feat: harden seat intent and expand HIL coverage

src/cognitive_agent/infrastructure/can/hardware.py

@@ -88,6 +88,7 @@ class SeatHardwareSettings:
     cspybat: Path
     auto_flash_enabled: bool
     auto_home_enabled: bool
+    position_sync_enabled: bool
     home_timeout_s: int
     firmware_probe_timeout_ms: int
     firmware_boot_wait_ms: int
@@ -171,6 +172,10 @@ class SeatHardwareSettings:
             ),
             auto_flash_enabled=auto_flash_enabled,
             auto_home_enabled=_env_bool("COGNITIVE_AGENT_SEAT_AUTO_HOME_ENABLED"),
+            position_sync_enabled=_env_bool(
+                "COGNITIVE_AGENT_SEAT_POSITION_SYNC_ENABLED",
+                default=hardware_enabled,
+            ),
             home_timeout_s=_env_int(
                 "COGNITIVE_AGENT_SEAT_HOME_TIMEOUT_S", 120
             ),
@@ -375,12 +380,19 @@ class SeatHardwareSettings:
             "physical_target": "t2g_primary_seat",
             "target_aliasing": "disabled_front_passenger_only",
             "auto_home_enabled": self.auto_home_enabled,
+            "position_sync_enabled": self.position_sync_enabled,
+            "position_sync_policy": (
+                "four_axis_known_range_home_before_first_process_motion_and_after_firmware_change"
+                if self.position_sync_enabled
+                else "disabled"
+            ),
             "home_timeout_s": self.home_timeout_s,
             "limitations": [
                 "hardware execution requires the unified Seat_Controller_demo image on one development board",
                 "all seat capabilities are restricted to passenger/front_right",
                 "M0/M1/M2/M3 map to horizontal, seat-pan, backrest and legrest on one physical seat",
-                "known-range homing can move an invalid axis to its near endpoint and remains separately disabled by default",
+                "on-demand recovery of an unexpectedly invalid target axis remains separately disabled by default",
+                "when position synchronization is enabled, the first process motion and every repository firmware replacement rebuild all four physical Hall references",
                 "current diagnostics use conservative bench thresholds and do not replace external power limiting",
             ],
         }