diff --git a/package-lock.json b/package-lock.json
index 8afcdda..2fe93c3 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -17,7 +17,7 @@
         "@types/node": "^20.0.0",
         "tsx": "^4.7.0",
         "typescript": "^6.0.3",
-        "vitest": "^1.2.0"
+        "vitest": "^4.1.10"
       },
       "engines": {
         "node": ">=20.0.0",
@@ -546,10 +546,30 @@
         "node": ">=0.1.90"
       }
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+    "node_modules/@emnapi/core": {
+      "version": "1.11.1",
+      "resolved": "https://registry.npmjs.org/@emnapi/core/-/core-1.11.1.tgz",
+      "integrity": "sha512-RSvbQmHzdKzNsLYa/wHrbc3KN4sYLKAdPZxqiM2HATqv/SBk2/ENSHpvXGaLOMcsAyz0poEGqkmmKYG3OWiJEQ==",
+      "dev": true,
+      "license": "MIT",
+      "optional": true,
+      "dependencies": {
+        "@emnapi/wasi-threads": "1.2.2",
+        "tslib": "^2.4.0"
+      }
+    },
+    "node_modules/@emnapi/core/node_modules/tslib": {
+      "version": "2.8.1",
+      "resolved": "https://registry.npmjs.org/tslib/-/tslib-2.8.1.tgz",
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+      "dev": true,
+      "license": "0BSD",
+      "optional": true
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-      "resolved": "https://registry.npmjs.org/@emnapi/runtime/-/runtime-1.9.1.tgz",
-      "integrity": "sha512-VYi5+ZVLhpgK4hQ0TAjiQiZ6ol0oe4mBx7mVv7IflsiEp0OWoVsp/+f9Vc1hOhE0TtkORVrI1GvzyreqpgWtkA==",
+      "version": "1.11.1",
+      "resolved": "https://registry.npmjs.org/@emnapi/runtime/-/runtime-1.11.1.tgz",
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       "optional": true,
       "dependencies": {
@@ -563,6 +583,25 @@
       "license": "0BSD",
       "optional": true
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+      "version": "1.2.2",
+      "resolved": "https://registry.npmjs.org/@emnapi/wasi-threads/-/wasi-threads-1.2.2.tgz",
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+      "dev": true,
+      "license": "MIT",
+      "optional": true,
+      "dependencies": {
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+      }
+    },
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+      "resolved": "https://registry.npmjs.org/tslib/-/tslib-2.8.1.tgz",
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+      "dev": true,
+      "license": "0BSD",
+      "optional": true
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       "resolved": "https://registry.npmjs.org/@esbuild/aix-ppc64/-/aix-ppc64-0.28.1.tgz",
@@ -1818,17 +1857,6 @@
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       }
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-    "node_modules/@jest/schemas": {
-      "version": "29.6.3",
-      "dev": true,
-      "license": "MIT",
-      "dependencies": {
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-      },
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@@ -4338,6 +4366,25 @@
         "zod": "^3.25.28 || ^4"
       }
     },
+    "node_modules/@napi-rs/wasm-runtime": {
+      "version": "1.1.6",
+      "resolved": "https://registry.npmjs.org/@napi-rs/wasm-runtime/-/wasm-runtime-1.1.6.tgz",
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+      "dev": true,
+      "license": "MIT",
+      "optional": true,
+      "dependencies": {
+        "@tybys/wasm-util": "^0.10.3"
+      },
+      "funding": {
+        "type": "github",
+        "url": "https://github.com/sponsors/Brooooooklyn"
+      },
+      "peerDependencies": {
+        "@emnapi/core": "^1.7.1",
+        "@emnapi/runtime": "^1.7.1"
+      }
+    },
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@@ -4563,6 +4610,16 @@
         "cross-spawn": "7.0.6"
       }
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+    "node_modules/@oxc-project/types": {
+      "version": "0.138.0",
+      "resolved": "https://registry.npmjs.org/@oxc-project/types/-/types-0.138.0.tgz",
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+      "dev": true,
+      "license": "MIT",
+      "funding": {
+        "url": "https://github.com/sponsors/Boshen"
+      }
+    },
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       "version": "2.3.0",
       "resolved": "https://registry.npmjs.org/@puppeteer/browsers/-/browsers-2.3.0.tgz",
@@ -4696,24 +4753,10 @@
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-      "dev": true,
-      "license": "MIT",
-      "optional": true,
-      "os": [
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+    "node_modules/@rolldown/binding-android-arm64": {
+      "version": "1.1.4",
+      "resolved": "https://registry.npmjs.org/@rolldown/binding-android-arm64/-/binding-android-arm64-1.1.4.tgz",
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@@ -4722,10 +4765,15 @@
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-      ]
+      ],
+      "engines": {
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+      }
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-    "node_modules/@rollup/rollup-darwin-arm64": {
-      "version": "4.53.2",
+    "node_modules/@rolldown/binding-darwin-arm64": {
+      "version": "1.1.4",
+      "resolved": "https://registry.npmjs.org/@rolldown/binding-darwin-arm64/-/binding-darwin-arm64-1.1.4.tgz",
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@@ -4734,12 +4782,15 @@
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-      ]
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+    "node_modules/@rolldown/binding-darwin-x64": {
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+      "resolved": "https://registry.npmjs.org/@rolldown/binding-darwin-x64/-/binding-darwin-x64-1.1.4.tgz",
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@@ -4748,26 +4799,15 @@
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-        "arm64"
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-      "dev": true,
-      "license": "MIT",
-      "optional": true,
-      "os": [
-        "freebsd"
-      ]
+      "engines": {
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+      }
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-    "node_modules/@rollup/rollup-freebsd-x64": {
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-      "resolved": "https://registry.npmjs.org/@rollup/rollup-freebsd-x64/-/rollup-freebsd-x64-4.53.2.tgz",
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+    "node_modules/@rolldown/binding-freebsd-x64": {
+      "version": "1.1.4",
+      "resolved": "https://registry.npmjs.org/@rolldown/binding-freebsd-x64/-/binding-freebsd-x64-1.1.4.tgz",
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@@ -4776,26 +4816,15 @@
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-      "dev": true,
-      "license": "MIT",
-      "optional": true,
-      "os": [
-        "linux"
-      ]
+      "engines": {
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+      }
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-      "resolved": "https://registry.npmjs.org/@rollup/rollup-linux-arm-musleabihf/-/rollup-linux-arm-musleabihf-4.53.2.tgz",
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+    "node_modules/@rolldown/binding-linux-arm-gnueabihf": {
+      "version": "1.1.4",
+      "resolved": "https://registry.npmjs.org/@rolldown/binding-linux-arm-gnueabihf/-/binding-linux-arm-gnueabihf-1.1.4.tgz",
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@@ -4804,138 +4833,135 @@
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-      "license": "MIT",
-      "dependencies": {
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-        "@vitest/runner": "1.6.1",
-        "@vitest/snapshot": "1.6.1",
-        "@vitest/spy": "1.6.1",
-        "@vitest/utils": "1.6.1",
-        "acorn-walk": "^8.3.2",
-        "chai": "^4.3.10",
-        "debug": "^4.3.4",
-        "execa": "^8.0.1",
-        "local-pkg": "^0.5.0",
-        "magic-string": "^0.30.5",
-        "pathe": "^1.1.1",
-        "picocolors": "^1.0.0",
-        "std-env": "^3.5.0",
-        "strip-literal": "^2.0.0",
-        "tinybench": "^2.5.1",
-        "tinypool": "^0.8.3",
-        "vite": "^5.0.0",
-        "vite-node": "1.6.1",
-        "why-is-node-running": "^2.2.2"
-      },
-      "bin": {
-        "vitest": "vitest.mjs"
-      },
-      "engines": {
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-      },
-      "funding": {
-        "url": "https://opencollective.com/vitest"
-      },
-      "peerDependencies": {
-        "@edge-runtime/vm": "*",
-        "@types/node": "^18.0.0 || >=20.0.0",
-        "@vitest/browser": "1.6.1",
-        "@vitest/ui": "1.6.1",
-        "happy-dom": "*",
-        "jsdom": "*"
-      },
-      "peerDependenciesMeta": {
-        "@edge-runtime/vm": {
-          "optional": true
-        },
-        "@types/node": {
-          "optional": true
-        },
-        "@vitest/browser": {
-          "optional": true
-        },
-        "@vitest/ui": {
-          "optional": true
-        },
-        "happy-dom": {
-          "optional": true
-        },
-        "jsdom": {
-          "optional": true
-        }
+      },
+      "funding": {
+        "url": "https://github.com/sponsors/jonschlinkert"
       }
     },
     "node_modules/web-namespaces": {
@@ -17863,17 +17647,6 @@
         "fd-slicer": "~1.1.0"
       }
     },
-    "node_modules/yocto-queue": {
-      "version": "1.2.2",
-      "dev": true,
-      "license": "MIT",
-      "engines": {
-        "node": ">=12.20"
-      },
-      "funding": {
-        "url": "https://github.com/sponsors/sindresorhus"
-      }
-    },
     "node_modules/yoctocolors": {
       "version": "2.1.2",
       "resolved": "https://registry.npmjs.org/yoctocolors/-/yoctocolors-2.1.2.tgz",
@@ -17966,7 +17739,7 @@
         "@types/react": "^18.3.0",
         "ink-testing-library": "^4.0.0",
         "typescript": "^6.0.3",
-        "vitest": "^1.2.0"
+        "vitest": "^4.1.10"
       },
       "optionalDependencies": {
         "nono-ts": "^0.3.0"
@@ -18042,7 +17815,7 @@
       "devDependencies": {
         "@types/node": "^20.0.0",
         "typescript": "^6.0.3",
-        "vitest": "^1.2.0"
+        "vitest": "^4.1.10"
       },
       "engines": {
         "node": ">=20.0.0"
diff --git a/package.json b/package.json
index 0db6e7e..de52efe 100644
--- a/package.json
+++ b/package.json
@@ -28,7 +28,7 @@
     "@types/node": "^20.0.0",
     "tsx": "^4.7.0",
     "typescript": "^6.0.3",
-    "vitest": "^1.2.0"
+    "vitest": "^4.1.10"
   },
   "engines": {
     "node": ">=20.0.0",
diff --git a/packages/autonav/package.json b/packages/autonav/package.json
index b13941c..6bb7de4 100644
--- a/packages/autonav/package.json
+++ b/packages/autonav/package.json
@@ -72,7 +72,7 @@
     "@types/react": "^18.3.0",
     "ink-testing-library": "^4.0.0",
     "typescript": "^6.0.3",
-    "vitest": "^1.2.0"
+    "vitest": "^4.1.10"
   },
   "optionalDependencies": {
     "nono-ts": "^0.3.0"
diff --git a/packages/communication-layer/package.json b/packages/communication-layer/package.json
index 37e7ffb..a299863 100644
--- a/packages/communication-layer/package.json
+++ b/packages/communication-layer/package.json
@@ -47,7 +47,7 @@
   "devDependencies": {
     "@types/node": "^20.0.0",
     "typescript": "^6.0.3",
-    "vitest": "^1.2.0"
+    "vitest": "^4.1.10"
   },
   "engines": {
     "node": ">=20.0.0"