Merge origin/main into test/cliff-orientation-margin

Resolves the notes conflict from #101 being squash-merged; HEAD is kept in full.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01GyN97UwFQmwZs1cg4QHS1c

Author: wormeyman