diff --git a/Sources/ForgeCamera/ConnectionSupervisor.swift b/Sources/ForgeCamera/ConnectionSupervisor.swift
index b26a841..acda02a 100644
--- a/Sources/ForgeCamera/ConnectionSupervisor.swift
+++ b/Sources/ForgeCamera/ConnectionSupervisor.swift
@@ -40,7 +40,8 @@ public actor ConnectionSupervisor {
     public private(set) var health: ConnectionStatus = .disconnected
 
     private var stateContinuations: [UUID: AsyncStream<CameraState>.Continuation] = [:]
-    private var connectionWaiters: [CheckedContinuation<Void, Never>] = []
+    private var connectionWaiters: [UUID] = []
+    private var waiterMap: [UUID: CheckedContinuation<Void, Never>] = [:]
 
     public init(driver: any CameraDriver, backoff: BackoffPolicy) {
         self.driver = driver
@@ -99,9 +100,7 @@ public actor ConnectionSupervisor {
         health = state.connection
         if state.connection == .connected {
             backoff.reset()
-            let waiters = connectionWaiters
-            connectionWaiters.removeAll()
-            for w in waiters { w.resume() }
+            resumeAllWaiters()
         }
         for c in stateContinuations.values {
             c.yield(state)
@@ -109,22 +108,29 @@ public actor ConnectionSupervisor {
     }
 
     /// Await connected health. Returns false on timeout.
+    /// Continuation registered synchronously on the actor — no gap for a
+    /// connected event to slip through unobserved. Timeout resumes the
+    /// continuation directly (cancellation can't interrupt a checked continuation).
     public func waitForConnection(timeout: Duration) async -> Bool {
         if health == .connected { return true }
-        let waitTask = Task {
-            await withCheckedContinuation { (c: CheckedContinuation<Void, Never>) in
-                self.connectionWaiters.append(c)
+        await withCheckedContinuation { (c: CheckedContinuation<Void, Never>) in
+            let id = UUID()
+            waiterMap[id] = c
+            connectionWaiters.append(id)
+            Task {
+                try? await Task.sleep(for: timeout)
+                self.timeoutWaiter(id: id)
             }
         }
-        let timeoutTask = Task {
-            try? await Task.sleep(for: timeout)
-            waitTask.cancel()
-        }
-        _ = await waitTask.value
-        timeoutTask.cancel()
         return health == .connected
     }
 
+    private func timeoutWaiter(id: UUID) {
+        guard let c = waiterMap.removeValue(forKey: id) else { return }
+        connectionWaiters.removeAll { $0 == id }
+        c.resume()
+    }
+
     public func stop() async {
         connectTask?.cancel()
         pumpTask?.cancel()
@@ -132,8 +138,14 @@ public actor ConnectionSupervisor {
         pumpTask = nil
         await driver.disconnect()
         health = .disconnected
-        let waiters = connectionWaiters
+        resumeAllWaiters()
+    }
+
+    private func resumeAllWaiters() {
+        let ids = connectionWaiters
         connectionWaiters.removeAll()
-        for w in waiters { w.resume() }
+        for id in ids {
+            waiterMap.removeValue(forKey: id)?.resume()
+        }
     }
 }