diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index f13b9fb..109ba8d 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -56,3 +56,48 @@ jobs:
 
       - name: Build
         run: cmake --build build -j
+
+  # macOS assembly (arm64). xmDriver is excluded: it binds SocketCAN
+  # (<linux/can.h>) and libevdev over /dev/input/event*, which have no macOS
+  # equivalents, so it is not portable rather than merely unported. Everything
+  # else assembles. xmTelemetry is omitted for the same reason as the Linux
+  # lane -- it is private and not checked out here.
+  assemble-macos:
+    name: Assemble (macOS arm64, no driver)
+    runs-on: macos-14
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v5
+
+      - name: Init component submodules (built set)
+        run: |
+          git submodule sync --recursive
+          git submodule update --init --recursive \
+            components/base components/navigation components/viewer \
+            components/messaging components/simulator
+
+      - name: Install dependencies (union of component deps)
+        # eigen@3 and opencv@4 are keg-only: Homebrew defaults to Eigen 5 and
+        # OpenCV 5, and the components target the 3.x/4.x APIs.
+        run: >
+          brew install eigen@3 opencv@4 pcl boost abseil re2 glm glfw cairo
+          fontconfig ncurses yaml-cpp tbb gsl googletest
+
+      - name: Fetch MuJoCo (xmSimulator)
+        run: components/simulator/scripts/setup/fetch_mujoco.sh
+
+      - name: Configure assembly (no driver)
+        # XMSIM_MUJOCO_DIR is explicit because its default resolves against
+        # CMAKE_SOURCE_DIR, which under add_subdirectory is this umbrella
+        # rather than the simulator's own root.
+        run: >
+          cmake -S . -B build -DCMAKE_BUILD_TYPE=$BUILD_TYPE
+          -DXMOTION_WITH_DRIVER=OFF -DXMOTION_WITH_TELEMETRY=OFF
+          -DXMOTION_WITH_NAVIGATION=ON -DXMOTION_WITH_VIEWER=ON
+          -DXMOTION_WITH_MESSAGING=ON -DXMOTION_WITH_SIMULATOR=ON
+          -DXMSIM_MUJOCO_DIR="$GITHUB_WORKSPACE/components/simulator/third_party/mujoco"
+          -DCMAKE_PREFIX_PATH="$(brew --prefix eigen@3);$(brew --prefix opencv@4)"
+
+      - name: Build
+        run: cmake --build build -j"$(sysctl -n hw.ncpu)"
+
diff --git a/components/base b/components/base
index 3f389a0..74c0008 160000
--- a/components/base
+++ b/components/base
@@ -1 +1 @@
-Subproject commit 3f389a064f5e1179edf85358883711cc93c6be54
+Subproject commit 74c000808a9a94048e72a488b666e5567fe4fa6e
diff --git a/components/messaging b/components/messaging
index 93a6118..0348233 160000
--- a/components/messaging
+++ b/components/messaging
@@ -1 +1 @@
-Subproject commit 93a611854ec3f77d02514ac66a166e90344deb8e
+Subproject commit 034823379bda9fb8f61373887e77b1cf2a34fefd
diff --git a/components/navigation b/components/navigation
index 282f290..460d5cc 160000
--- a/components/navigation
+++ b/components/navigation
@@ -1 +1 @@
-Subproject commit 282f290a3b467dda67ab8f0dcb7c9d089a16d98e
+Subproject commit 460d5cca7886109c3ea0ec64ccb0c3d3f7b1756d
diff --git a/components/simulator b/components/simulator
index 65b6d83..bbf936f 160000
--- a/components/simulator
+++ b/components/simulator
@@ -1 +1 @@
-Subproject commit 65b6d83883fc66cde40d82b678b708b2f31feb6f
+Subproject commit bbf936fd4fcb88f6d639ee8cc804aebaffe3beaf
diff --git a/components/telemetry b/components/telemetry
index 1e0f308..afa0a21 160000
--- a/components/telemetry
+++ b/components/telemetry
@@ -1 +1 @@
-Subproject commit 1e0f3082c13f9f41115abf99bd8f96e753f47bd7
+Subproject commit afa0a216a7d6971df524f3b03d5d8cc57ca137e4
diff --git a/components/viewer b/components/viewer
index edeb589..236d7c4 160000
--- a/components/viewer
+++ b/components/viewer
@@ -1 +1 @@
-Subproject commit edeb589d06916b67331c7283e43f7cc6c4ea1d61
+Subproject commit 236d7c4751e68967bb21faa05f51e5ad8a9a9bfe