_replVel = getenv("BT_REPL_VEL") ? 1 : 0;
+				if (s_replVel)
 				{
 					const Vector3D &wv = updateVelocity.linearMotion;
 					float spd = sqrtf((float)(wv.x * wv.x + wv.z * wv.z));
@@ -2013,22 +2020,45 @@ void
 				}
 				else
 				{
-					replMppr->speedDemand = bodyTargetSpeed;
+					replMppr->speedDemand = bodyTargetSpeed;	// authentic replicated commanded speed
 				}
-				// REPLICANT TURN-STEP (user-reported: a turning peer
-				// statue-rotates while the local mech steps): the leg SM's
-				// Standing case arms the turn-in-place "trn" clip (state 4,
-				// mech2.cpp:590) from mppr->turnDemand -- which nothing fed on
-				// a replicant, so pivots never stepped.  Feed it from the
-				// REPLICATED yaw rate (updateVelocity.angularMotion.y, stored
-				// by Mover::ReadUpdateRecord from the master's localVelocity
-				// -- the same stream DeadReckon rotates the body with).  Only
-				// the +-0.05 threshold matters to the SM (the trn clip
-				// advances at fixed cadence), so a signed unit demand
-				// suffices; the deadband ignores dead-reckon jitter.
+				// AUTHENTIC PEER TURNING is NET-DRIVEN (decomp-verified D8): the angular
+				// slerp inside DeadReckon (MOVER.cpp:521-525) rotates
+				// localOrigin.angularPosition toward projectedOrigin.angularPosition from
+				// the replicated yaw rate (decomp angular path part_012.c:15001/15010).
+				// The leg SM's turn-in-place 'trn' clip is a MASTER-ONLY construct fed by
+				// the LIVE controls mapper; the old synthetic yawRate->turnDemand
+				// (quantized +-0.02) flickered the trn clip in/out as the noisy replicated
+				// rate crossed the band -> the jerky pivot / statue-rotate.  Do NOT
+				// synthesize it -- let the whole body rotate via the slerp.
+				// TURN-STEP (presentation of the authentic pivot): the authentic peer
+				// shows a stepping pivot because its BODY channel replays the master's
+				// replicated turn body-STATE (type-3 SetBodyAnimation, mech.cpp:1869).
+				// We run the LEG channel (D2 not switched), which has no replicated turn
+				// state, so we reproduce the visible turn-step by arming the leg SM's
+				// 'trn' clip from the replicated yaw rate.  The old feed used a bare
+				// +-0.02 threshold that CHATTERED the trn clip in/out as the noisy rate
+				// wandered near zero (the "jerky pivot", decomp-noted D8).  HYSTERESIS
+				// fixes that: enter the turn only above +-0.08 rad/s, hold it (the
+				// mapper's turnDemand persists frame-to-frame -- we are its only writer on
+				// a peer) until the rate clearly collapses below 0.03.  A steady turn sits
+				// well above both, so the clip never flickers.  (BT_REPL_NOTURN =
+				// decomp-strict net-driven rotation with NO step.)
 				const float yawRate = (float)updateVelocity.angularMotion.y;
-				replMppr->turnDemand = (yawRate >  0.02f) ? 1.0f
-									 : (yawRate < -0.02f) ? -1.0f : 0.0f;
+				static const int s_noTurn = getenv("BT_REPL_NOTURN") ? 1 : 0;
+				if (s_noTurn)
+				{
+					replMppr->turnDemand = 0.0f;
+				}
+				else
+				{
+					const float prevTd = (float)replMppr->turnDemand;	// last frame (our own write)
+					if (prevTd != 0.0f)								// turning: hold until the rate collapses
+						replMppr->turnDemand = (fabsf(yawRate) < 0.03f) ? 0.0f : prevTd;
+					else											// idle: start only on a clear turn
+						replMppr->turnDemand = (yawRate >  0.08f) ? 1.0f
+											 : (yawRate < -0.08f) ? -1.0f : 0.0f;
+				}
 				// Prime the same clip-advance scalars the master's gait block sets
 				// each frame -- uninitialized on a replicant they read 0, freezing
 				// the clip at advance-time dt*0 (observed: legState engaged at 11,