diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 5b5023d..8083d84 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -4,9 +4,8 @@ name: Assembly
 # builds them together — the cross-component integration each component's own
 # CI cannot catch on its own. The assembled set is the components whose
 # renames/migrations are mutually consistent (ADR 0003 lockstep):
-#   - xmBase + xmDriver build; xmTelemetry is cloned (pin/wiring validated)
-#     but stays TELEMETRY=OFF until the pinned xmBase carries the telemetry
-#     API it builds against (xmBase PR #18).
+#   - xmBase + xmTelemetry + xmDriver build together (the telemetry wave:
+#     xmBase v0.3.0, the SDK, and the instrumented drivers).
 #   - xmNavigation returns when its HAL migration lands (it still includes
 #     pre-redesign xmDriver headers, e.g. xmdriver/hal/*_interface.hpp).
 
@@ -21,7 +20,7 @@ env:
 
 jobs:
   assemble:
-    name: Assemble (base + driver)
+    name: Assemble (base + telemetry + driver)
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
@@ -57,12 +56,12 @@ jobs:
       - name: Install dependencies (union of component deps)
         run: |
           sudo apt-get update && sudo apt-get install -y \
-            libeigen3-dev libspdlog-dev libasio-dev libmodbus-dev libevent-dev \
+            libeigen3-dev libasio-dev libmodbus-dev libevent-dev \
             libevdev-dev libgl1-mesa-dev libglfw3-dev libcairo2-dev libtbb-dev \
             libboost-all-dev libgsl-dev libopencv-dev libyaml-cpp-dev \
             libncurses-dev libpcl-dev libglm-dev
 
-      - name: Configure assembly (base + driver)
+      - name: Configure assembly (base + telemetry + driver)
         run: >
           cmake -S . -B build -DCMAKE_BUILD_TYPE=$BUILD_TYPE
           -DXMOTION_WITH_NAVIGATION=OFF -DENABLE_VISUALIZATION=OFF
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 746be18..e959e73 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,9 +18,7 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 # -- Options ----------------------------------------------------------------
 # xmBase (foundation) is always built. The rest are opt-in so a consumer only
 # pays for the dependency footprint it actually needs.
-# xmTelemetry stays OFF until the pinned xmBase carries the telemetry API it
-# builds against (xmBase PR #18 / ABI v3) — flip ON at the next re-pin wave.
-option(XMOTION_WITH_TELEMETRY "Build xmTelemetry (observability SDK)"    OFF)
+option(XMOTION_WITH_TELEMETRY "Build xmTelemetry (observability SDK)"    ON)
 option(XMOTION_WITH_DRIVER    "Build xmDriver (host hardware drivers)"   ON)
 option(XMOTION_WITH_NAVIGATION "Build xmNavigation (motion algorithms)"    ON)
 option(XMOTION_WITH_VIEWER "Build xmViewer (visualization)"        OFF)
diff --git a/TODO.md b/TODO.md
index 969f0a5..b4ed964 100644
--- a/TODO.md
+++ b/TODO.md
@@ -6,8 +6,8 @@ The task tracker for the family. Cross-repo sequencing lives here; each componen
 
 - [x] xmBase: merge PR [#18](https://github.com/rxdu/xmBase/pull/18) (telemetry docs package + examples + ABI v3)
 - [x] xmBase: cut v0.3.0 (telemetry API baseline — released 2026-07-05)
-- [ ] xmDriver: migrate `XLOG_*` → `XM_*` telemetry API (one-touch, clean break); adopt driver signals (FreshnessMonitor age, tx-queue depth, fault counters, DeviceHealth) through the API
-- [ ] Umbrella: re-pin xmBase + xmDriver after the migration; flip `XMOTION_WITH_TELEMETRY=ON` in the assembly
+- [x] xmDriver: migrate `XLOG_*` → `XM_*` telemetry API + adopt driver signals through the API (PRs #29 + #30)
+- [~] Umbrella: re-pin xmBase + xmDriver + telemetry; `XMOTION_WITH_TELEMETRY=ON` (PR #16, awaiting merge)
 - [x] xmBase: replace the interim spdlog binding with the permanent dependency-free console binding (shipped in v0.3.0 — spdlog left the foundation)
 - [ ] xmNavigation: HAL migration + telemetry-instrumented refactor (includes ADR 0002 Phase-2 decoupling: drop bundled `third_party/xmMu`/`xmSigma` copies, depend on the renamed components)
 - [ ] Umbrella: re-pin xmNavigation; flip `XMOTION_WITH_NAVIGATION=ON` — full assembly returns
diff --git a/components/base b/components/base
index 10e204d..fa73d7e 160000
--- a/components/base
+++ b/components/base
@@ -1 +1 @@
-Subproject commit 10e204ded289852b931f91f553d4945a31a33282
+Subproject commit fa73d7e3cff513d75fad249505ef3968ca0f6de2
diff --git a/components/driver b/components/driver
index 04be8c5..3634995 160000
--- a/components/driver
+++ b/components/driver
@@ -1 +1 @@
-Subproject commit 04be8c5185155d9420cefc850c0eb5adec6cbdf3
+Subproject commit 36349953efd61dab7494a6df8b9b0badbfd5c7a5
diff --git a/components/telemetry b/components/telemetry
index 9680a4f..6582650 160000
--- a/components/telemetry
+++ b/components/telemetry
@@ -1 +1 @@
-Subproject commit 9680a4f75cfedb6c62d75f4314160452f8729fd0
+Subproject commit 658265047fee2ac8178d3a5e660f5c7277e6fd5c