diff --git a/apps/ios/Sources/Model/NodeAppModel.swift b/apps/ios/Sources/Model/NodeAppModel.swift
index 34b6876822b..499e50bab90 100644
--- a/apps/ios/Sources/Model/NodeAppModel.swift
+++ b/apps/ios/Sources/Model/NodeAppModel.swift
@@ -57,6 +57,7 @@ final class NodeAppModel {
 
     private let deepLinkLogger = Logger(subsystem: "ai.openclaw.ios", category: "DeepLink")
     private let pushWakeLogger = Logger(subsystem: "ai.openclaw.ios", category: "PushWake")
+    private let pendingActionLogger = Logger(subsystem: "ai.openclaw.ios", category: "PendingAction")
     private let locationWakeLogger = Logger(subsystem: "ai.openclaw.ios", category: "LocationWake")
     private let watchReplyLogger = Logger(subsystem: "ai.openclaw.ios", category: "WatchReply")
     enum CameraHUDKind {
@@ -130,6 +131,7 @@ final class NodeAppModel {
     private var backgroundReconnectLeaseUntil: Date?
     private var lastSignificantLocationWakeAt: Date?
     @ObservationIgnored private let watchReplyCoordinator = WatchReplyCoordinator()
+    private var pendingForegroundActionDrainInFlight = false
 
     private var gatewayConnected = false
     private var operatorConnected = false
@@ -329,6 +331,9 @@ final class NodeAppModel {
                     }
                     await self.talkMode.resumeAfterBackground(wasSuspended: suspended, wasKeptActive: keptActive)
                 }
+                Task { [weak self] in
+                    await self?.resumePendingForegroundNodeActionsIfNeeded(trigger: "scene_active")
+                }
             }
             if phase == .active, self.reconnectAfterBackgroundArmed {
                 self.reconnectAfterBackgroundArmed = false
@@ -2098,6 +2103,22 @@ private extension NodeAppModel {
 }
 
 extension NodeAppModel {
+    private struct PendingForegroundNodeAction: Decodable {
+        var id: String
+        var command: String
+        var paramsJSON: String?
+        var enqueuedAtMs: Int?
+    }
+
+    private struct PendingForegroundNodeActionsResponse: Decodable {
+        var nodeId: String?
+        var actions: [PendingForegroundNodeAction]
+    }
+
+    private struct PendingForegroundNodeActionsAckRequest: Encodable {
+        var ids: [String]
+    }
+
     private func refreshShareRouteFromGateway() async {
         struct Params: Codable {
             var includeGlobal: Bool
@@ -2195,6 +2216,83 @@ extension NodeAppModel {
     func onNodeGatewayConnected() async {
         await self.registerAPNsTokenIfNeeded()
         await self.flushQueuedWatchRepliesIfConnected()
+        await self.resumePendingForegroundNodeActionsIfNeeded(trigger: "node_connected")
+    }
+
+    private func resumePendingForegroundNodeActionsIfNeeded(trigger: String) async {
+        guard !self.isBackgrounded else { return }
+        guard await self.isGatewayConnected() else { return }
+        guard !self.pendingForegroundActionDrainInFlight else { return }
+
+        self.pendingForegroundActionDrainInFlight = true
+        defer { self.pendingForegroundActionDrainInFlight = false }
+
+        do {
+            let payload = try await self.nodeGateway.request(
+                method: "node.pending.pull",
+                paramsJSON: "{}",
+                timeoutSeconds: 6)
+            let decoded = try JSONDecoder().decode(
+                PendingForegroundNodeActionsResponse.self,
+                from: payload)
+            guard !decoded.actions.isEmpty else { return }
+            self.pendingActionLogger.info(
+                "Pending actions pulled trigger=\(trigger, privacy: .public) "
+                    + "count=\(decoded.actions.count, privacy: .public)")
+            await self.applyPendingForegroundNodeActions(decoded.actions, trigger: trigger)
+        } catch {
+            // Best-effort only.
+        }
+    }
+
+    private func applyPendingForegroundNodeActions(
+        _ actions: [PendingForegroundNodeAction],
+        trigger: String) async
+    {
+        for action in actions {
+            guard !self.isBackgrounded else {
+                self.pendingActionLogger.info(
+                    "Pending action replay paused trigger=\(trigger, privacy: .public): app backgrounded")
+                return
+            }
+            let req = BridgeInvokeRequest(
+                id: action.id,
+                command: action.command,
+                paramsJSON: action.paramsJSON)
+            let result = await self.handleInvoke(req)
+            self.pendingActionLogger.info(
+                "Pending action replay trigger=\(trigger, privacy: .public) "
+                    + "id=\(action.id, privacy: .public) command=\(action.command, privacy: .public) "
+                    + "ok=\(result.ok, privacy: .public)")
+            guard result.ok else { return }
+            let acked = await self.ackPendingForegroundNodeAction(
+                id: action.id,
+                trigger: trigger,
+                command: action.command)
+            guard acked else { return }
+        }
+    }
+
+    private func ackPendingForegroundNodeAction(
+        id: String,
+        trigger: String,
+        command: String) async -> Bool
+    {
+        do {
+            let payload = try JSONEncoder().encode(PendingForegroundNodeActionsAckRequest(ids: [id]))
+            let paramsJSON = String(decoding: payload, as: UTF8.self)
+            _ = try await self.nodeGateway.request(
+                method: "node.pending.ack",
+                paramsJSON: paramsJSON,
+                timeoutSeconds: 6)
+            return true
+        } catch {
+            self.pendingActionLogger.error(
+                "Pending action ack failed trigger=\(trigger, privacy: .public) "
+                    + "id=\(id, privacy: .public) command=\(command, privacy: .public) "
+                    + "error=\(String(describing: error), privacy: .public)")
+            return false
+        }
     }
 
     private func handleWatchQuickReply(_ event: WatchQuickReplyEvent) async {
@@ -2843,6 +2941,19 @@ extension NodeAppModel {
         self.gatewayConnected = connected
     }
 
+    func _test_applyPendingForegroundNodeActions(
+        _ actions: [(id: String, command: String, paramsJSON: String?)]) async
+    {
+        let mapped = actions.map { action in
+            PendingForegroundNodeAction(
+                id: action.id,
+                command: action.command,
+                paramsJSON: action.paramsJSON,
+                enqueuedAtMs: nil)
+        }
+        await self.applyPendingForegroundNodeActions(mapped, trigger: "test")
+    }
+
     static func _test_currentDeepLinkKey() -> String {
         self.expectedDeepLinkKey()
     }
diff --git a/apps/ios/Tests/NodeAppModelInvokeTests.swift b/apps/ios/Tests/NodeAppModelInvokeTests.swift
index 2875fa31339..7413b0295f9 100644
--- a/apps/ios/Tests/NodeAppModelInvokeTests.swift
+++ b/apps/ios/Tests/NodeAppModelInvokeTests.swift
@@ -179,6 +179,41 @@ private final class MockWatchMessagingService: @preconcurrency WatchMessagingSer
         #expect(payload?["result"] as? String == "2")
     }
 
+    @Test @MainActor func pendingForegroundActionsReplayCanvasNavigate() async throws {
+        let appModel = NodeAppModel()
+        let navigateParams = OpenClawCanvasNavigateParams(url: "http://example.com/")
+        let navData = try JSONEncoder().encode(navigateParams)
+        let navJSON = String(decoding: navData, as: UTF8.self)
+
+        await appModel._test_applyPendingForegroundNodeActions([
+            (
+                id: "pending-nav-1",
+                command: OpenClawCanvasCommand.navigate.rawValue,
+                paramsJSON: navJSON
+            ),
+        ])
+
+        #expect(appModel.screen.urlString == "http://example.com/")
+    }
+
+    @Test @MainActor func pendingForegroundActionsDoNotApplyWhileBackgrounded() async throws {
+        let appModel = NodeAppModel()
+        appModel.setScenePhase(.background)
+        let navigateParams = OpenClawCanvasNavigateParams(url: "http://example.com/")
+        let navData = try JSONEncoder().encode(navigateParams)
+        let navJSON = String(decoding: navData, as: UTF8.self)
+
+        await appModel._test_applyPendingForegroundNodeActions([
+            (
+                id: "pending-nav-bg",
+                command: OpenClawCanvasCommand.navigate.rawValue,
+                paramsJSON: navJSON
+            ),
+        ])
+
+        #expect(appModel.screen.urlString.isEmpty)
+    }
+
     @Test @MainActor func handleInvokeA2UICommandsFailWhenHostMissing() async throws {
         let appModel = NodeAppModel()
 
diff --git a/apps/macos/Sources/OpenClawProtocol/GatewayModels.swift b/apps/macos/Sources/OpenClawProtocol/GatewayModels.swift
index 6aad2e9a9ac..ea44d030eb0 100644
--- a/apps/macos/Sources/OpenClawProtocol/GatewayModels.swift
+++ b/apps/macos/Sources/OpenClawProtocol/GatewayModels.swift
@@ -836,6 +836,20 @@ public struct NodeRenameParams: Codable, Sendable {
 
 public struct NodeListParams: Codable, Sendable {}
 
+public struct NodePendingAckParams: Codable, Sendable {
+    public let ids: [String]
+
+    public init(
+        ids: [String])
+    {
+        self.ids = ids
+    }
+
+    private enum CodingKeys: String, CodingKey {
+        case ids
+    }
+}
+
 public struct NodeDescribeParams: Codable, Sendable {
     public let nodeid: String
 
diff --git a/apps/shared/OpenClawKit/Sources/OpenClawProtocol/GatewayModels.swift b/apps/shared/OpenClawKit/Sources/OpenClawProtocol/GatewayModels.swift
index 6aad2e9a9ac..ea44d030eb0 100644
--- a/apps/shared/OpenClawKit/Sources/OpenClawProtocol/GatewayModels.swift
+++ b/apps/shared/OpenClawKit/Sources/OpenClawProtocol/GatewayModels.swift
@@ -836,6 +836,20 @@ public struct NodeRenameParams: Codable, Sendable {
 
 public struct NodeListParams: Codable, Sendable {}
 
+public struct NodePendingAckParams: Codable, Sendable {
+    public let ids: [String]
+
+    public init(
+        ids: [String])
+    {
+        self.ids = ids
+    }
+
+    private enum CodingKeys: String, CodingKey {
+        case ids
+    }
+}
+
 public struct NodeDescribeParams: Codable, Sendable {
     public let nodeid: String
 
diff --git a/src/gateway/method-scopes.ts b/src/gateway/method-scopes.ts
index 04f3b756567..91b20baacb0 100644
--- a/src/gateway/method-scopes.ts
+++ b/src/gateway/method-scopes.ts
@@ -23,6 +23,8 @@ const NODE_ROLE_METHODS = new Set([
   "node.invoke.result",
   "node.event",
   "node.canvas.capability.refresh",
+  "node.pending.pull",
+  "node.pending.ack",
   "skills.bins",
 ]);
 
diff --git a/src/gateway/protocol/index.ts b/src/gateway/protocol/index.ts
index 7d3e5a8cb51..95306f27f12 100644
--- a/src/gateway/protocol/index.ts
+++ b/src/gateway/protocol/index.ts
@@ -146,6 +146,8 @@ import {
   NodeInvokeResultParamsSchema,
   type NodeListParams,
   NodeListParamsSchema,
+  type NodePendingAckParams,
+  NodePendingAckParamsSchema,
   type NodePairApproveParams,
   NodePairApproveParamsSchema,
   type NodePairListParams,
@@ -285,6 +287,9 @@ export const validateNodePairVerifyParams = ajv.compile<NodePairVerifyParams>(
 );
 export const validateNodeRenameParams = ajv.compile<NodeRenameParams>(NodeRenameParamsSchema);
 export const validateNodeListParams = ajv.compile<NodeListParams>(NodeListParamsSchema);
+export const validateNodePendingAckParams = ajv.compile<NodePendingAckParams>(
+  NodePendingAckParamsSchema,
+);
 export const validateNodeDescribeParams = ajv.compile<NodeDescribeParams>(NodeDescribeParamsSchema);
 export const validateNodeInvokeParams = ajv.compile<NodeInvokeParams>(NodeInvokeParamsSchema);
 export const validateNodeInvokeResultParams = ajv.compile<NodeInvokeResultParams>(
@@ -465,6 +470,7 @@ export {
   NodePairRejectParamsSchema,
   NodePairVerifyParamsSchema,
   NodeListParamsSchema,
+  NodePendingAckParamsSchema,
   NodeInvokeParamsSchema,
   SessionsListParamsSchema,
   SessionsPreviewParamsSchema,
diff --git a/src/gateway/protocol/schema/nodes.ts b/src/gateway/protocol/schema/nodes.ts
index 4eaccb8d7fa..7ce5a4fed0a 100644
--- a/src/gateway/protocol/schema/nodes.ts
+++ b/src/gateway/protocol/schema/nodes.ts
@@ -43,6 +43,13 @@ export const NodeRenameParamsSchema = Type.Object(
 
 export const NodeListParamsSchema = Type.Object({}, { additionalProperties: false });
 
+export const NodePendingAckParamsSchema = Type.Object(
+  {
+    ids: Type.Array(NonEmptyString, { minItems: 1 }),
+  },
+  { additionalProperties: false },
+);
+
 export const NodeDescribeParamsSchema = Type.Object(
   { nodeId: NonEmptyString },
   { additionalProperties: false },
diff --git a/src/gateway/protocol/schema/protocol-schemas.ts b/src/gateway/protocol/schema/protocol-schemas.ts
index 0c55f5f2927..7ccd6cb2d1a 100644
--- a/src/gateway/protocol/schema/protocol-schemas.ts
+++ b/src/gateway/protocol/schema/protocol-schemas.ts
@@ -118,6 +118,7 @@ import {
   NodeInvokeResultParamsSchema,
   NodeInvokeRequestEventSchema,
   NodeListParamsSchema,
+  NodePendingAckParamsSchema,
   NodePairApproveParamsSchema,
   NodePairListParamsSchema,
   NodePairRejectParamsSchema,
@@ -180,6 +181,7 @@ export const ProtocolSchemas = {
   NodePairVerifyParams: NodePairVerifyParamsSchema,
   NodeRenameParams: NodeRenameParamsSchema,
   NodeListParams: NodeListParamsSchema,
+  NodePendingAckParams: NodePendingAckParamsSchema,
   NodeDescribeParams: NodeDescribeParamsSchema,
   NodeInvokeParams: NodeInvokeParamsSchema,
   NodeInvokeResultParams: NodeInvokeResultParamsSchema,
diff --git a/src/gateway/protocol/schema/types.ts b/src/gateway/protocol/schema/types.ts
index f828bdbc418..cc15b80fd1a 100644
--- a/src/gateway/protocol/schema/types.ts
+++ b/src/gateway/protocol/schema/types.ts
@@ -27,6 +27,7 @@ export type NodePairRejectParams = SchemaType<"NodePairRejectParams">;
 export type NodePairVerifyParams = SchemaType<"NodePairVerifyParams">;
 export type NodeRenameParams = SchemaType<"NodeRenameParams">;
 export type NodeListParams = SchemaType<"NodeListParams">;
+export type NodePendingAckParams = SchemaType<"NodePendingAckParams">;
 export type NodeDescribeParams = SchemaType<"NodeDescribeParams">;
 export type NodeInvokeParams = SchemaType<"NodeInvokeParams">;
 export type NodeInvokeResultParams = SchemaType<"NodeInvokeResultParams">;
diff --git a/src/gateway/server-methods-list.ts b/src/gateway/server-methods-list.ts
index c026492568c..5c5433ae2f7 100644
--- a/src/gateway/server-methods-list.ts
+++ b/src/gateway/server-methods-list.ts
@@ -77,6 +77,8 @@ const BASE_METHODS = [
   "node.list",
   "node.describe",
   "node.invoke",
+  "node.pending.pull",
+  "node.pending.ack",
   "node.invoke.result",
   "node.event",
   "node.canvas.capability.refresh",
diff --git a/src/gateway/server-methods/nodes.invoke-wake.test.ts b/src/gateway/server-methods/nodes.invoke-wake.test.ts
index 6e3ced97d6f..1f606e925dc 100644
--- a/src/gateway/server-methods/nodes.invoke-wake.test.ts
+++ b/src/gateway/server-methods/nodes.invoke-wake.test.ts
@@ -49,6 +49,7 @@ type RespondCall = [
 type TestNodeSession = {
   nodeId: string;
   commands: string[];
+  platform?: string;
 };
 
 const WAKE_WAIT_TIMEOUT_MS = 3_001;
@@ -102,6 +103,54 @@ async function invokeNode(params: {
   return respond;
 }
 
+async function pullPending(nodeId: string) {
+  const respond = vi.fn();
+  await nodeHandlers["node.pending.pull"]({
+    params: {},
+    respond: respond as never,
+    context: {} as never,
+    client: {
+      connect: {
+        role: "node",
+        client: {
+          id: nodeId,
+          mode: "node",
+          name: "ios-test",
+          platform: "iOS 26.4.0",
+          version: "test",
+        },
+      },
+    } as never,
+    req: { type: "req", id: "req-node-pending", method: "node.pending.pull" },
+    isWebchatConnect: () => false,
+  });
+  return respond;
+}
+
+async function ackPending(nodeId: string, ids: string[]) {
+  const respond = vi.fn();
+  await nodeHandlers["node.pending.ack"]({
+    params: { ids },
+    respond: respond as never,
+    context: {} as never,
+    client: {
+      connect: {
+        role: "node",
+        client: {
+          id: nodeId,
+          mode: "node",
+          name: "ios-test",
+          platform: "iOS 26.4.0",
+          version: "test",
+        },
+      },
+    } as never,
+    req: { type: "req", id: "req-node-pending-ack", method: "node.pending.ack" },
+    isWebchatConnect: () => false,
+  });
+  return respond;
+}
+
 function mockSuccessfulWakeConfig(nodeId: string) {
   mocks.loadApnsRegistration.mockResolvedValue({
     nodeId,
@@ -229,4 +278,138 @@ describe("node.invoke APNs wake path", () => {
     expect(mocks.sendApnsBackgroundWake).toHaveBeenCalledTimes(2);
     expect(nodeRegistry.invoke).not.toHaveBeenCalled();
   });
+
+  it("queues iOS foreground-only command failures and keeps them until acked", async () => {
+    mocks.loadApnsRegistration.mockResolvedValue(null);
+
+    const nodeRegistry = {
+      get: vi.fn(() => ({
+        nodeId: "ios-node-queued",
+        commands: ["canvas.navigate"],
+        platform: "iOS 26.4.0",
+      })),
+      invoke: vi.fn().mockResolvedValue({
+        ok: false,
+        error: {
+          code: "NODE_BACKGROUND_UNAVAILABLE",
+          message: "NODE_BACKGROUND_UNAVAILABLE: canvas/camera/screen commands require foreground",
+        },
+      }),
+    };
+
+    const respond = await invokeNode({
+      nodeRegistry,
+      requestParams: {
+        nodeId: "ios-node-queued",
+        command: "canvas.navigate",
+        params: { url: "http://example.com/" },
+        idempotencyKey: "idem-queued",
+      },
+    });
+    const call = respond.mock.calls[0] as RespondCall | undefined;
+    expect(call?.[0]).toBe(false);
+    expect(call?.[2]?.code).toBe(ErrorCodes.UNAVAILABLE);
+    expect(call?.[2]?.message).toBe("node command queued until iOS returns to foreground");
+    expect(mocks.sendApnsBackgroundWake).not.toHaveBeenCalled();
+
+    const pullRespond = await pullPending("ios-node-queued");
+    const pullCall = pullRespond.mock.calls[0] as RespondCall | undefined;
+    expect(pullCall?.[0]).toBe(true);
+    expect(pullCall?.[1]).toMatchObject({
+      nodeId: "ios-node-queued",
+      actions: [
+        expect.objectContaining({
+          command: "canvas.navigate",
+          paramsJSON: JSON.stringify({ url: "http://example.com/" }),
+        }),
+      ],
+    });
+
+    const repeatedPullRespond = await pullPending("ios-node-queued");
+    const repeatedPullCall = repeatedPullRespond.mock.calls[0] as RespondCall | undefined;
+    expect(repeatedPullCall?.[0]).toBe(true);
+    expect(repeatedPullCall?.[1]).toMatchObject({
+      nodeId: "ios-node-queued",
+      actions: [
+        expect.objectContaining({
+          command: "canvas.navigate",
+          paramsJSON: JSON.stringify({ url: "http://example.com/" }),
+        }),
+      ],
+    });
+
+    const queuedActionId = (pullCall?.[1] as { actions?: Array<{ id?: string }> } | undefined)
+      ?.actions?.[0]?.id;
+    expect(queuedActionId).toBeTruthy();
+
+    const ackRespond = await ackPending("ios-node-queued", [queuedActionId!]);
+    const ackCall = ackRespond.mock.calls[0] as RespondCall | undefined;
+    expect(ackCall?.[0]).toBe(true);
+    expect(ackCall?.[1]).toMatchObject({
+      nodeId: "ios-node-queued",
+      ackedIds: [queuedActionId],
+      remainingCount: 0,
+    });
+
+    const emptyPullRespond = await pullPending("ios-node-queued");
+    const emptyPullCall = emptyPullRespond.mock.calls[0] as RespondCall | undefined;
+    expect(emptyPullCall?.[0]).toBe(true);
+    expect(emptyPullCall?.[1]).toMatchObject({
+      nodeId: "ios-node-queued",
+      actions: [],
+    });
+  });
+
+  it("dedupes queued foreground actions by idempotency key", async () => {
+    mocks.loadApnsRegistration.mockResolvedValue(null);
+
+    const nodeRegistry = {
+      get: vi.fn(() => ({
+        nodeId: "ios-node-dedupe",
+        commands: ["canvas.navigate"],
+        platform: "iPadOS 26.4.0",
+      })),
+      invoke: vi.fn().mockResolvedValue({
+        ok: false,
+        error: {
+          code: "NODE_BACKGROUND_UNAVAILABLE",
+          message: "NODE_BACKGROUND_UNAVAILABLE: canvas/camera/screen commands require foreground",
+        },
+      }),
+    };
+
+    await invokeNode({
+      nodeRegistry,
+      requestParams: {
+        nodeId: "ios-node-dedupe",
+        command: "canvas.navigate",
+        params: { url: "http://example.com/first" },
+        idempotencyKey: "idem-dedupe",
+      },
+    });
+    await invokeNode({
+      nodeRegistry,
+      requestParams: {
+        nodeId: "ios-node-dedupe",
+        command: "canvas.navigate",
+        params: { url: "http://example.com/first" },
+        idempotencyKey: "idem-dedupe",
+      },
+    });
+
+    const pullRespond = await pullPending("ios-node-dedupe");
+    const pullCall = pullRespond.mock.calls[0] as RespondCall | undefined;
+    expect(pullCall?.[0]).toBe(true);
+    expect(pullCall?.[1]).toMatchObject({
+      nodeId: "ios-node-dedupe",
+      actions: [
+        expect.objectContaining({
+          command: "canvas.navigate",
+          paramsJSON: JSON.stringify({ url: "http://example.com/first" }),
+        }),
+      ],
+    });
+    const actions = (pullCall?.[1] as { actions?: unknown[] } | undefined)?.actions ?? [];
+    expect(actions).toHaveLength(1);
+  });
 });
diff --git a/src/gateway/server-methods/nodes.ts b/src/gateway/server-methods/nodes.ts
index 848fa0dfea5..22e3c0912e4 100644
--- a/src/gateway/server-methods/nodes.ts
+++ b/src/gateway/server-methods/nodes.ts
@@ -1,3 +1,4 @@
+import { randomUUID } from "node:crypto";
 import { loadConfig } from "../../config/config.js";
 import { listDevicePairing } from "../../infra/device-pairing.js";
 import {
@@ -28,6 +29,7 @@ import {
   validateNodeEventParams,
   validateNodeInvokeParams,
   validateNodeListParams,
+  validateNodePendingAckParams,
   validateNodePairApproveParams,
   validateNodePairListParams,
   validateNodePairRejectParams,
@@ -50,6 +52,8 @@ const NODE_WAKE_RECONNECT_RETRY_WAIT_MS = 12_000;
 const NODE_WAKE_RECONNECT_POLL_MS = 150;
 const NODE_WAKE_THROTTLE_MS = 15_000;
 const NODE_WAKE_NUDGE_THROTTLE_MS = 10 * 60_000;
+const NODE_PENDING_ACTION_TTL_MS = 10 * 60_000;
+const NODE_PENDING_ACTION_MAX_PER_NODE = 64;
 
 type NodeWakeState = {
   lastWakeAtMs: number;
@@ -77,6 +81,17 @@ type NodeWakeNudgeAttempt = {
   apnsReason?: string;
 };
 
+type PendingNodeAction = {
+  id: string;
+  nodeId: string;
+  command: string;
+  paramsJSON?: string;
+  idempotencyKey: string;
+  enqueuedAtMs: number;
+};
+
+const pendingNodeActionsById = new Map<string, PendingNodeAction[]>();
+
 function isNodeEntry(entry: { role?: string; roles?: string[] }) {
   if (entry.role === "node") {
     return true;
@@ -91,6 +106,108 @@ async function delayMs(ms: number): Promise<void> {
   await new Promise<void>((resolve) => setTimeout(resolve, ms));
 }
 
+function isForegroundRestrictedIosCommand(command: string): boolean {
+  return (
+    command === "canvas.present" ||
+    command === "canvas.navigate" ||
+    command.startsWith("canvas.") ||
+    command.startsWith("camera.") ||
+    command.startsWith("screen.") ||
+    command.startsWith("talk.")
+  );
+}
+
+function shouldQueueAsPendingForegroundAction(params: {
+  platform?: string;
+  command: string;
+  error: unknown;
+}): boolean {
+  const platform = (params.platform ?? "").trim().toLowerCase();
+  if (!platform.startsWith("ios") && !platform.startsWith("ipados")) {
+    return false;
+  }
+  if (!isForegroundRestrictedIosCommand(params.command)) {
+    return false;
+  }
+  const error =
+    params.error && typeof params.error === "object"
+      ? (params.error as { code?: unknown; message?: unknown })
+      : null;
+  const code = typeof error?.code === "string" ? error.code.trim().toUpperCase() : "";
+  const message = typeof error?.message === "string" ? error.message.trim().toUpperCase() : "";
+  return code === "NODE_BACKGROUND_UNAVAILABLE" || message.includes("BACKGROUND_UNAVAILABLE");
+}
+
+function prunePendingNodeActions(nodeId: string, nowMs: number): PendingNodeAction[] {
+  const queue = pendingNodeActionsById.get(nodeId) ?? [];
+  const minTimestampMs = nowMs - NODE_PENDING_ACTION_TTL_MS;
+  const live = queue.filter((entry) => entry.enqueuedAtMs >= minTimestampMs);
+  if (live.length === 0) {
+    pendingNodeActionsById.delete(nodeId);
+    return [];
+  }
+  pendingNodeActionsById.set(nodeId, live);
+  return live;
+}
+
+function enqueuePendingNodeAction(params: {
+  nodeId: string;
+  command: string;
+  paramsJSON?: string;
+  idempotencyKey: string;
+}): PendingNodeAction {
+  const nowMs = Date.now();
+  const queue = prunePendingNodeActions(params.nodeId, nowMs);
+  const existing = queue.find((entry) => entry.idempotencyKey === params.idempotencyKey);
+  if (existing) {
+    return existing;
+  }
+  const entry: PendingNodeAction = {
+    id: randomUUID(),
+    nodeId: params.nodeId,
+    command: params.command,
+    paramsJSON: params.paramsJSON,
+    idempotencyKey: params.idempotencyKey,
+    enqueuedAtMs: nowMs,
+  };
+  queue.push(entry);
+  if (queue.length > NODE_PENDING_ACTION_MAX_PER_NODE) {
+    queue.splice(0, queue.length - NODE_PENDING_ACTION_MAX_PER_NODE);
+  }
+  pendingNodeActionsById.set(params.nodeId, queue);
+  return entry;
+}
+
+function listPendingNodeActions(nodeId: string): PendingNodeAction[] {
+  return prunePendingNodeActions(nodeId, Date.now());
+}
+
+function ackPendingNodeActions(nodeId: string, ids: string[]): PendingNodeAction[] {
+  if (ids.length === 0) {
+    return listPendingNodeActions(nodeId);
+  }
+  const pending = prunePendingNodeActions(nodeId, Date.now());
+  const idSet = new Set(ids);
+  const remaining = pending.filter((entry) => !idSet.has(entry.id));
+  if (remaining.length === 0) {
+    pendingNodeActionsById.delete(nodeId);
+    return [];
+  }
+  pendingNodeActionsById.set(nodeId, remaining);
+  return remaining;
+}
+
+function toPendingParamsJSON(params: unknown): string | undefined {
+  if (params === undefined) {
+    return undefined;
+  }
+  try {
+    return JSON.stringify(params);
+  } catch {
+    return undefined;
+  }
+}
+
 async function maybeWakeNodeWithApns(
   nodeId: string,
   opts?: { force?: boolean },
@@ -596,6 +713,66 @@ export const nodeHandlers: GatewayRequestHandlers = {
       undefined,
     );
   },
+  "node.pending.pull": async ({ params, respond, client }) => {
+    if (!validateNodeListParams(params)) {
+      respondInvalidParams({
+        respond,
+        method: "node.pending.pull",
+        validator: validateNodeListParams,
+      });
+      return;
+    }
+    const nodeId = client?.connect?.device?.id ?? client?.connect?.client?.id;
+    const trimmedNodeId = String(nodeId ?? "").trim();
+    if (!trimmedNodeId) {
+      respond(false, undefined, errorShape(ErrorCodes.INVALID_REQUEST, "nodeId required"));
+      return;
+    }
+
+    const pending = listPendingNodeActions(trimmedNodeId);
+    respond(
+      true,
+      {
+        nodeId: trimmedNodeId,
+        actions: pending.map((entry) => ({
+          id: entry.id,
+          command: entry.command,
+          paramsJSON: entry.paramsJSON ?? null,
+          enqueuedAtMs: entry.enqueuedAtMs,
+        })),
+      },
+      undefined,
+    );
+  },
+  "node.pending.ack": async ({ params, respond, client }) => {
+    if (!validateNodePendingAckParams(params)) {
+      respondInvalidParams({
+        respond,
+        method: "node.pending.ack",
+        validator: validateNodePendingAckParams,
+      });
+      return;
+    }
+    const nodeId = client?.connect?.device?.id ?? client?.connect?.client?.id;
+    const trimmedNodeId = String(nodeId ?? "").trim();
+    if (!trimmedNodeId) {
+      respond(false, undefined, errorShape(ErrorCodes.INVALID_REQUEST, "nodeId required"));
+      return;
+    }
+    const ackIds = Array.from(
+      new Set((params.ids ?? []).map((value) => String(value ?? "").trim()).filter(Boolean)),
+    );
+    const remaining = ackPendingNodeActions(trimmedNodeId, ackIds);
+    respond(
+      true,
+      {
+        nodeId: trimmedNodeId,
+        ackedIds: ackIds,
+        remainingCount: remaining.length,
+      },
+      undefined,
+    );
+  },
   "node.invoke": async ({ params, respond, context, client, req }) => {
     if (!validateNodeInvokeParams(params)) {
       respondInvalidParams({
@@ -759,7 +936,56 @@ export const nodeHandlers: GatewayRequestHandlers = {
         timeoutMs: p.timeoutMs,
         idempotencyKey: p.idempotencyKey,
       });
-      if (!respondUnavailableOnNodeInvokeError(respond, res)) {
+      if (!res.ok) {
+        if (
+          shouldQueueAsPendingForegroundAction({
+            platform: nodeSession.platform,
+            command,
+            error: res.error,
+          })
+        ) {
+          const paramsJSON = toPendingParamsJSON(forwardedParams.params);
+          const queued = enqueuePendingNodeAction({
+            nodeId,
+            command,
+            paramsJSON,
+            idempotencyKey: p.idempotencyKey,
+          });
+          const wake = await maybeWakeNodeWithApns(nodeId);
+          context.logGateway.info(
+            `node pending queued node=${nodeId} req=${req.id} command=${command} ` +
+              `queuedId=${queued.id} wakePath=${wake.path} wakeAvailable=${wake.available}`,
+          );
+          respond(
+            false,
+            undefined,
+            errorShape(
+              ErrorCodes.UNAVAILABLE,
+              "node command queued until iOS returns to foreground",
+              {
+                retryable: true,
+                details: {
+                  code: "QUEUED_UNTIL_FOREGROUND",
+                  queuedActionId: queued.id,
+                  nodeId,
+                  command,
+                  wake: {
+                    path: wake.path,
+                    available: wake.available,
+                    throttled: wake.throttled,
+                    apnsStatus: wake.apnsStatus,
+                    apnsReason: wake.apnsReason,
+                  },
+                  nodeError: res.error ?? null,
+                },
+              },
+            ),
+          );
+          return;
+        }
+        if (!respondUnavailableOnNodeInvokeError(respond, res)) {
+          return;
+        }
         return;
       }
       const payload = res.payloadJSON ? safeParseJson(res.payloadJSON) : res.payload;