feat: improve mode and peripheral orchestration

tests/unit/test_driver_seat_native_can.py

@@ -554,6 +554,48 @@ class DriverSeatNativeCanTests(unittest.TestCase):
         self.assertEqual(bus.send_calls, 4)
         self.assertEqual(len(bus.sent), 3)
 
+    def test_window_already_at_target_is_verified_success_without_resend(self) -> None:
+        config = self.runtime.build_function_config(
+            "window",
+            [
+                {
+                    "domain": "window",
+                    "capability": "window.set_position",
+                    "target": "rear_left",
+                    "operation": "set",
+                    "parameters": {"position_pct": 0},
+                }
+            ],
+            "req-window-already-closed",
+            "local_rules",
+        )
+        plan = self.runtime.compile(config)
+        feedback = CanFrame(
+            0x388,
+            bytes.fromhex("00 00 01 00 01 00 66 00"),
+            channel=1,
+            is_fd=True,
+            bitrate_switch=True,
+        )
+        bus = _FakeBus([feedback])
+
+        report = NativeCanExecutor(
+            lambda: bus,
+            feedback_timeout_ms=1,
+            feedback_required=False,
+        ).execute(self.runtime, plan, config)
+
+        self.assertEqual(report["spec"]["status"], "succeeded")
+        operation = report["spec"]["results"][0]
+        self.assertEqual(operation["status"], "succeeded")
+        self.assertEqual(operation["telemetry"]["sent_frames"], [])
+        self.assertEqual(
+            operation["telemetry"]["verification_status"],
+            "verified_success",
+        )
+        self.assertEqual(operation["telemetry"]["delivery_status"], "not_required")
+        self.assertTrue(operation["telemetry"]["physical_effect_confirmed"])
+
     def test_memory_compile_rejects_missing_or_malformed_learned_slots(self) -> None:
         with tempfile.TemporaryDirectory() as directory:
             path = Path(directory) / "driver_memory.json"